version: 66.06
glider: 146
mission: 6
dive: 9
start: 5 11 111 5 7 8
data:
$ID,146
$MISSION,6
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$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,166
$T_MISSION,340
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-267504.34
$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,3010
$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,32
$R_STBD_OVSHOOT,38
$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
$GPS1,050043,2240.905,-15759.017,24,1.6,28,10.0
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-69.1
$GPS2,050614,2240.844,-15759.058,13,1.9,13,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.166,0.166
$KALMAN_X,-5786.8,-140.2,25.4,2041.3,-1420.4
$KALMAN_Y,-12229.7,-226.5,339.3,6453.7,-2771.2
$MHEAD_RNG_PITCHd_Wd,35.0,7863,-19.8,-10.040
$D_GRID,500
$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,-116.8,0.0,0.0,0,106,0.00,0.00,-86.55,0.000,2,0.000,0.000,480,1754,3282,0,0,0,0,0,0
$GC,109,-1.38,-116.8,3.1,-5.6,11,135,12.25,2.60,-3.75,0.000,4,0.170,0.039,2701,3348,3482,0,0,0,0,0,0
$GC,322,-1.13,-116.8,57.7,-22.0,34,327,0.30,2.53,0.00,0.000,6,0.127,0.034,2758,1770,3484,0,0,0,0,0,0
$GC,585,-0.95,-116.8,107.4,-17.6,58,587,0.22,0.00,0.00,0.000,6,0.127,0.000,2802,1770,3485,0,0,0,0,0,0
$GC,839,-0.86,-116.8,145.6,-14.7,82,843,0.00,2.53,0.00,0.000,4,0.000,0.028,2802,3352,3485,0,0,0,0,0,0
$GC,861,-0.80,-116.8,148.9,-14.6,83,867,0.15,2.53,0.00,0.000,6,0.125,0.033,2832,1765,3486,0,0,0,0,0,0
$GC,1124,-0.80,-116.8,182.6,-12.7,108,1128,0.00,2.53,0.00,0.000,4,0.000,0.035,2832,3359,3486,0,0,0,0,0,0
$GC,1145,-0.80,-116.8,184.9,-12.6,109,1150,0.00,2.55,0.00,0.000,6,0.000,0.028,2832,1770,3486,0,0,0,0,0,0
$GC,1431,-0.80,-116.8,222.0,-12.8,124,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1769,3486,0,0,0,0,0,0
$GC,1674,-0.80,-116.8,252.6,-12.8,130,1679,0.00,2.72,0.00,0.000,4,0.000,0.075,2832,198,3487,0,0,0,0,0,0
$GC,1689,-0.80,-116.8,254.8,-12.8,130,1693,0.00,2.45,0.00,0.000,6,0.000,0.021,2832,1788,3487,0,0,0,0,0,0
$GC,1957,-0.80,-116.8,286.8,-11.7,137,1961,0.00,2.50,0.00,0.000,4,0.000,0.041,2832,3335,3487,0,0,0,0,0,0
$GC,1996,-0.85,-116.8,291.5,-11.3,138,2001,0.00,2.55,0.00,0.000,6,0.000,0.041,2832,1777,3487,0,0,0,0,0,0
$GC,2280,-0.85,-116.8,324.5,-11.4,145,2284,0.00,2.53,0.00,0.000,4,0.000,0.043,2832,3341,3486,0,0,0,0,0,0
$GC,2313,-0.90,-116.8,328.4,-11.4,145,2319,0.00,2.60,0.00,0.000,6,0.000,0.049,2832,1782,3486,0,0,0,0,0,0
