version: 66.06
glider: 148
mission: 9
dive: 9
start: 11 10 110 3 59 3
data:
$ID,148
$MISSION,9
$DIVE,9
$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,-857613.69
$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,2860
$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,1750
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,40
$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
$GPS1,034846,2141.911,-15810.665,13,99.0,33,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.4
$GPS2,035810,2141.848,-15810.800,9,2.3,28,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.159,0.173
$KALMAN_X,-3174.2,108.9,-137.9,1587.4,-996.6
$KALMAN_Y,-2211.7,85.0,-335.9,6086.1,-530.3
$MHEAD_RNG_PITCHd_Wd,32.6,118402,-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,-82.85,0.000,2,0.000,0.000,407,1875,3361,0,0,0,0,0,0
$GC,106,-1.38,-116.8,3.6,-6.5,11,131,11.50,2.78,-3.95,0.000,4,0.166,0.044,2549,172,3582,0,0,0,0,0,0
$GC,148,-0.52,-116.8,19.0,-36.0,16,157,0.85,2.50,0.00,0.000,6,0.086,0.022,2741,1753,3583,0,0,0,0,0,0
$GC,439,-0.97,-116.8,38.2,-5.3,52,444,0.35,2.50,0.00,0.000,4,0.033,0.031,2605,3335,3584,0,0,0,0,0,0
$GC,507,-1.11,-116.8,45.6,-11.1,57,516,0.00,2.50,0.00,0.000,6,0.000,0.025,2605,1755,3584,0,0,0,0,0,0
$GC,772,-1.17,-116.8,78.6,-13.0,82,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2604,1755,3584,0,0,0,0,0,0
$GC,1038,-1.29,-116.8,111.1,-10.6,107,1043,0.12,2.50,0.00,0.000,4,0.068,0.032,2552,3337,3585,0,0,0,0,0,0
$GC,1107,-1.29,-116.8,119.1,-11.3,113,1112,0.12,2.45,0.00,0.000,6,0.110,0.025,2578,1755,3585,0,0,0,0,0,0
$GC,1371,-1.39,-116.8,149.3,-11.5,137,1375,0.00,2.50,0.00,0.000,4,0.000,0.033,2578,3334,3586,0,0,0,0,0,0
$GC,1406,-1.51,-116.8,153.8,-11.7,140,1411,0.20,2.40,0.00,0.000,6,0.048,0.024,2497,1774,3586,0,0,0,0,0,0
$GC,1670,-1.41,-116.8,191.1,-12.4,164,1675,0.25,2.55,0.00,0.000,4,0.105,0.040,2553,172,3587,0,0,0,0,0,0
$GC,1700,-1.41,-116.8,195.4,-11.6,166,1706,0.00,2.50,0.00,0.000,6,0.000,0.021,2553,1795,3587,0,0,0,0,0,0
$GC,1953,-1.48,-116.8,221.3,-10.6,176,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2553,1795,3587,0,0,0,0,0,0
$GC,2196,-1.56,-116.8,246.2,-10.0,182,2201,0.15,2.42,0.00,0.000,4,0.063,0.035,2494,3330,3587,0,0,0,0,0,0
$GC,2220,-1.50,-116.8,249.3,-13.2,182,2225,0.17,2.45,0.00,0.000,6,0.107,0.025,2531,1768,3587,0,0,0,0,0,0
$GC,2480,-1.50,-116.8,279.1,-11.5,189,2481,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,1768,3587,0,0,0,0,0,0
$GC,2723,-1.50,-116.8,307.4,-11.6,195,2727,0.00,2.58,0.00,0.000,4,0.000,0.048,2531,173,3587,0,0,0,0,0,0
$GC,2736,-1.50,-116.8,309.3,-11.3,195,2741,0.00,2.50,0.00,0.000,6,0.000,0.025,2531,1774,3587,0,0,0,0,0,0
$GC,3004,-1.50,-116.8,336.3,-10.1,202,3008,0.00,2.50,0.00,0.000,4,0.000,0.041,2531,3330,3586,0,0,0,0,0,0
$GC,3024,-1.50,-116.8,338.6,-11.4,202,3028,0.00,2.42,0.00,0.000,6,0.000,0.028,2531,1786,3585,0,0,0,0,0,0
$STATE,3163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3163,begin apogee
$GC,3169,-0.31,0.0,353.3,10.3,206,3265,1.17,0.00,92.55,0.742,6,0.087,0.000,2792,1633,3105,0,0,0,0,0,0
