version: 66.06
glider: 146
mission: 9
dive: 6
start: 3 13 114 4 37 53
data:
$ID,146
$MISSION,9
$DIVE,6
$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,-323190.34
$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,41
$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,3100
$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
$GPS1,043130,2248.594,-15756.603,41,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-69.9
$GPS2,043700,2248.624,-15756.645,10,1.7,10,10.1
$SPEED_LIMITS,0.144,0.261
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.154,-0.210
$KALMAN_X,-220.7,-209.3,-171.1,-1218.6,24.9
$KALMAN_Y,400.6,217.0,74.8,-1916.4,146.5
$MHEAD_RNG_PITCHd_Wd,206.1,8825,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.28,-146.0,0.0,0.0,0,112,0.00,0.00,-87.40,0.000,6,0.000,0.000,466,2245,3696,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.3,-11.3,12,132,11.68,2.58,0.00,0.000,4,0.131,0.035,2787,638,3697,0,0,0,0,0,0
$GC,302,-1.35,-146.0,36.5,-9.8,35,306,0.00,2.42,0.00,0.000,6,0.000,0.021,2787,2204,3697,0,0,0,0,0,0
$GC,570,-1.39,-146.0,62.5,-9.6,59,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2204,3696,0,0,0,0,0,0
$GC,832,-1.43,-146.0,89.2,-9.9,84,837,0.10,2.55,0.00,0.000,4,0.084,0.044,2745,636,3697,0,0,0,0,0,0
$GC,877,-1.43,-146.0,93.8,-11.9,87,881,0.00,2.42,0.00,0.000,6,0.000,0.026,2745,2211,3697,0,0,0,0,0,0
$GC,1143,-1.43,-146.0,125.0,-10.2,111,1148,0.00,2.53,0.00,0.000,4,0.000,0.044,2745,643,3697,0,0,0,0,0,0
$GC,1200,-1.43,-146.0,130.8,-10.2,115,1204,0.00,2.38,0.00,0.000,6,0.000,0.020,2745,2190,3697,0,0,0,0,0,0
$GC,1467,-1.43,-146.0,155.6,-8.3,139,1471,0.00,2.53,0.00,0.000,4,0.000,0.040,2745,3776,3696,0,0,0,0,0,0
$GC,1488,-1.43,-146.0,158.1,-9.1,140,1494,0.00,2.45,0.00,0.000,6,0.000,0.021,2745,2189,3696,0,0,0,0,0,0
$GC,1752,-1.43,-146.0,180.7,-8.8,165,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,2189,3696,0,0,0,0,0,0
$STATE,1984,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1984,begin apogee
$GC,1990,-0.31,0.0,200.3,8.4,187,2106,1.12,0.00,111.95,0.643,6,0.066,0.000,3008,2395,3100,0,0,0,0,0,0
$STATE,2106,end apogee,CONTROL_FINISHED_OK
$STATE,2106,begin climb
$GC,2110,1.28,146.0,202.4,0.0,190,2233,1.40,2.70,113.18,0.631,4,0.026,0.045,3370,800,2503,0,0,0,0,0,0
$GC,2245,1.08,167.7,198.4,9.1,193,2270,0.28,2.42,18.23,0.586,6,0.110,0.025,3314,2332,2417,0,0,0,0,0,0
$GC,2532,0.99,167.7,169.0,10.1,219,2537,0.10,2.65,0.00,0.000,4,0.130,0.054,3292,3929,2412,0,0,0,0,0,0
$GC,2649,0.93,167.7,157.1,10.6,228,2658,0.00,2.45,0.00,0.000,6,0.000,0.025,3292,2393,2411,0,0,0,0,0,0
$GC,2915,0.96,195.3,132.4,8.8,253,2944,0.00,2.65,23.67,0.579,4,0.000,0.044,3292,790,2301,0,0,0,0,0,0
$GC,2956,1.00,227.2,128.5,8.6,256,2994,0.00,2.53,27.17,0.574,6,0.000,0.024,3292,2390,2172,0,0,0,0,0,0
$GC,3248,1.02,247.9,100.7,9.1,283,3268,0.00,0.00,17.60,0.548,6,0.000,0.000,3292,2390,2089,0,0,0,0,0,0
$GC,3526,1.05,267.0,77.3,9.2,309,3554,0.00,2.65,16.85,0.533,4,0.000,0.040,3291,794,2009,0,0,0,0,0,0
$GC,3571,1.07,286.1,73.1,9.2,312,3600,0.00,2.47,17.23,0.528,6,0.000,0.030,3292,2386,1932,0,0,0,0,0,0
$GC,3855,1.07,286.1,43.2,11.5,338,3859,0.00,2.47,0.00,0.000,4,0.000,0.042,3292,3924,1929,0,0,0,0,0,0
$GC,3888,1.07,286.1,39.0,13.1,340,3893,0.00,2.42,0.00,0.000,6,0.000,0.022,3292,2370,1928,0,0,0,0,0,0
$STATE,4183,end climb,SURFACE_DEPTH_REACHED
$STATE,4183,begin surface coast
$FINISH,-0.7,1.023742
$STATE,4226,end surface coast,CONTROL_FINISHED_OK
$STATE,4226,begin surface
$SM_CCo,4248,90.05,0.505,0,0,1469,400.08
$SM_GC,0.07,0.00,0.00,90.05,0.000,0.000,0.505,468,2181,1469,-11.99,-0.82,400.08
$IRIDIUM_FIX,2239.35,-15757.16,070603,030342
$TT8_MAMPS,0.026078
$HUMID,58.86
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,23.20
$XPDR_PINGS,8
$24V_AH,23.7,1.456
$10V_AH,10.5,1.220
$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,26.050,45.750,345.875,90.050,0.000,28.407,34.260,162.844,2.000,0.000,11.946,696.626,1577.475,450.473,1563.634,389.793,33.313,931.855,0.000,1580.679,0.000,0.537,0.000
$DEVICE_MAMPS,131.157,53.690,642.746,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,259.934,305.644,388.470,638.915,1217.834,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356120
$DATA_FILE_SIZE,32102,386
$CAP_FILE_SIZE,56712,0
$CFSIZE,260165632,179777536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130314,055121,2248.285,-15757.053,9,99.0,29,10.1