$GC,2563,-0.94,-116.8,355.2,-10.6,152,2568,0.12,2.55,0.00,0.000,4,0.077,0.044,2790,3331,3485,0,0,0,0,0,0
$GC,2612,-0.94,-116.8,361.7,-13.0,153,2617,0.00,2.58,0.00,0.000,6,0.000,0.049,2790,1788,3485,0,0,0,0,0,0
$GC,2885,-0.94,-116.8,398.1,-13.3,160,2890,0.00,2.58,0.00,0.000,4,0.000,0.044,2790,3330,3484,0,0,0,0,0,0
$GC,2901,-0.94,-116.8,400.6,-13.6,160,2906,0.00,2.60,0.00,0.000,6,0.000,0.052,2790,1790,3484,0,0,0,0,0,0
$GC,3163,-0.94,-116.8,435.6,-13.6,167,3167,0.00,2.60,0.00,0.000,4,0.000,0.051,2790,3330,3482,0,0,0,0,0,0
$GC,3218,-0.94,-116.8,443.0,-12.4,168,3223,0.00,2.60,0.00,0.000,6,0.000,0.058,2790,1810,3482,0,0,0,0,0,0
$GC,3484,-0.94,-116.8,474.5,-11.7,175,3489,0.00,3.08,0.00,0.000,4,0.000,0.112,2790,183,3480,0,0,0,0,0,0
$GC,3517,-0.88,-116.8,478.4,-11.9,175,3523,0.12,2.62,0.00,0.000,6,0.130,0.038,2814,1778,3480,0,0,0,0,0,0
$STATE,3764,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3764,begin apogee
$GC,3771,-0.31,0.0,502.6,9.3,182,3870,0.57,0.00,96.12,0.930,6,0.099,0.000,2938,1827,3001,0,0,0,0,0,0
$STATE,3871,end apogee,CONTROL_FINISHED_OK
$STATE,3871,begin climb
$GC,3873,1.38,116.8,506.5,0.0,184,3977,1.67,0.00,99.70,0.904,6,0.074,0.000,3307,1826,2524,0,0,0,0,0,0
$GC,4211,1.68,214.5,494.4,4.4,193,4303,0.25,2.83,83.05,0.900,4,0.062,0.069,3375,3400,2125,0,0,0,0,0,0
$GC,4343,1.81,246.7,485.6,8.2,196,4380,0.12,2.72,28.50,0.862,6,0.087,0.061,3405,1833,1994,0,0,0,0,0,0
$GC,4626,1.87,258.8,459.7,9.3,203,4642,0.00,2.67,11.07,0.802,4,0.000,0.051,3405,3404,1944,0,0,0,0,0,0
$GC,4687,1.94,266.0,453.5,9.6,204,4702,0.12,2.70,7.68,0.740,6,0.093,0.054,3436,1847,1915,0,0,0,0,0,0
$GC,4953,1.94,266.0,424.8,11.0,211,4957,0.00,2.60,0.00,0.000,4,0.000,0.048,3436,3410,1911,0,0,0,0,0,0
$GC,5007,1.94,266.0,418.3,10.9,212,5012,0.00,2.65,0.00,0.000,6,0.000,0.050,3437,1865,1910,0,0,0,0,0,0
$GC,5274,1.94,266.0,386.7,12.2,219,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1864,1909,0,0,0,0,0,0
$GC,5518,1.94,266.0,355.1,13.1,225,5523,0.00,2.55,0.00,0.000,4,0.000,0.038,3436,3408,1907,0,0,0,0,0,0
$GC,5562,1.94,266.0,348.7,13.8,226,5566,0.00,2.55,0.00,0.000,6,0.000,0.044,3436,1873,1906,0,0,0,0,0,0
$GC,5840,1.94,266.0,312.6,13.0,233,5845,0.00,2.50,0.00,0.000,4,0.000,0.038,3436,3410,1905,0,0,0,0,0,0
$GC,5874,1.94,266.0,308.3,12.5,233,5880,0.00,2.55,0.00,0.000,6,0.000,0.042,3437,1870,1905,0,0,0,0,0,0
$GC,6124,1.94,266.3,282.2,10.0,240,6128,0.00,2.53,0.00,0.000,4,0.000,0.041,3436,3417,1905,0,0,0,0,0,0
$GC,6235,1.99,272.5,271.4,9.7,242,6245,0.00,2.47,5.03,0.597,6,0.000,0.041,3436,1902,1890,0,0,0,0,0,0
