version: 66.06
glider: 148
mission: 11
dive: 124
start: 6 27 112 7 20 32
data:
$ID,148
$MISSION,11
$DIVE,124
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$D_NO_BLEED,200
$D_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,450
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-920738.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,3200
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1640
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2860
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.834597
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043980083
$SEABIRD_T_H,0.00063964876
$SEABIRD_T_I,2.5234789e-05
$SEABIRD_T_J,2.6622849e-06
$SEABIRD_C_G,-10.107907
$SEABIRD_C_H,1.1475029
$SEABIRD_C_I,-0.0021076966
$SEABIRD_C_J,0.00024514741
$GPS1,065715,2247.194,-15755.680,67,99.0,86,10.1
$_CALLS,4
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.9
$GPS2,071940,2247.301,-15755.505,15,99.0,34,10.1
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,-0.071
$KALMAN_X,25360.6,-595.0,-703.1,-16790.0,4205.2
$KALMAN_Y,223.3,-65.5,-768.8,-692.2,1519.8
$MHEAD_RNG_PITCHd_Wd,244.1,8781,-17.5,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,87,0.00,0.00,-67.10,0.000,2,0.000,0.000,411,1711,3037,0,0,0,0,0,0
$GC,90,-1.27,-146.0,3.0,-5.3,9,122,13.10,2.45,-8.18,0.000,4,0.155,0.035,2916,3245,3458,0,0,0,0,0,0
$GC,212,-0.70,-146.0,37.4,-26.5,25,225,0.62,2.62,0.00,0.000,6,0.104,0.030,3046,1629,3458,0,0,0,0,0,0
$GC,478,-0.30,-146.0,94.7,-21.1,50,483,0.38,2.35,0.00,0.000,4,0.104,0.040,3129,170,3458,0,0,0,0,0,0
$GC,550,-0.30,-146.0,104.8,-11.4,56,559,0.00,2.33,0.00,0.000,6,0.000,0.019,3129,1667,3459,0,0,0,0,0,0
$GC,816,-0.30,-146.0,133.3,-10.9,81,821,0.00,2.40,0.00,0.000,4,0.000,0.025,3129,3209,3459,0,0,0,0,0,0
$GC,846,-0.30,-146.0,137.2,-10.6,83,851,0.00,2.53,0.00,0.000,6,0.000,0.028,3129,1634,3458,0,0,0,0,0,0
$GC,1107,-0.30,-146.0,162.7,-10.3,108,1111,0.00,2.38,0.00,0.000,4,0.000,0.042,3129,170,3459,0,0,0,0,0,0
$GC,1142,-0.30,-146.0,166.8,-11.2,111,1146,0.00,2.22,0.00,0.000,6,0.000,0.019,3129,1642,3459,0,0,0,0,0,0
$GC,1405,-0.30,-146.0,191.9,-9.0,135,1406,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1645,3458,0,0,0,0,0,0
$GC,1661,-0.30,-146.0,214.5,-8.8,148,1666,0.00,2.42,0.00,0.000,4,0.000,0.050,3129,166,3459,0,0,0,0,0,0
$GC,1694,-0.30,-146.0,217.5,-8.8,148,1698,0.00,2.22,0.00,0.000,6,0.000,0.019,3129,1636,3459,0,0,0,0,0,0
$GC,1945,-0.36,-146.0,238.1,-8.4,154,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3129,1637,3458,0,0,0,0,0,0
$GC,2188,-0.44,-146.0,258.1,-8.2,160,2190,0.10,0.00,0.00,0.000,6,0.078,0.000,3076,1638,3458,0,0,0,0,0,0
$GC,2432,-0.37,-146.0,281.3,-9.6,166,2437,0.20,2.42,0.00,0.000,4,0.096,0.044,3120,167,3458,0,0,0,0,0,0
$GC,2452,-0.37,-146.0,283.4,-9.6,166,2456,0.00,2.22,0.00,0.000,6,0.000,0.021,3120,1624,3459,0,0,0,0,0,0
$GC,2717,-0.45,-146.0,304.2,-8.0,173,2721,0.00,2.40,0.00,0.000,4,0.000,0.048,3120,171,3458,0,0,0,0,0,0
$GC,2764,-0.56,-146.0,308.7,-8.7,174,2769,0.17,2.22,0.00,0.000,6,0.053,0.022,3054,1616,3458,0,0,0,0,0,0
