version: 66.06
glider: 146
mission: 6
dive: 5
start: 5 10 111 21 18 26
data:
$ID,146
$MISSION,6
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$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,100
$T_MISSION,240
$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,-267411.66
$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,3050
$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,25
$R_STBD_OVSHOOT,71
$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
$GPS1,211137,2241.446,-15757.578,28,1.2,29,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-65.1
$GPS2,211732,2241.386,-15757.628,15,1.5,15,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.085,0.219
$KALMAN_X,-1056.2,-258.8,68.3,-158.1,-862.6
$KALMAN_Y,-3398.9,-1523.2,-739.4,1017.5,-1549.4
$MHEAD_RNG_PITCHd_Wd,328.7,7824,-19.8,-10.000
$D_GRID,300
$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,-1.38,-116.8,0.0,0.0,0,137,0.00,0.00,-117.57,0.000,2,0.000,0.000,475,1765,3401,0,0,0,0,0,0
$GC,140,-1.38,-116.8,3.4,-6.1,15,166,12.18,2.55,-1.42,0.000,4,0.163,0.051,2740,3330,3481,0,0,0,0,0,0
$GC,230,-1.18,-116.8,31.4,-21.1,27,240,0.20,2.53,0.00,0.000,6,0.110,0.037,2785,1768,3482,0,0,0,0,0,0
$GC,496,-1.04,-116.8,77.8,-16.1,52,501,0.17,2.47,0.00,0.000,4,0.126,0.036,2819,3318,3481,0,0,0,0,0,0
$GC,526,-0.97,-116.8,83.1,-14.1,54,530,0.00,2.45,0.00,0.000,6,0.000,0.036,2819,1770,3481,0,0,0,0,0,0
$GC,788,-0.92,-116.8,118.0,-13.0,78,793,0.15,2.45,0.00,0.000,4,0.123,0.030,2849,3320,3482,0,0,0,0,0,0
$GC,810,-0.92,-116.8,121.1,-12.0,79,816,0.00,2.45,0.00,0.000,6,0.000,0.035,2849,1781,3482,0,0,0,0,0,0
$GC,1072,-0.92,-116.8,150.0,-10.7,104,1076,0.00,2.42,0.00,0.000,4,0.000,0.035,2849,3325,3482,0,0,0,0,0,0
$GC,1105,-0.92,-116.8,153.1,-11.6,106,1109,0.00,2.45,0.00,0.000,6,0.000,0.035,2849,1785,3482,0,0,0,0,0,0
$GC,1371,-0.92,-116.8,184.7,-12.5,130,1375,0.00,2.42,0.00,0.000,4,0.000,0.038,2849,3316,3482,0,0,0,0,0,0
$GC,1422,-0.98,-116.8,191.8,-12.7,134,1427,0.00,2.42,0.00,0.000,6,0.000,0.035,2849,1796,3482,0,0,0,0,0,0
$GC,1696,-1.02,-116.8,224.7,-11.7,145,1701,0.00,2.40,0.00,0.000,4,0.000,0.033,2849,3314,3481,0,0,0,0,0,0
$GC,1736,-1.10,-116.8,229.5,-12.3,146,1741,0.17,2.42,0.00,0.000,6,0.061,0.033,2795,1800,3481,0,0,0,0,0,0
$GC,2021,-1.05,-116.8,265.1,-12.0,153,2026,0.12,2.45,0.00,0.000,4,0.120,0.041,2820,3323,3481,0,0,0,0,0,0
$GC,2053,-1.05,-116.8,268.9,-10.8,153,2059,0.00,2.45,0.00,0.000,6,0.000,0.036,2820,1809,3481,0,0,0,0,0,0
$GC,2303,-1.05,-116.8,296.9,-11.5,160,2307,0.00,2.42,0.00,0.000,4,0.000,0.044,2820,3313,3480,0,0,0,0,0,0
$STATE,2328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2328,begin apogee
$GC,2337,-0.31,0.0,300.2,11.4,160,2433,0.70,0.00,92.57,0.745,6,0.094,0.000,2977,1824,3001,0,0,0,0,0,0
$STATE,2434,end apogee,CONTROL_FINISHED_OK