$STATE,3266,end apogee,CONTROL_FINISHED_OK
$STATE,3266,begin climb
$GC,3268,1.38,116.8,355.6,0.0,208,3373,1.50,2.72,95.20,0.733,4,0.027,0.053,3168,3224,2627,0,0,0,0,0,0
$GC,3469,1.14,160.2,354.5,7.5,213,3513,0.30,2.55,36.17,0.716,6,0.129,0.033,3110,1672,2452,0,0,0,0,0,0
$GC,3791,1.03,177.3,326.0,9.1,221,3812,0.12,2.65,15.12,0.678,4,0.140,0.071,3086,167,2382,0,0,0,0,0,0
$GC,3966,0.89,177.3,306.7,10.3,224,3973,0.15,2.35,0.00,0.000,6,0.138,0.027,3056,1643,2378,0,0,0,0,0,0
$GC,4216,0.95,231.0,288.4,6.9,231,4263,0.00,0.00,45.35,0.711,6,0.000,0.000,3056,1645,2163,0,0,0,0,0,0
$GC,4502,1.07,261.9,265.8,8.3,238,4531,0.15,0.00,26.55,0.685,6,0.068,0.000,3108,1646,2036,0,0,0,0,0,0
$GC,4744,1.07,261.9,237.1,12.0,244,4749,0.00,2.45,0.00,0.000,4,0.000,0.052,3107,168,2031,0,0,0,0,0,0
$GC,4823,0.98,261.9,226.7,12.6,245,4828,0.15,2.33,0.00,0.000,6,0.119,0.026,3078,1646,2030,0,0,0,0,0,0
$GC,5074,1.05,261.9,199.3,11.1,251,5075,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1646,2028,0,0,0,0,0,0
$GC,5328,1.12,261.9,172.1,10.2,275,5333,0.12,2.42,0.00,0.000,4,0.076,0.049,3126,167,2026,0,0,0,0,0,0
$GC,5368,1.00,261.9,167.2,13.2,278,5375,0.22,2.33,0.00,0.000,6,0.114,0.025,3081,1643,2026,0,0,0,0,0,0
$GC,5635,1.10,270.8,143.4,9.5,303,5647,0.00,2.60,7.15,0.523,4,0.000,0.041,3081,3242,2000,0,0,0,0,0,0
$GC,5678,1.21,270.8,139.0,10.4,307,5683,0.17,2.58,0.00,0.000,6,0.060,0.029,3139,1623,1999,0,0,0,0,0,0
$GC,5942,1.22,272.7,108.7,9.9,331,5946,0.00,2.58,0.00,0.000,4,0.000,0.036,3140,3230,1998,0,0,0,0,0,0
$GC,5970,1.26,311.8,106.5,7.8,333,6011,0.00,2.53,35.97,0.583,6,0.000,0.029,3140,1633,1832,0,0,0,0,0,0
$GC,6265,1.26,311.8,76.1,10.2,361,6269,0.00,2.35,0.00,0.000,4,0.000,0.044,3139,176,1827,0,0,0,0,0,0
$GC,6379,1.26,311.8,62.1,13.8,371,6388,0.00,2.30,0.00,0.000,6,0.000,0.022,3139,1638,1826,0,0,0,0,0,0
$GC,6642,1.26,311.8,29.4,12.2,396,6650,0.00,2.40,0.00,0.000,4,0.000,0.044,3139,180,1826,0,0,0,0,0,0
$GC,6659,1.26,311.8,27.0,12.5,398,6668,0.00,2.28,0.00,0.000,6,0.000,0.022,3140,1633,1826,0,0,0,0,0,0
$STATE,6845,end climb,SURFACE_DEPTH_REACHED
$STATE,6845,begin surface coast
$FINISH,0.6,1.023467
$STATE,6886,end surface coast,CONTROL_FINISHED_OK
$STATE,6886,begin surface
$SM_CCo,6906,62.12,0.060,0,0,1270,450.13
$SM_GC,1.23,0.00,0.00,62.12,0.000,0.000,0.060,412,1778,1270,-11.26,0.79,450.13
$IRIDIUM_FIX,2131.85,-15810.62,040200,020235
$TT8_MAMPS,0.026845
$HUMID,40.15
$INTERNAL_PRESSURE,9.79917
$TCM_TEMP,23.00
$XPDR_PINGS,0
$24V_AH,23.8,4.013
$10V_AH,10.5,3.688
$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,28.725,79.800,354.075,62.125,0.000,29.334,46.843,308.670,0.000,0.000,30.498,846.024,3909.393,476.628,1667.167,638.349,33.323,1064.687,0.000,1658.401,0.000,0.539,0.000
$DEVICE_MAMPS,166.439,71.331,742.456,59.826,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.553,294.185,377.720,613.604,1085.222,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,35216,433
$CAP_FILE_SIZE,85676,0
$CFSIZE,260165632,171982848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,055631,2142.225,-15810.639,39,1.5,40,9.9