version: 66.06
glider: 146
mission: 9
dive: 5
start: 3 13 114 3 18 28
data:
$ID,146
$MISSION,9
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,200
$D_ABORT,350
$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,66
$T_MISSION,140
$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,-323177.78
$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,47
$R_STBD_OVSHOOT,79
$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
$GPS1,031219,2248.908,-15756.289,8,2.0,8,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-70.4
$GPS2,031736,2248.923,-15756.324,9,1.6,14,10.1
$SPEED_LIMITS,0.144,0.261
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.135,-0.223
$KALMAN_X,-238.3,-181.7,-161.0,-689.8,-135.5
$KALMAN_Y,162.3,119.1,96.5,-1046.9,105.1
$MHEAD_RNG_PITCHd_Wd,201.2,9602,-17.7,-10.101
$D_GRID,200
$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,16,-1.28,-146.0,0.0,0.0,0,112,0.00,0.00,-89.82,0.000,6,0.000,0.000,468,2198,3784,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.4,-11.6,12,132,11.75,2.50,0.00,0.000,4,0.132,0.033,2788,635,3786,0,0,0,0,0,0
$GC,302,-1.37,-146.0,37.1,-10.6,35,306,0.00,2.38,0.00,0.000,6,0.000,0.020,2787,2176,3786,0,0,0,0,0,0
$GC,569,-1.41,-146.0,65.2,-10.7,59,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2176,3785,0,0,0,0,0,0
$GC,831,-1.46,-146.0,92.9,-10.0,84,833,0.12,0.00,0.00,0.000,6,0.071,0.000,2740,2176,3785,0,0,0,0,0,0
$GC,1085,-1.46,-146.0,123.9,-11.8,108,1089,0.00,2.50,0.00,0.000,4,0.000,0.044,2739,639,3785,0,0,0,0,0,0
$GC,1141,-1.46,-146.0,130.5,-11.2,112,1151,0.00,2.42,0.00,0.000,6,0.000,0.025,2739,2199,3785,0,0,0,0,0,0
$GC,1403,-1.46,-146.0,159.3,-10.4,137,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2199,3785,0,0,0,0,0,0
$GC,1657,-1.46,-146.0,185.7,-10.4,161,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2199,3784,0,0,0,0,0,0
$STATE,1807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1807,begin apogee
$GC,1813,-0.31,0.0,200.7,9.9,175,1928,1.15,0.00,110.93,0.642,6,0.067,0.000,3007,2407,3190,0,0,0,0,0,0
$STATE,1929,end apogee,CONTROL_FINISHED_OK
$STATE,1929,begin climb
$GC,1932,1.28,146.0,204.2,0.0,178,2052,1.42,2.47,112.70,0.634,4,0.025,0.054,3373,3897,2593,0,0,0,0,0,0
$GC,2097,1.02,152.3,200.7,9.8,182,2111,0.38,2.40,6.38,0.489,6,0.096,0.021,3296,2366,2568,0,0,0,0,0,0
$GC,2373,1.01,196.4,177.6,8.0,206,2417,0.00,2.58,36.03,0.605,4,0.000,0.051,3296,3890,2388,0,0,0,0,0,0
$GC,2538,0.95,196.4,161.7,11.0,220,2543,0.00,2.35,0.00,0.000,6,0.000,0.024,3296,2397,2385,0,0,0,0,0,0
$GC,2801,0.98,228.6,138.7,8.6,244,2839,0.00,2.53,27.02,0.582,4,0.000,0.053,3296,3887,2257,0,0,0,0,0,0
$GC,2899,0.98,228.6,129.3,10.6,252,2903,0.00,2.35,0.00,0.000,6,0.000,0.025,3296,2396,2255,0,0,0,0,0,0
$GC,3161,1.02,259.5,105.4,8.7,276,3199,0.00,2.67,25.95,0.561,4,0.000,0.044,3296,796,2129,0,0,0,0,0,0
$GC,3240,1.02,259.5,97.5,10.3,282,3250,0.00,2.47,0.00,0.000,6,0.000,0.030,3296,2361,2127,0,0,0,0,0,0
$GC,3508,1.03,265.2,71.5,9.8,307,3517,0.00,0.00,5.57,0.432,6,0.000,0.000,3296,2361,2108,0,0,0,0,0,0
$GC,3774,1.03,265.2,43.9,10.8,332,3778,0.00,2.53,0.00,0.000,4,0.000,0.043,3296,3932,2107,0,0,0,0,0,0
$GC,3821,1.03,265.2,37.7,11.7,335,3831,0.00,2.42,0.00,0.000,6,0.000,0.022,3296,2388,2106,0,0,0,0,0,0
$GC,4132,1.03,265.2,4.3,11.5,378,4141,0.00,2.60,0.00,0.000,4,0.000,0.044,3296,797,2105,0,0,0,0,0,0
$STATE,4149,end climb,SURFACE_DEPTH_REACHED
$STATE,4149,begin surface coast
$FINISH,0.1,1.023731
$STATE,4172,end surface coast,CONTROL_FINISHED_OK
$STATE,4172,begin surface
$SM_CCo,4195,105.12,0.507,0,0,1559,400.08
$SM_GC,0.18,0.00,0.00,105.12,0.000,0.000,0.507,466,2244,1559,-12.00,0.96,400.08
$IRIDIUM_FIX,2239.35,-15754.99,070603,020220
$TT8_MAMPS,0.025311
$HUMID,58.46
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.30
$XPDR_PINGS,8
$24V_AH,23.7,1.371
$10V_AH,10.5,1.120
$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,26.050,39.625,324.575,105.125,0.000,25.518,44.060,146.732,2.000,0.000,16.265,683.545,1557.010,466.075,1555.845,367.396,32.330,937.760,0.000,1572.753,0.000,0.537,0.000
$DEVICE_MAMPS,131.924,53.690,641.979,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,257.770,304.894,387.025,639.055,1217.921,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,32035,383
$CAP_FILE_SIZE,53689,0
$CFSIZE,260165632,179814400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130314,043130,2248.594,-15756.603,41,1.1,41,10.1