$GC,3047,-0.45,-146.0,339.0,-10.5,181,3052,0.20,2.42,0.00,0.000,4,0.098,0.050,3099,166,3458,0,0,0,0,0,0
$GC,3072,-0.45,-146.0,341.5,-9.3,181,3076,0.00,2.28,0.00,0.000,6,0.000,0.024,3099,1614,3457,0,0,0,0,0,0
$GC,3332,-0.45,-146.0,361.6,-7.7,188,3336,0.00,2.40,0.00,0.000,4,0.000,0.055,3099,177,3456,0,0,0,0,0,0
$GC,3398,-0.52,-146.0,367.3,-9.1,189,3402,0.00,2.28,0.00,0.000,6,0.000,0.025,3099,1613,3456,0,0,0,0,0,0
$GC,3662,-0.52,-146.0,387.6,-7.6,196,3666,0.00,2.62,0.00,0.000,4,0.000,0.038,3099,3225,3454,0,0,0,0,0,0
$GC,3705,-0.66,-146.0,390.9,-7.4,197,3711,0.17,2.62,0.00,0.000,6,0.048,0.041,3002,1618,3454,0,0,0,0,0,0
$GC,3994,-0.39,-146.0,427.6,-13.1,204,4001,0.52,2.45,0.00,0.000,4,0.095,0.065,3107,174,3452,0,0,0,0,0,0
$GC,4101,-0.53,-146.0,436.9,-8.5,206,4106,0.10,2.28,0.00,0.000,6,0.077,0.029,3060,1600,3451,0,0,0,0,0,0
$GC,4380,-0.53,-146.0,462.5,-9.4,213,4382,0.12,0.00,0.00,0.000,6,0.115,0.000,3086,1600,3450,0,0,0,0,0,0
$GC,4623,-0.53,-146.0,482.9,-8.2,219,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1600,3448,0,0,0,0,0,0
$GC,4867,-0.53,-146.0,503.8,-8.7,225,4868,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1600,3446,0,0,0,0,0,0
$GC,5112,-0.53,-146.0,523.8,-8.1,231,5116,0.00,2.47,0.00,0.000,4,0.000,0.071,3086,177,3444,0,0,0,0,0,0
$GC,5136,-0.53,-146.0,526.0,-8.9,231,5140,0.00,2.28,0.00,0.000,6,0.000,0.035,3086,1592,3444,0,0,0,0,0,0
$GC,5395,-0.53,-146.0,545.8,-7.5,238,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1593,3442,0,0,0,0,0,0
$GC,5640,-0.53,-146.0,565.1,-8.0,244,5644,0.00,2.47,0.00,0.000,4,0.000,0.073,3086,174,3440,0,0,0,0,0,0
$GC,5677,-0.53,-146.0,568.4,-8.6,244,5683,0.00,2.33,0.00,0.000,6,0.000,0.036,3086,1597,3440,0,0,0,0,0,0
$GC,5927,-0.53,-146.0,587.9,-7.7,251,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,1598,3439,0,0,0,0,0,0
$STATE,6087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6087,begin apogee
$GC,6095,-0.31,0.0,600.4,7.7,255,6213,0.20,0.00,115.78,0.947,6,0.100,0.000,3131,1704,2860,0,0,0,0,0,0
$STATE,6214,end apogee,CONTROL_FINISHED_OK
$STATE,6214,begin climb
$GC,6217,1.27,146.0,606.3,0.0,258,6351,1.52,2.70,123.35,0.923,4,0.073,0.054,3472,3248,2262,0,0,0,0,0,0
$GC,6363,1.58,254.4,601.4,5.0,261,6468,0.30,2.70,94.85,0.907,6,0.032,0.048,3580,1689,1821,0,0,0,0,0,0
$GC,6712,1.49,254.4,555.4,13.9,270,6719,0.25,2.72,0.00,0.000,4,0.094,0.079,3526,167,1813,0,0,0,0,0,0
$GC,6876,1.49,254.4,534.8,12.4,273,6881,0.00,2.47,0.00,0.000,6,0.000,0.034,3526,1662,1812,0,0,0,0,0,0
$GC,7137,1.57,254.4,507.7,10.3,280,7142,0.00,2.65,0.00,0.000,4,0.000,0.070,3526,160,1809,0,0,0,0,0,0
$GC,7198,1.57,254.4,500.5,11.7,281,7202,0.00,2.45,0.00,0.000,6,0.000,0.031,3526,1659,1810,0,0,0,0,0,0
$GC,7468,1.66,254.4,472.8,10.3,288,7473,0.15,2.62,0.00,0.000,4,0.058,0.066,3585,161,1807,0,0,0,0,0,0
$GC,7569,1.53,254.4,457.7,15.8,290,7575,0.25,2.42,0.00,0.000,6,0.099,0.031,3533,1643,1807,0,0,0,0,0,0
$GC,7850,1.61,254.4,427.3,10.5,297,7854,0.00,2.55,0.00,0.000,4,0.000,0.062,3533,164,1806,0,0,0,0,0,0
$GC,7933,1.61,254.4,417.0,11.8,298,7939,0.00,2.38,0.00,0.000,6,0.000,0.030,3533,1630,1805,0,0,0,0,0,0
