version: 66.06
glider: 146
mission: 9
dive: 4
start: 3 13 114 2 29 2
data:
$ID,146
$MISSION,9
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,100
$D_ABORT,150
$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,33
$T_MISSION,95
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$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,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-323160.91
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3075
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,76
$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,3190
$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,-29.187134
$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,10
$ALTIM_PULSE,8
$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,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,022355,2249.074,-15756.099,11,2.0,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.16
$_SM_ANGLEo,-69.3
$GPS2,022812,2249.077,-15756.127,16,1.5,33,10.1
$SPEED_LIMITS,0.144,0.261
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.116,-0.233
$KALMAN_X,-185.8,-145.5,-138.6,-461.5,-124.1
$KALMAN_Y,87.3,66.9,63.4,-600.1,57.4
$MHEAD_RNG_PITCHd_Wd,196.4,10038,-17.7,-10.101
$D_GRID,100
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-90.50,0.000,6,0.000,0.000,479,2192,3786,0,0,0,0,0,0
$GC,114,-1.28,-146.0,3.8,-9.7,12,132,11.55,2.45,0.00,0.000,4,0.130,0.035,2786,649,3787,0,0,0,0,0,0
$GC,292,-1.37,-146.0,34.8,-10.7,35,296,0.00,2.38,0.00,0.000,6,0.000,0.020,2786,2190,3786,0,0,0,0,0,0
$GC,560,-1.42,-146.0,61.6,-10.0,59,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2190,3786,0,0,0,0,0,0
$GC,821,-1.47,-146.0,88.7,-10.1,84,826,0.15,2.50,0.00,0.000,4,0.064,0.043,2732,644,3786,0,0,0,0,0,0
$GC,843,-1.47,-146.0,91.4,-11.9,85,849,0.00,2.40,0.00,0.000,6,0.000,0.019,2733,2220,3786,0,0,0,0,0,0
$STATE,911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,911,begin apogee
$GC,917,-0.31,0.0,100.5,13.2,92,1034,1.15,0.00,109.55,0.571,6,0.069,0.000,3003,2408,3189,0,0,0,0,0,0
$STATE,1034,end apogee,CONTROL_FINISHED_OK
$STATE,1034,begin climb
$GC,1037,1.28,146.0,104.8,0.0,104,1158,1.40,2.50,110.43,0.563,4,0.028,0.044,3369,3897,2593,0,0,0,0,0,0
$GC,1311,1.15,207.9,100.5,7.2,127,1369,0.20,2.38,49.28,0.550,6,0.107,0.021,3327,2371,2341,0,0,0,0,0,0
$GC,1629,1.12,227.0,73.9,9.2,156,1657,0.00,2.53,16.45,0.511,4,0.000,0.044,3327,3876,2263,0,0,0,0,0,0
$GC,1699,1.04,227.0,67.0,10.6,161,1704,0.12,2.35,0.00,0.000,6,0.116,0.022,3301,2369,2262,0,0,0,0,0,0
$GC,1965,1.06,240.3,42.4,9.5,185,1982,0.00,2.53,11.77,0.481,4,0.000,0.044,3301,3879,2209,0,0,0,0,0,0
$GC,2031,1.06,240.3,35.7,10.8,190,2035,0.00,2.33,0.00,0.000,6,0.000,0.021,3301,2384,2208,0,0,0,0,0,0
$GC,2345,1.08,257.2,4.6,9.3,233,2355,0.00,0.00,8.10,0.435,2,0.000,0.000,3301,2384,2176,0,0,0,0,0,0
$STATE,2356,end climb,SURFACE_DEPTH_REACHED
$STATE,2356,begin surface coast
$FINISH,-0.7,1.008085
$STATE,2412,end surface coast,CONTROL_FINISHED_OK
$STATE,2412,begin surface
$SM_CCo,2433,116.88,0.497,0,0,1559,400.08
$SM_GC,0.13,0.00,0.00,116.88,0.000,0.000,0.497,468,2197,1559,-11.99,-0.37,400.08
$IRIDIUM_FIX,2241.69,-15754.11,070603,020256
$TT8_MAMPS,0.025311
$HUMID,56.77
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.20
$XPDR_PINGS,2
$24V_AH,23.8,1.288
$10V_AH,10.5,1.022
$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,25.925,24.775,305.575,116.875,0.000,0.000,0.000,0.000,0.500,0.000,34.916,428.232,586.365,378.074,1171.570,76.448,31.417,771.658,0.000,1163.466,0.000,0.538,0.000
$DEVICE_MAMPS,130.390,52.923,571.415,497.016,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,160.208,205.744,247.821,519.819,990.785,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356092
$DATA_FILE_SIZE,19472,242
$CAP_FILE_SIZE,48990,0
$CFSIZE,260165632,179863552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130314,031219,2248.908,-15756.289,8,2.0,8,10.1