version: 66.06
glider: 148
mission: 9
dive: 8
start: 11 10 110 1 59 39
data:
$ID,148
$MISSION,9
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,350
$D_ABORT,420
$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,116
$T_MISSION,250
$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,450
$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,-857582.56
$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,2830
$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,1800
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,52
$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
$GPS1,014924,2141.608,-15810.446,42,1.7,59,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.2
$GPS2,015846,2141.533,-15810.605,11,2.6,30,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.124,0.200
$KALMAN_X,-2010.6,-86.2,90.1,733.1,-745.8
$KALMAN_Y,-1529.3,96.9,-218.9,4696.9,-656.3
$MHEAD_RNG_PITCHd_Wd,21.8,118928,-19.9,-10.057
$D_GRID,350
$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,-116.8,0.0,0.0,0,103,0.00,0.00,-82.88,0.000,2,0.000,0.000,414,1821,3337,0,0,0,0,0,0
$GC,106,-1.38,-116.8,3.3,-5.6,11,131,11.48,2.47,-4.53,0.000,4,0.173,0.041,2521,3365,3582,0,0,0,0,0,0
$GC,185,-1.25,-116.8,25.7,-19.1,22,194,0.12,2.50,0.00,0.000,6,0.094,0.024,2552,1788,3583,0,0,0,0,0,0
$GC,457,-1.15,-116.8,70.5,-15.4,48,462,0.12,2.50,0.00,0.000,4,0.123,0.047,2577,222,3584,0,0,0,0,0,0
$GC,479,-1.08,-116.8,74.1,-15.5,49,483,0.00,2.40,0.00,0.000,6,0.000,0.021,2578,1797,3584,0,0,0,0,0,0
$GC,746,-1.08,-116.8,109.3,-11.7,73,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1798,3584,0,0,0,0,0,0
$GC,1008,-1.17,-116.8,138.1,-10.5,98,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1798,3585,0,0,0,0,0,0
$GC,1261,-1.29,-116.8,164.0,-10.3,122,1266,0.12,2.47,0.00,0.000,4,0.071,0.035,2524,3371,3585,0,0,0,0,0,0
$GC,1331,-1.29,-116.8,173.2,-13.6,128,1338,0.12,2.45,0.00,0.000,6,0.115,0.024,2550,1798,3585,0,0,0,0,0,0
$GC,1592,-1.36,-116.8,205.4,-11.8,150,1596,0.00,2.50,0.00,0.000,4,0.000,0.033,2550,3373,3585,0,0,0,0,0,0
$GC,1610,-1.36,-116.8,208.0,-12.7,150,1614,0.00,2.42,0.00,0.000,6,0.000,0.023,2550,1801,3585,0,0,0,0,0,0
$GC,1874,-1.43,-116.8,236.3,-10.5,157,1879,0.15,2.53,0.00,0.000,4,0.063,0.035,2491,3378,3585,0,0,0,0,0,0
$GC,1902,-1.32,-116.8,240.0,-12.9,157,1908,0.22,2.42,0.00,0.000,6,0.103,0.024,2539,1811,3585,0,0,0,0,0,0
$GC,2159,-1.38,-116.8,265.6,-9.8,164,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2539,1811,3585,0,0,0,0,0,0
$GC,2402,-1.45,-116.8,289.1,-9.7,170,2407,0.10,2.58,0.00,0.000,4,0.085,0.047,2495,224,3584,0,0,0,0,0,0
$GC,2481,-1.45,-116.8,299.3,-13.1,171,2485,0.00,2.45,0.00,0.000,6,0.000,0.025,2495,1803,3584,0,0,0,0,0,0
$GC,2732,-1.45,-116.8,329.0,-12.0,177,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2495,1804,3583,0,0,0,0,0,0
$STATE,2931,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2931,begin apogee
