version: 66.06
glider: 148
mission: 9
dive: 6
start: 11 9 110 22 51 6
data:
$ID,148
$MISSION,9
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,250
$D_ABORT,350
$D_NO_BLEED,200
$D_BOOST,4
$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,83
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$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,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-857532.12
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2801
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,80
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3105
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$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,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,212138,2140.618,-15809.666,301,99.0,301,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.2
$GPS2,225014,2141.063,-15809.853,117,1.4,118,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,-0.046,0.230
$KALMAN_X,-217.6,-544.5,-147.3,925.1,368.8
$KALMAN_Y,-251.7,-75.5,58.6,2442.2,-186.5
$MHEAD_RNG_PITCHd_Wd,338.7,119600,-19.8,-10.040
$D_GRID,250
$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,18,-1.38,-116.8,0.0,0.0,0,118,0.00,0.00,-97.68,0.000,2,0.000,0.000,415,2102,3337,0,0,0,0,0,0
$GC,121,-1.38,-116.8,3.4,-6.2,13,146,11.32,2.15,-4.57,0.000,4,0.175,0.044,2490,3447,3582,0,0,0,0,0,0
$GC,234,-1.18,-116.8,31.4,-18.3,29,243,0.20,2.42,0.00,0.000,6,0.091,0.024,2538,1902,3583,0,0,0,0,0,0
$GC,500,-1.05,-116.8,70.3,-15.1,54,505,0.15,2.53,0.00,0.000,4,0.117,0.036,2569,318,3583,0,0,0,0,0,0
$GC,546,-1.05,-116.8,76.8,-12.1,57,555,0.00,2.40,0.00,0.000,6,0.000,0.022,2569,1863,3583,0,0,0,0,0,0
$GC,806,-1.05,-116.8,110.3,-14.7,82,810,0.00,2.47,0.00,0.000,4,0.000,0.044,2569,322,3583,0,0,0,0,0,0
$GC,940,-1.15,-116.8,131.5,-16.0,94,949,0.00,2.45,0.00,0.000,6,0.000,0.023,2569,1889,3584,0,0,0,0,0,0
$GC,1202,-1.22,-116.8,164.7,-12.4,119,1204,0.15,0.00,0.00,0.000,6,0.064,0.000,2511,1890,3584,0,0,0,0,0,0
$GC,1458,-1.15,-116.8,200.8,-13.0,143,1463,0.17,2.55,0.00,0.000,4,0.108,0.039,2549,315,3584,0,0,0,0,0,0
$GC,1616,-1.23,-116.8,219.4,-11.5,146,1621,0.00,2.42,0.00,0.000,6,0.000,0.024,2549,1885,3584,0,0,0,0,0,0
$GC,1881,-1.30,-116.8,247.5,-10.5,153,1883,0.12,0.00,0.00,0.000,6,0.073,0.000,2498,1886,3584,0,0,0,0,0,0
$STATE,1918,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1918,begin apogee
$GC,1923,-0.31,0.0,252.1,10.6,154,2017,1.05,0.00,90.93,0.636,6,0.091,0.000,2729,1888,3105,0,0,0,0,0,0
$STATE,2018,end apogee,CONTROL_FINISHED_OK
$STATE,2018,begin climb
$GC,2022,1.38,116.8,254.4,0.0,156,2125,1.58,2.67,92.68,0.628,4,0.056,0.044,3103,3472,2628,0,0,0,0,0,0
$GC,2361,1.41,200.9,245.4,5.2,163,2436,0.00,2.47,68.28,0.624,6,0.000,0.027,3103,1902,2285,0,0,0,0,0,0
$GC,2706,1.41,200.9,212.4,10.6,172,2710,0.00,2.60,0.00,0.000,4,0.000,0.051,3103,319,2280,0,0,0,0,0,0
$GC,2803,1.31,205.0,201.6,9.8,174,2812,0.00,2.50,3.83,0.376,6,0.000,0.024,3103,1910,2269,0,0,0,0,0,0
$GC,3071,1.33,218.9,175.7,9.2,197,3092,0.00,2.65,12.75,0.553,4,0.000,0.044,3104,329,2212,0,0,0,0,0,0
$GC,3185,1.23,218.9,164.0,10.9,208,3190,0.15,2.45,0.00,0.000,6,0.119,0.025,3072,1884,2210,0,0,0,0,0,0
$GC,3446,1.38,257.9,139.7,7.8,232,3488,0.12,2.65,32.72,0.570,4,0.074,0.048,3123,323,2052,0,0,0,0,0,0
$GC,3732,1.33,271.2,108.1,9.3,259,3750,0.15,2.42,11.77,0.510,6,0.118,0.023,3093,1873,1999,0,0,0,0,0,0
$GC,4005,1.47,297.6,86.3,8.5,285,4035,0.12,2.58,23.17,0.523,4,0.071,0.051,3143,314,1890,0,0,0,0,0,0
$GC,4135,1.41,297.6,71.5,10.9,297,4144,0.15,2.45,0.00,0.000,6,0.103,0.024,3109,1854,1888,0,0,0,0,0,0
$GC,4403,1.54,317.9,47.4,8.9,322,4429,0.10,2.55,16.92,0.484,4,0.083,0.042,3150,323,1809,0,0,0,0,0,0
$GC,4456,1.47,317.9,41.1,12.8,326,4461,0.15,2.45,0.00,0.000,6,0.117,0.024,3120,1879,1808,0,0,0,0,0,0
$GC,4750,1.54,317.9,9.6,10.5,365,4758,0.00,2.55,0.00,0.000,4,0.000,0.050,3119,322,1805,0,0,0,0,0,0
$STATE,4796,end climb,SURFACE_DEPTH_REACHED
$STATE,4796,begin surface coast
$FINISH,0.3,1.017401
$STATE,4847,end surface coast,CONTROL_FINISHED_OK
$STATE,4847,begin surface
$SM_CCo,4871,88.50,0.423,1,0,1066,500.17
$SM_GC,1.22,0.00,0.00,88.50,0.000,0.000,0.423,413,1922,1066,-10.98,0.62,500.17
$IRIDIUM_FIX,2131.85,-15810.62,030200,212105
$TT8_MAMPS,0.026845
$HUMID,38.54
$INTERNAL_PRESSURE,9.82846
$TCM_TEMP,23.70
$XPDR_PINGS,4
$24V_AH,23.9,3.730
$10V_AH,10.5,3.399
$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,26.675,54.900,353.050,88.500,0.000,27.151,36.217,291.224,1.000,0.000,119.526,732.231,2086.315,443.663,1742.591,581.849,33.334,1050.205,0.000,1643.111,0.000,0.539,0.000
$DEVICE_MAMPS,174.876,51.389,635.843,423.384,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,254.783,284.807,362.612,594.166,1050.291,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355968
$DATA_FILE_SIZE,28952,380
$CAP_FILE_SIZE,72362,0
$CFSIZE,260165632,172122112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101110,001438,2141.435,-15810.081,8,1.7,8,9.9