$GC,8183,1.69,254.4,390.3,10.5,305,8188,0.15,2.53,0.00,0.000,4,0.053,0.062,3596,160,1804,0,0,0,0,0,0
$GC,8310,1.56,254.4,371.3,15.9,307,8315,0.28,2.35,0.00,0.000,6,0.099,0.028,3538,1617,1804,0,0,0,0,0,0
$GC,8560,1.64,260.2,345.9,9.7,313,8564,0.00,2.47,0.00,0.000,4,0.000,0.060,3538,159,1803,0,0,0,0,0,0
$GC,8689,1.71,260.2,332.0,10.4,315,8693,0.15,2.30,0.00,0.000,6,0.059,0.028,3597,1595,1803,0,0,0,0,0,0
$GC,8939,1.64,260.2,302.5,11.5,321,8941,0.20,0.00,0.00,0.000,6,0.097,0.000,3555,1598,1802,0,0,0,0,0,0
$GC,9184,1.64,266.3,279.1,9.7,327,9196,0.00,2.47,7.93,0.624,4,0.000,0.063,3555,163,1774,0,0,0,0,0,0
$GC,9335,1.64,266.3,261.9,10.5,330,9339,0.00,2.28,0.00,0.000,6,0.000,0.025,3555,1592,1774,0,0,0,0,0,0
$GC,9610,1.74,274.7,235.0,9.6,337,9627,0.10,2.42,9.02,0.605,4,0.079,0.052,3601,161,1739,0,0,0,0,0,0
$GC,9735,1.74,274.7,217.5,14.0,339,9740,0.10,2.22,0.00,0.000,6,0.122,0.025,3579,1567,1739,0,0,0,0,0,0
$GC,9999,1.74,274.7,188.4,10.8,352,10003,0.00,2.38,0.00,0.000,4,0.000,0.052,3579,155,1737,0,0,0,0,0,0
$GC,10098,1.74,274.7,175.6,12.4,361,10103,0.00,2.20,0.00,0.000,6,0.000,0.022,3579,1563,1737,0,0,0,0,0,0
$GC,10362,1.74,274.7,147.5,11.8,386,10366,0.00,2.35,0.00,0.000,4,0.000,0.051,3579,155,1736,0,0,0,0,0,0
$GC,10400,1.74,274.7,142.7,13.3,389,10404,0.00,2.17,0.00,0.000,6,0.000,0.023,3579,1557,1736,0,0,0,0,0,0
$GC,10669,1.83,297.8,116.7,8.9,414,10702,0.00,2.40,21.73,0.551,4,0.000,0.053,3579,160,1644,0,0,0,0,0,0
$GC,10759,1.84,300.9,107.2,9.9,422,10769,0.00,2.20,4.35,0.386,6,0.000,0.021,3579,1556,1633,0,0,0,0,0,0
$GC,11024,1.94,302.2,81.7,9.9,447,11029,0.17,2.33,0.00,0.000,4,0.054,0.055,3625,158,1630,0,0,0,0,0,0
$GC,11084,1.94,302.2,73.2,14.3,452,11088,0.00,2.17,0.00,0.000,6,0.000,0.021,3625,1557,1630,0,0,0,0,0,0
$GC,11353,1.94,302.2,42.5,11.6,476,11357,0.00,2.30,0.00,0.000,4,0.000,0.048,3625,156,1630,0,0,0,0,0,0
$GC,11498,1.94,302.2,21.5,15.2,492,11506,0.00,2.15,0.00,0.000,6,0.000,0.020,3625,1537,1630,0,0,0,0,0,0
$STATE,11650,end climb,SURFACE_DEPTH_REACHED
$STATE,11650,begin surface coast
$FINISH,0.6,1.010341
$STATE,11691,end surface coast,CONTROL_FINISHED_OK
$STATE,11692,begin surface
$SM_CCo,11715,45.50,0.456,0,0,1309,380.21
$SM_GC,1.45,0.00,0.00,45.50,0.000,0.000,0.456,416,1685,1309,-12.81,1.30,380.21
$IRIDIUM_FIX,2237.01,-15757.16,210901,070742
$TT8_MAMPS,0.027612
$HUMID,62.91
$INTERNAL_PRESSURE,9.55502
$TCM_TEMP,22.20
$XPDR_PINGS,20
$24V_AH,23.5,17.868
$10V_AH,9.8,11.977
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,32.450,129.775,377.000,45.500,0.000,127.101,157.254,681.020,5.000,0.000,36.543,1135.984,8110.354,468.048,2064.649,1314.026,33.351,1342.981,0.000,2036.194,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,79.001,947.245,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.645,286.901,371.822,519.711,912.996,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356088
$DATA_FILE_SIZE,41584,522
$CAP_FILE_SIZE,142991,0
$CFSIZE,260165632,171470848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,103855,2247.092,-15755.991,101,1.6,101,10.1