$GC,2937,-0.31,0.0,353.9,12.2,182,3032,1.17,0.00,91.88,0.744,6,0.088,0.000,2758,1685,3104,0,0,0,0,0,0
$STATE,3033,end apogee,CONTROL_FINISHED_OK
$STATE,3033,begin climb
$GC,3035,1.38,116.8,356.6,0.0,184,3140,1.55,2.60,94.53,0.732,4,0.038,0.063,3135,198,2628,0,0,0,0,0,0
$GC,3155,1.21,250.5,359.8,2.3,187,3274,0.20,2.38,109.88,0.731,6,0.128,0.026,3097,1697,2082,0,0,0,0,0,0
$GC,3552,1.21,250.5,318.5,11.4,197,3556,0.00,2.53,0.00,0.000,4,0.000,0.054,3096,200,2074,0,0,0,0,0,0
$GC,3594,1.15,250.5,312.9,13.3,198,3599,0.00,2.38,0.00,0.000,6,0.000,0.028,3096,1695,2073,0,0,0,0,0,0
$GC,3882,1.15,250.5,278.8,12.0,205,3887,0.00,2.53,0.00,0.000,4,0.000,0.055,3096,200,2071,0,0,0,0,0,0
$GC,3989,1.08,250.5,264.0,13.3,207,3994,0.15,2.38,0.00,0.000,6,0.130,0.026,3068,1697,2069,0,0,0,0,0,0
$GC,4259,1.15,250.5,235.0,10.5,214,4263,0.00,2.50,0.00,0.000,4,0.000,0.057,3068,190,2067,0,0,0,0,0,0
$GC,4278,1.17,270.4,233.0,8.9,214,4300,0.00,2.35,15.62,0.650,6,0.000,0.033,3068,1690,2002,0,0,0,0,0,0
$GC,4544,1.27,271.1,206.7,10.0,221,4546,0.15,0.00,0.00,0.000,6,0.065,0.000,3125,1690,1998,0,0,0,0,0,0
$GC,4796,1.27,271.1,174.2,12.7,239,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1690,1996,0,0,0,0,0,0
$GC,5053,1.27,273.0,146.8,9.9,263,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,1690,1995,0,0,0,0,0,0
$GC,5315,1.32,311.6,121.4,7.8,288,5357,0.00,2.53,35.00,0.595,4,0.000,0.048,3126,187,1833,0,0,0,0,0,0
$GC,5444,1.32,311.6,106.2,12.8,300,5453,0.00,2.38,0.00,0.000,6,0.000,0.030,3125,1684,1830,0,0,0,0,0,0
$GC,5711,1.32,311.6,76.8,11.7,325,5716,0.00,2.45,0.00,0.000,4,0.000,0.045,3125,190,1828,0,0,0,0,0,0
$GC,5818,1.32,311.6,63.2,11.8,334,5822,0.00,2.30,0.00,0.000,6,0.000,0.024,3125,1682,1828,0,0,0,0,0,0
$GC,6086,1.38,311.6,37.3,11.0,358,6091,0.00,2.53,0.00,0.000,4,0.000,0.038,3125,3276,1827,0,0,0,0,0,0
$GC,6129,1.50,311.6,31.8,10.9,361,6138,0.08,2.53,0.00,0.000,6,0.039,0.028,3170,1699,1826,0,0,0,0,0,0
$STATE,6345,end climb,SURFACE_DEPTH_REACHED
$STATE,6345,begin surface coast
$FINISH,0.4,1.023451
$STATE,6378,end surface coast,CONTROL_FINISHED_OK
$STATE,6378,begin surface
$SM_CCo,6398,68.78,0.429,1,0,1269,450.13
$SM_GC,1.33,0.00,0.00,68.78,0.000,0.000,0.429,408,1875,1269,-11.15,2.12,450.13
$IRIDIUM_FIX,2131.85,-15811.49,040200,000054
$TT8_MAMPS,0.026845
$HUMID,40.35
$INTERNAL_PRESSURE,9.80893
$TCM_TEMP,22.90
$XPDR_PINGS,5
$24V_AH,23.8,3.919
$10V_AH,10.5,3.586
$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,26.850,64.325,346.900,68.775,0.000,27.103,33.880,329.532,1.250,0.000,32.425,774.970,3660.996,432.109,1550.066,625.602,33.326,1003.712,0.000,1541.019,0.000,0.539,0.000
$DEVICE_MAMPS,172.575,67.496,743.990,428.753,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,269.837,269.296,349.420,545.395,964.216,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,32078,400
$CAP_FILE_SIZE,77895,0
$CFSIZE,260165632,172032000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101110,034846,2141.911,-15810.665,13,99.0,33,9.9