$STATE,2434,begin climb
$GC,2436,1.38,116.8,305.9,0.0,163,2544,1.60,2.92,94.93,0.727,4,0.066,0.077,3344,235,2522,0,0,0,0,0,0
$GC,2555,1.63,237.8,304.7,3.0,165,2663,0.25,2.50,98.97,0.719,6,0.059,0.026,3406,1803,2031,0,0,0,0,0,0
$GC,2926,1.71,243.1,272.5,9.7,175,2935,0.00,2.62,4.68,0.498,4,0.000,0.040,3406,3387,2009,0,0,0,0,0,0
$GC,3076,1.81,255.5,257.9,9.3,178,3098,0.17,2.55,12.05,0.654,6,0.069,0.034,3452,1833,1959,0,0,0,0,0,0
$GC,3342,1.81,255.5,229.0,10.9,185,3343,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1833,1954,0,0,0,0,0,0
$GC,3584,1.81,255.5,201.4,11.2,191,3589,0.00,2.53,0.00,0.000,4,0.000,0.040,3452,3387,1952,0,0,0,0,0,0
$GC,3735,1.81,255.5,185.9,10.8,201,3744,0.00,2.53,0.00,0.000,6,0.000,0.035,3452,1852,1951,0,0,0,0,0,0
$GC,4001,1.83,264.7,159.9,9.5,226,4015,0.00,2.53,7.90,0.586,4,0.000,0.034,3452,3383,1921,0,0,0,0,0,0
$GC,4110,1.88,264.7,149.3,10.1,235,4114,0.00,2.45,0.00,0.000,6,0.000,0.035,3452,1870,1919,0,0,0,0,0,0
$GC,4376,1.88,264.7,122.6,10.6,259,4380,0.00,2.45,0.00,0.000,4,0.000,0.033,3452,3394,1918,0,0,0,0,0,0
$GC,4469,1.93,264.7,110.8,11.9,266,4479,0.00,2.45,0.00,0.000,6,0.000,0.038,3452,1892,1917,0,0,0,0,0,0
$GC,4736,1.97,264.7,80.8,10.9,291,4741,0.10,2.42,0.00,0.000,4,0.088,0.033,3482,3396,1916,0,0,0,0,0,0
$GC,4768,1.97,264.7,76.6,13.0,293,4772,0.00,2.40,0.00,0.000,6,0.000,0.033,3482,1900,1916,0,0,0,0,0,0
$GC,5037,1.97,264.7,47.8,10.4,317,5041,0.00,2.38,0.00,0.000,4,0.000,0.031,3482,3392,1916,0,0,0,0,0,0
$GC,5107,1.97,264.7,39.1,11.7,322,5111,0.00,2.38,0.00,0.000,6,0.000,0.031,3482,1908,1916,0,0,0,0,0,0
$GC,5422,1.97,264.7,6.6,10.3,362,5431,0.00,2.38,0.00,0.000,4,0.000,0.038,3482,3387,1916,0,0,0,0,0,0
$STATE,5446,end climb,SURFACE_DEPTH_REACHED
$STATE,5446,begin surface coast
$FINISH,2.8,0.980198
$STATE,5454,end surface coast,CONTROL_FINISHED_OK
$STATE,5454,begin surface
$SM_CCo,5479,145.48,0.532,0,0,1165,450.13
$SM_GC,1.01,0.00,0.00,145.48,0.000,0.000,0.532,478,1761,1165,-11.83,-0.25,450.13
$IRIDIUM_FIX,2232.34,-15758.03,030800,202003
$TT8_MAMPS,0.026078
$HUMID,57.71
$INTERNAL_PRESSURE,9.20934
$TCM_TEMP,21.60
$XPDR_PINGS,29
$24V_AH,23.6,0.907
$10V_AH,10.5,0.624
$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,28.300,79.375,311.100,145.475,0.000,23.585,35.135,178.281,7.250,0.000,16.496,715.394,2813.956,515.575,1519.785,430.889,33.315,1061.872,0.000,1528.932,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,76.700,744.757,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,246.504,243.686,332.712,664.730,1005.140,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356108
$DATA_FILE_SIZE,28886,366
$CAP_FILE_SIZE,71234,0
$CFSIZE,260165632,182255616
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100511,225302,2241.158,-15758.555,10,2.0,11,10.0