version: 66.06
glider: 146
mission: 6
dive: 3
start: 5 10 111 19 6 11
data:
$ID,146
$MISSION,6
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,180
$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,40
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,120
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-267377.88
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$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,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,190114,2242.920,-15756.811,13,1.8,13,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.2
$GPS2,190520,2242.867,-15756.822,15,2.0,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.178,0.152
$KALMAN_X,36.4,45.5,45.6,-167.7,45.1
$KALMAN_Y,-889.1,-570.0,-547.0,111.6,-755.6
$MHEAD_RNG_PITCHd_Wd,300.4,6712,-19.8,-10.000
$D_GRID,120
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,135,0.00,0.00,-117.25,0.000,2,0.000,0.000,479,1770,3475,0,0,0,0,0,0
$GC,138,-1.38,-116.8,3.6,-7.3,15,156,11.88,2.65,0.00,0.000,4,0.164,0.059,2689,186,3477,0,0,0,0,0,0
$GC,396,-1.02,-116.8,75.8,-24.6,41,402,0.43,2.42,0.00,0.000,6,0.127,0.017,2772,1787,3476,0,0,0,0,0,0
$STATE,645,end dive,TARGET_DEPTH_EXCEEDED
$STATE,646,begin apogee
$GC,651,-0.31,0.0,121.1,17.3,64,747,0.70,0.00,89.03,0.588,6,0.102,0.000,2924,1788,3001,0,0,0,0,0,0
$STATE,748,end apogee,CONTROL_FINISHED_OK
$STATE,748,begin climb
$GC,750,1.38,116.8,131.7,0.0,74,860,1.62,2.72,92.15,0.580,4,0.071,0.058,3294,241,2522,0,0,0,0,0,0
$GC,889,1.80,258.1,132.2,1.9,85,1013,0.40,2.42,112.15,0.582,6,0.045,0.018,3399,1821,1947,0,0,0,0,0,0
$GC,1268,1.99,285.5,104.0,8.4,120,1296,0.15,2.50,22.35,0.544,4,0.070,0.035,3442,3365,1836,0,0,0,0,0,0
$GC,1415,2.09,285.5,87.8,11.1,132,1420,0.00,2.53,0.00,0.000,6,0.000,0.036,3442,1807,1832,0,0,0,0,0,0
$GC,1683,2.19,291.7,60.1,9.6,156,1698,0.15,2.53,5.82,0.430,4,0.070,0.029,3487,3360,1811,0,0,0,0,0,0
$GC,1715,2.19,291.7,55.8,12.2,158,1725,0.00,2.53,0.00,0.000,6,0.000,0.033,3486,1815,1810,0,0,0,0,0,0
$GC,1991,2.19,291.7,24.8,11.8,186,2001,0.00,2.50,0.00,0.000,4,0.000,0.038,3486,3367,1809,0,0,0,0,0,0
$GC,2085,2.23,291.7,14.0,11.3,199,2094,0.00,2.50,0.00,0.000,6,0.000,0.039,3486,1831,1808,0,0,0,0,0,0
$STATE,2170,end climb,SURFACE_DEPTH_REACHED
$STATE,2170,begin surface coast
$FINISH,0.1,0.980175
$STATE,2223,end surface coast,CONTROL_FINISHED_OK
$STATE,2223,begin surface
$SM_CCo,2245,123.35,0.507,0,0,1165,450.13
$SM_GC,0.93,0.00,0.00,123.35,0.000,0.000,0.507,474,1745,1165,-11.62,-0.71,450.13
$IRIDIUM_FIX,2234.68,-15754.99,030800,191920
$TT8_MAMPS,0.025311
$HUMID,54.21
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,23.10
$XPDR_PINGS,8
$24V_AH,23.7,0.680
$10V_AH,10.6,0.479
$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,27.525,25.400,321.500,123.350,0.000,0.000,0.000,0.000,2.000,0.000,17.223,373.585,562.993,407.879,1026.390,72.082,31.414,813.071,0.000,1031.327,0.000,0.538,0.000
$DEVICE_MAMPS,164.138,94.341,588.289,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,143.222,156.343,222.797,543.324,821.597,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356124
$DATA_FILE_SIZE,16300,218
$CAP_FILE_SIZE,48405,0
$CFSIZE,260165632,182349824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,194632,2242.275,-15757.271,13,1.9,13,10.1