$GC,6491,2.02,272.5,245.0,10.8,248,6496,0.00,2.92,0.00,0.000,4,0.000,0.071,3436,239,1888,0,0,0,0,0,0
$GC,6524,2.02,272.5,240.7,13.3,248,6529,0.00,2.70,0.00,0.000,6,0.000,0.026,3436,1936,1887,0,0,0,0,0,0
$GC,6774,2.07,272.5,212.4,11.3,255,6779,0.10,2.38,0.00,0.000,4,0.095,0.036,3463,3409,1887,0,0,0,0,0,0
$GC,6899,2.07,272.5,197.1,11.8,257,6904,0.00,2.42,0.00,0.000,6,0.000,0.033,3462,1920,1887,0,0,0,0,0,0
$GC,7161,2.07,272.5,167.7,11.0,282,7162,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1920,1887,0,0,0,0,0,0
$GC,7415,2.07,272.5,141.2,10.1,306,7419,0.00,2.40,0.00,0.000,4,0.000,0.038,3463,3411,1887,0,0,0,0,0,0
$GC,7448,2.07,272.5,137.5,10.2,308,7457,0.00,2.40,0.00,0.000,6,0.000,0.031,3463,1934,1886,0,0,0,0,0,0
$GC,7716,2.07,272.5,110.9,10.4,333,7720,0.00,2.35,0.00,0.000,4,0.000,0.035,3463,3411,1887,0,0,0,0,0,0
$GC,7779,2.11,272.5,103.9,10.2,338,7783,0.00,2.35,0.00,0.000,6,0.000,0.038,3463,1939,1886,0,0,0,0,0,0
$GC,8047,2.14,272.5,77.3,11.1,362,8051,0.00,2.38,0.00,0.000,4,0.000,0.033,3463,3420,1887,0,0,0,0,0,0
$GC,8081,2.19,272.5,72.2,11.9,364,8091,0.05,2.40,0.00,0.000,6,0.061,0.031,3488,1941,1886,0,0,0,0,0,0
$GC,8347,2.19,272.5,40.1,11.6,389,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,3488,1941,1887,0,0,0,0,0,0
$GC,8653,2.19,272.5,6.3,11.4,430,8662,0.00,2.35,0.00,0.000,4,0.000,0.031,3488,3411,1887,0,0,0,0,0,0
$STATE,8683,end climb,SURFACE_DEPTH_REACHED
$STATE,8683,begin surface coast
$FINISH,2.0,0.980193
$STATE,8697,end surface coast,CONTROL_FINISHED_OK
$STATE,8697,begin surface
$SM_CCo,8723,142.82,0.536,0,0,1165,450.13
$SM_GC,1.14,0.00,0.00,142.82,0.000,0.000,0.536,482,1756,1165,-11.63,-0.40,450.13
$IRIDIUM_FIX,2234.68,-15801.07,040800,020226
$TT8_MAMPS,0.026078
$HUMID,57.40
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.40
$XPDR_PINGS,43
$24V_AH,23.4,1.365
$10V_AH,10.4,1.005
$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,28.350,112.950,331.150,142.825,0.000,24.245,41.276,146.190,10.750,0.000,15.308,887.532,5659.822,571.269,1645.074,438.669,33.344,1192.411,0.000,1648.504,0.000,0.534,0.000
$DEVICE_MAMPS,170.274,137.293,929.604,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,295.095,237.068,333.557,628.516,951.960,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356112
$DATA_FILE_SIZE,35158,436
$CAP_FILE_SIZE,91851,0
$CFSIZE,260165632,182054912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,073606,2240.764,-15758.674,31,1.5,31,10.0