version: 66.06
glider: 148
mission: 9
dive: 10
start: 11 10 110 6 6 29
data:
$ID,148
$MISSION,9
$DIVE,10
$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,-857644.88
$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,34
$R_STBD_OVSHOOT,65
$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
$GPS1,055631,2142.225,-15810.639,39,1.5,40,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.6
$GPS2,060536,2142.195,-15810.738,13,1.6,29,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.121,0.201
$KALMAN_X,-3895.0,35.6,-346.4,2691.5,-667.1
$KALMAN_Y,-2767.5,-56.0,-204.6,7292.9,-300.5
$MHEAD_RNG_PITCHd_Wd,21.1,117751,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-82.70,0.000,2,0.000,0.000,412,1778,3362,0,0,0,0,0,0
$GC,107,-1.38,-116.8,3.6,-6.1,11,132,11.38,2.45,-3.92,0.000,4,0.163,0.041,2550,3304,3583,0,0,0,0,0,0
$GC,186,-1.31,-116.8,26.1,-17.9,22,195,0.08,2.47,0.00,0.000,6,0.097,0.024,2571,1745,3584,0,0,0,0,0,0
$GC,457,-1.31,-116.8,71.5,-16.6,48,462,0.00,2.47,0.00,0.000,4,0.000,0.034,2571,3308,3585,0,0,0,0,0,0
$GC,480,-1.23,-116.8,76.8,-17.9,49,489,0.00,2.45,0.00,0.000,6,0.000,0.023,2571,1753,3585,0,0,0,0,0,0
$GC,741,-1.23,-116.8,117.6,-14.8,74,745,0.00,2.50,0.00,0.000,4,0.000,0.042,2571,179,3586,0,0,0,0,0,0
$GC,772,-1.29,-116.8,121.6,-13.0,76,783,0.00,2.40,0.00,0.000,6,0.000,0.020,2571,1730,3586,0,0,0,0,0,0
$GC,1034,-1.36,-116.8,152.6,-12.4,101,1039,0.00,2.50,0.00,0.000,4,0.000,0.033,2571,3329,3587,0,0,0,0,0,0
$GC,1099,-1.48,-116.8,160.4,-11.2,107,1104,0.15,2.45,0.00,0.000,6,0.061,0.025,2513,1748,3587,0,0,0,0,0,0
$GC,1362,-1.48,-116.8,198.6,-13.9,131,1367,0.10,2.53,0.00,0.000,4,0.129,0.041,2533,180,3587,0,0,0,0,0,0
$GC,1453,-1.48,-116.8,210.8,-12.5,134,1457,0.00,2.40,0.00,0.000,6,0.000,0.022,2534,1748,3588,0,0,0,0,0,0
$GC,1739,-1.48,-116.8,244.0,-11.2,141,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1749,3588,0,0,0,0,0,0
$GC,1983,-1.48,-116.8,268.9,-9.9,147,1988,0.00,2.53,0.00,0.000,4,0.000,0.036,2533,3326,3588,0,0,0,0,0,0
$GC,2012,-1.48,-116.8,271.8,-9.9,147,2017,0.00,2.45,0.00,0.000,6,0.000,0.025,2533,1751,3588,0,0,0,0,0,0
$GC,2267,-1.48,-116.8,298.0,-10.5,154,2271,0.00,2.53,0.00,0.000,4,0.000,0.039,2534,3328,3588,0,0,0,0,0,0
$GC,2294,-1.48,-116.8,301.3,-12.0,154,2298,0.00,2.47,0.00,0.000,6,0.000,0.027,2533,1763,3588,0,0,0,0,0,0
$GC,2548,-1.48,-116.8,329.4,-11.4,161,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,1763,3587,0,0,0,0,0,0
$STATE,2749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2749,begin apogee
$GC,2756,-0.31,0.0,351.7,11.1,166,2853,1.12,0.00,92.88,0.742,6,0.078,0.000,2789,1631,3105,0,0,0,0,0,0
$STATE,2853,end apogee,CONTROL_FINISHED_OK
$STATE,2853,begin climb
$GC,2855,1.38,116.8,354.7,0.0,168,2961,1.50,2.50,94.38,0.732,4,0.029,0.064,3164,194,2628,0,0,0,0,0,0
$GC,3226,1.04,181.1,344.1,6.3,176,3288,0.38,2.30,53.47,0.723,6,0.127,0.026,3089,1644,2365,0,0,0,0,0,0
