version: 66.06
glider: 146
mission: 9
dive: 10
start: 3 13 114 16 18 50
data:
$ID,146
$MISSION,9
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$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,200
$T_MISSION,440
$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,-323300.06
$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,45
$R_STBD_OVSHOOT,28
$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
$GPS1,161059,2245.230,-15800.021,85,1.4,85,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-67.1
$GPS2,161757,2245.266,-15800.087,8,3.7,27,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.102,-0.100
$KALMAN_X,-3698.5,-131.6,103.9,-3966.9,-887.6
$KALMAN_Y,2516.6,69.3,267.5,-10295.1,515.6
$MHEAD_RNG_PITCHd_Wd,124.1,515,-32.6,-10.000
$D_GRID,600
$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,-2.09,-44.5,0.0,0.0,0,96,0.00,0.00,-77.55,0.000,6,0.000,0.000,471,2196,3283,0,0,0,0,0,0
$GC,99,-2.15,-93.7,1.3,-2.6,10,125,10.80,2.60,-4.75,0.000,4,0.133,0.057,2599,642,3483,0,0,0,0,0,0
$GC,216,-2.28,-93.7,27.2,-21.4,26,226,0.00,2.50,0.00,0.000,6,0.000,0.020,2599,2227,3483,0,0,0,0,0,0
$GC,494,-2.41,-93.7,80.5,-19.4,52,499,0.20,2.60,0.00,0.000,4,0.055,0.041,2537,637,3484,0,0,0,0,0,0
$GC,515,-2.49,-93.7,85.3,-19.3,53,520,0.00,2.45,0.00,0.000,6,0.000,0.020,2536,2218,3483,0,0,0,0,0,0
$GC,783,-2.55,-93.7,138.5,-18.4,77,787,0.00,2.47,0.00,0.000,4,0.000,0.035,2537,3779,3484,0,0,0,0,0,0
$GC,793,-2.60,-93.7,141.9,-19.2,77,799,0.12,2.45,0.00,0.000,6,0.073,0.019,2494,2201,3484,0,0,0,0,0,0
$GC,1055,-2.60,-93.7,191.9,-19.4,102,1060,0.00,2.50,0.00,0.000,4,0.000,0.035,2493,3774,3485,0,0,0,0,0,0
$GC,1078,-2.60,-93.7,195.5,-19.5,103,1083,0.00,2.45,0.00,0.000,6,0.000,0.020,2493,2197,3485,0,0,0,0,0,0
$GC,1338,-2.60,-93.7,244.0,-17.8,110,1339,0.00,0.00,0.00,0.000,6,0.000,0.000,2493,2197,3485,0,0,0,0,0,0
$GC,1583,-2.65,-93.7,284.7,-17.0,116,1587,0.00,2.58,0.00,0.000,4,0.000,0.054,2493,3767,3485,0,0,0,0,0,0
$GC,1811,-2.65,-93.7,325.6,-17.1,121,1816,0.00,2.45,0.00,0.000,6,0.000,0.031,2493,2232,3485,0,0,0,0,0,0
$GC,2089,-2.70,-93.7,365.3,-13.9,128,2094,0.00,2.55,0.00,0.000,4,0.000,0.054,2493,3764,3484,0,0,0,0,0,0
$GC,2134,-2.70,-93.7,372.5,-16.0,129,2139,0.00,2.53,0.00,0.000,6,0.000,0.040,2493,2225,3484,0,0,0,0,0,0
$GC,2412,-2.76,-93.7,413.9,-15.1,136,2416,0.00,2.62,0.00,0.000,4,0.000,0.064,2493,3767,3483,0,0,0,0,0,0
$GC,2456,-2.81,-93.7,420.9,-15.4,137,2461,0.12,2.55,0.00,0.000,6,0.076,0.046,2453,2222,3483,0,0,0,0,0,0
$GC,2734,-2.81,-93.7,465.6,-15.9,144,2738,0.00,2.67,0.00,0.000,4,0.000,0.075,2453,3763,3481,0,0,0,0,0,0
$GC,2749,-2.81,-93.7,468.3,-15.5,144,2754,0.00,2.58,0.00,0.000,6,0.000,0.054,2453,2230,3481,0,0,0,0,0,0
$GC,3010,-2.81,-93.7,508.3,-15.2,151,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2453,2230,3479,0,0,0,0,0,0
$GC,3256,-2.81,-93.7,543.8,-14.4,157,3260,0.00,2.72,0.00,0.000,4,0.000,0.092,2453,3761,3477,0,0,0,0,0,0
$GC,3389,-2.81,-93.7,564.5,-15.9,160,3393,0.00,2.65,0.00,0.000,6,0.000,0.071,2453,2247,3476,0,0,0,0,0,0
$STATE,3665,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3665,begin apogee
$GC,3672,-0.31,0.0,602.4,13.2,167,3753,2.55,0.00,75.88,1.009,6,0.097,0.000,3003,2333,3100,0,0,0,0,0,0
$STATE,3754,end apogee,CONTROL_FINISHED_OK
$STATE,3754,begin climb
$GC,3756,2.15,93.7,603.0,0.0,169,3840,2.25,0.00,78.93,0.983,6,0.032,0.000,3546,2333,2718,0,0,0,0,0,0
$GC,4071,2.01,93.7,560.4,16.0,177,4077,0.17,2.85,0.00,0.000,4,0.149,0.082,3516,3937,2710,0,0,0,0,0,0