$GC,3544,1.07,207.5,318.1,8.5,184,3572,0.00,2.53,22.17,0.697,4,0.000,0.054,3089,192,2259,0,0,0,0,0,0
$GC,3753,0.97,207.5,294.6,10.8,188,3757,0.00,2.30,0.00,0.000,6,0.000,0.027,3089,1649,2254,0,0,0,0,0,0
$GC,4011,0.98,212.2,268.7,9.8,195,4021,0.00,2.47,4.38,0.483,4,0.000,0.052,3089,185,2239,0,0,0,0,0,0
$GC,4087,0.88,212.2,259.6,12.4,196,4092,0.17,2.33,0.00,0.000,6,0.123,0.025,3054,1650,2238,0,0,0,0,0,0
$GC,4343,0.99,234.5,236.6,8.8,203,4365,0.00,0.00,20.25,0.664,6,0.000,0.000,3054,1653,2149,0,0,0,0,0,0
$GC,4588,1.13,262.7,216.0,8.4,209,4620,0.22,2.45,24.45,0.660,4,0.051,0.049,3132,192,2033,0,0,0,0,0,0
$GC,4640,0.97,262.7,210.2,12.2,210,4645,0.28,2.30,0.00,0.000,6,0.110,0.034,3075,1644,2032,0,0,0,0,0,0
$GC,4908,1.06,272.7,186.7,9.5,227,4929,0.00,2.45,9.38,0.580,4,0.000,0.048,3075,187,1992,0,0,0,0,0,0
$GC,4981,1.06,272.7,178.9,10.3,234,4990,0.00,2.33,0.00,0.000,6,0.000,0.025,3075,1643,1991,0,0,0,0,0,0
$GC,5248,1.17,272.7,153.3,10.4,259,5254,0.17,2.58,0.00,0.000,4,0.058,0.040,3141,3235,1988,0,0,0,0,0,0
$GC,5268,1.17,272.7,150.3,11.3,260,5274,0.12,2.53,0.00,0.000,6,0.122,0.029,3116,1659,1987,0,0,0,0,0,0
$GC,5535,1.19,289.2,121.2,9.1,285,5556,0.00,2.45,15.00,0.568,4,0.000,0.045,3116,174,1925,0,0,0,0,0,0
$GC,5591,1.20,296.3,115.4,9.6,290,5604,0.00,2.30,7.88,0.507,6,0.000,0.021,3116,1634,1896,0,0,0,0,0,0
$GC,5863,1.29,312.5,89.4,9.1,315,5885,0.10,2.42,14.50,0.535,4,0.084,0.048,3160,164,1829,0,0,0,0,0,0
$GC,6040,1.20,312.5,67.8,12.5,331,6045,0.20,2.25,0.00,0.000,6,0.114,0.021,3120,1626,1828,0,0,0,0,0,0
$GC,6304,1.27,312.5,41.1,11.1,355,6309,0.00,2.53,0.00,0.000,4,0.000,0.035,3120,3226,1826,0,0,0,0,0,0
$GC,6323,1.36,312.5,39.1,10.8,356,6328,0.15,2.58,0.00,0.000,6,0.062,0.028,3176,1609,1825,0,0,0,0,0,0
$STATE,6581,end climb,SURFACE_DEPTH_REACHED
$STATE,6581,begin surface coast
$FINISH,0.5,1.023492
$STATE,6614,end surface coast,CONTROL_FINISHED_OK
$STATE,6614,begin surface
$SM_CCo,6634,69.30,0.426,1,0,1268,450.13
$SM_GC,1.32,0.00,0.00,69.30,0.000,0.000,0.426,415,1802,1268,-11.25,1.47,450.13
$IRIDIUM_FIX,2134.17,-15812.78,040200,040421
$TT8_MAMPS,0.026845
$HUMID,39.32
$INTERNAL_PRESSURE,9.79917
$TCM_TEMP,23.50
$XPDR_PINGS,3
$24V_AH,23.8,4.113
$10V_AH,10.5,3.782
$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,27.275,78.550,358.725,69.300,0.000,27.042,32.601,299.781,0.750,0.000,30.587,809.942,3747.144,451.878,1638.051,611.865,33.340,1091.474,0.000,1620.738,0.000,0.537,0.000
$DEVICE_MAMPS,162.604,66.729,742.456,426.452,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,268.230,262.282,339.748,524.991,928.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356008
$DATA_FILE_SIZE,32118,397
$CAP_FILE_SIZE,86924,0
$CFSIZE,260165632,171937792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101110,075928,2142.813,-15810.225,8,99.0,27,9.9