$GC,4112,1.86,93.7,554.3,14.9,178,4117,0.17,2.72,0.00,0.000,6,0.144,0.058,3483,2365,2709,0,0,0,0,0,0
$GC,4396,1.81,93.7,518.4,12.1,185,4401,0.00,2.75,0.00,0.000,4,0.000,0.067,3483,3939,2706,0,0,0,0,0,0
$GC,4653,1.70,93.7,485.4,12.6,190,4660,0.17,2.60,0.00,0.000,6,0.140,0.041,3450,2383,2703,0,0,0,0,0,0
$GC,4903,1.70,93.7,459.4,10.3,197,4908,0.00,2.67,0.00,0.000,4,0.000,0.067,3450,3942,2702,0,0,0,0,0,0
$GC,5144,1.67,93.7,431.5,11.7,202,5149,0.00,2.55,0.00,0.000,6,0.000,0.036,3450,2396,2701,0,0,0,0,0,0
$GC,5405,1.67,93.7,404.2,10.2,209,5409,0.00,2.88,0.00,0.000,4,0.000,0.087,3450,784,2700,0,0,0,0,0,0
$GC,5421,1.67,93.7,402.5,10.6,209,5425,0.00,2.70,0.00,0.000,6,0.000,0.038,3450,2423,2699,0,0,0,0,0,0
$GC,5681,1.67,93.7,375.7,10.3,216,5685,0.00,2.58,0.00,0.000,4,0.000,0.062,3450,3956,2698,0,0,0,0,0,0
$GC,5775,1.67,93.7,365.2,10.6,218,5779,0.00,2.50,0.00,0.000,6,0.000,0.035,3450,2403,2698,0,0,0,0,0,0
$GC,6049,1.67,95.0,338.5,9.8,225,6053,0.00,2.58,0.00,0.000,4,0.000,0.053,3450,3946,2697,0,0,0,0,0,0
$GC,6307,1.68,104.6,316.6,8.6,230,6320,0.00,2.45,6.62,0.711,6,0.000,0.036,3450,2426,2673,0,0,0,0,0,0
$GC,6601,1.74,117.1,293.3,8.1,238,6615,0.00,0.00,12.45,0.778,6,0.000,0.000,3450,2427,2621,0,0,0,0,0,0
$GC,6843,1.80,120.1,271.3,9.6,244,6852,0.00,2.58,3.92,0.528,4,0.000,0.053,3450,3943,2610,0,0,0,0,0,0
$GC,6904,1.80,120.1,264.8,11.4,245,6908,0.00,2.45,0.00,0.000,6,0.000,0.028,3450,2425,2609,0,0,0,0,0,0
$GC,7171,1.89,130.5,241.4,8.4,252,7190,0.15,2.78,11.00,0.723,4,0.178,0.056,3487,788,2565,0,0,0,0,0,0
$GC,7197,1.89,134.1,239.0,9.5,252,7206,0.00,2.70,4.35,0.532,6,0.000,0.029,3487,2446,2553,0,0,0,0,0,0
$GC,7451,1.89,134.1,210.8,10.7,258,7456,0.00,2.47,0.00,0.000,4,0.000,0.050,3487,3956,2551,0,0,0,0,0,0
$GC,7715,1.89,134.1,180.7,11.5,272,7721,0.00,2.45,0.00,0.000,6,0.000,0.025,3487,2417,2550,0,0,0,0,0,0
$GC,7978,1.93,134.9,154.0,9.9,297,7982,0.00,2.50,0.00,0.000,4,0.000,0.044,3487,3949,2550,0,0,0,0,0,0
$GC,8066,1.93,134.9,144.5,10.7,304,8071,0.00,2.40,0.00,0.000,6,0.000,0.023,3486,2429,2550,0,0,0,0,0,0
$GC,8330,1.99,140.6,117.9,9.1,328,8343,0.00,2.50,7.00,0.558,4,0.000,0.045,3487,3944,2525,0,0,0,0,0,0
$GC,8610,1.99,140.6,85.5,11.6,351,8616,0.00,2.35,0.00,0.000,6,0.000,0.024,3487,2445,2524,0,0,0,0,0,0
$GC,8880,2.09,166.1,66.3,6.2,376,8909,0.17,2.53,22.77,0.588,4,0.077,0.048,3530,3945,2420,0,0,0,0,0,0
$GC,9191,2.04,166.1,24.8,15.1,403,9200,0.00,2.35,0.00,0.000,6,0.000,0.023,3530,2464,2419,0,0,0,0,0,0
$STATE,9339,end climb,SURFACE_DEPTH_REACHED
$STATE,9339,begin surface coast
$FINISH,-0.4,1.023822
$STATE,9380,end surface coast,CONTROL_FINISHED_OK
$STATE,9380,begin surface
$SM_CCo,9402,185.82,0.535,0,0,1469,400.08
$SM_GC,0.42,0.00,0.00,185.82,0.000,0.000,0.535,470,2166,1469,-11.98,-1.24,400.08
$IRIDIUM_FIX,2237.01,-15812.78,070603,131321
$TT8_MAMPS,0.026078
$HUMID,59.25
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,21.80
$XPDR_PINGS,242
$24V_AH,23.4,1.961
$10V_AH,10.4,1.664
$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,29.375,108.375,222.925,185.825,0.000,29.891,35.578,212.465,60.500,0.000,29.439,950.940,6164.335,514.268,1862.307,517.226,33.333,1211.514,0.000,1841.861,0.000,0.535,0.000
$DEVICE_MAMPS,177.944,115.050,1008.605,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,291.808,244.968,312.780,478.552,912.106,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356120
$DATA_FILE_SIZE,35277,430
$CAP_FILE_SIZE,99008,0
$CFSIZE,260165632,179515392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130314,185951,2245.236,-15759.871,11,2.1,30,10.1