version: 66.06
glider: 148
mission: 9
dive: 11
start: 11 10 110 8 13 25
data:
$ID,148
$MISSION,9
$DIVE,11
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$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,133
$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,-857683.81
$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,31
$R_STBD_OVSHOOT,91
$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
$GPS1,075928,2142.813,-15810.225,8,99.0,27,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.3
$GPS2,081231,2142.816,-15810.182,31,1.9,36,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.018,0.234
$KALMAN_X,-3930.8,18.6,-193.9,3542.9,87.2
$KALMAN_Y,-3212.4,-189.7,120.6,8695.4,-328.0
$MHEAD_RNG_PITCHd_Wd,354.6,116470,-19.8,-10.025
$D_GRID,400
$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,17,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-83.20,0.000,2,0.000,0.000,414,1802,3393,0,0,0,0,0,0
$GC,106,-1.38,-116.8,3.8,-7.0,11,131,11.73,2.38,-3.38,0.000,4,0.175,0.042,2550,3285,3585,0,0,0,0,0,0
$GC,185,-1.31,-116.8,26.6,-17.1,22,194,0.08,2.45,0.00,0.000,6,0.097,0.025,2570,1745,3585,0,0,0,0,0,0
$GC,457,-1.21,-116.8,72.6,-17.7,48,462,0.10,2.45,0.00,0.000,4,0.136,0.032,2591,3285,3586,0,0,0,0,0,0
$GC,481,-1.14,-116.8,78.2,-18.5,49,490,0.00,2.42,0.00,0.000,6,0.000,0.023,2591,1748,3586,0,0,0,0,0,0
$GC,741,-1.14,-116.8,116.6,-14.3,74,745,0.00,2.40,0.00,0.000,4,0.000,0.031,2591,3281,3586,0,0,0,0,0,0
$GC,762,-1.14,-116.8,119.7,-14.5,75,767,0.00,2.38,0.00,0.000,6,0.000,0.023,2591,1745,3586,0,0,0,0,0,0
$GC,1028,-1.26,-116.8,152.9,-11.8,100,1032,0.00,2.47,0.00,0.000,4,0.000,0.044,2591,180,3587,0,0,0,0,0,0
$GC,1081,-1.42,-116.8,159.9,-12.0,105,1086,0.17,2.35,0.00,0.000,6,0.055,0.021,2524,1722,3587,0,0,0,0,0,0
$GC,1342,-1.36,-116.8,195.5,-13.6,129,1344,0.17,0.00,0.00,0.000,6,0.105,0.000,2563,1725,3588,0,0,0,0,0,0
$GC,1588,-1.43,-116.8,222.5,-11.2,138,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1725,3588,0,0,0,0,0,0
$GC,1833,-1.52,-116.8,249.1,-11.0,144,1838,0.15,2.58,0.00,0.000,4,0.063,0.035,2503,3338,3588,0,0,0,0,0,0
$GC,1856,-1.52,-116.8,252.4,-13.0,144,1862,0.12,2.45,0.00,0.000,6,0.114,0.025,2528,1759,3588,0,0,0,0,0,0
$GC,2116,-1.52,-116.8,284.5,-12.1,151,2120,0.00,2.58,0.00,0.000,4,0.000,0.050,2529,170,3588,0,0,0,0,0,0
$GC,2168,-1.52,-116.8,290.8,-11.4,152,2172,0.00,2.45,0.00,0.000,6,0.000,0.023,2529,1761,3588,0,0,0,0,0,0
$GC,2445,-1.52,-116.8,323.6,-12.2,159,2449,0.00,2.47,0.00,0.000,4,0.000,0.044,2529,3325,3588,0,0,0,0,0,0
$GC,2487,-1.52,-116.8,328.8,-11.8,160,2492,0.00,2.45,0.00,0.000,6,0.000,0.027,2529,1758,3587,0,0,0,0,0,0
$GC,2775,-1.52,-116.8,360.5,-11.2,167,2780,0.00,2.62,0.00,0.000,4,0.000,0.056,2529,176,3587,0,0,0,0,0,0
$GC,2818,-1.60,-116.8,365.5,-12.3,168,2823,0.00,2.50,0.00,0.000,6,0.000,0.028,2529,1763,3587,0,0,0,0,0,0
$GC,3106,-1.60,-116.8,395.8,-10.6,175,3110,0.00,2.55,0.00,0.000,4,0.000,0.044,2529,3337,3584,0,0,0,0,0,0
$STATE,3141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3141,begin apogee
$GC,3149,-0.31,0.0,400.1,10.9,175,3245,1.12,0.00,92.93,0.780,6,0.084,0.000,2784,1646,3105,0,0,0,0,0,0
$STATE,3246,end apogee,CONTROL_FINISHED_OK
$STATE,3246,begin climb
$GC,3248,1.38,116.8,402.4,0.0,178,3356,1.52,2.70,94.85,0.768,4,0.029,0.052,3179,3224,2627,0,0,0,0,0,0
$GC,3371,1.17,222.0,404.4,4.0,180,3468,0.32,2.55,86.75,0.762,6,0.120,0.033,3115,1658,2200,0,0,0,0,0,0
$GC,3750,1.06,222.0,358.0,13.6,190,3756,0.12,2.58,0.00,0.000,4,0.140,0.071,3092,167,2192,0,0,0,0,0,0
$GC,3776,0.96,222.0,354.6,12.9,190,3781,0.10,2.35,0.00,0.000,6,0.139,0.028,3072,1638,2192,0,0,0,0,0,0
$GC,4035,0.98,239.4,330.1,9.0,197,4052,0.00,0.00,15.18,0.696,6,0.000,0.000,3072,1640,2128,0,0,0,0,0,0
$GC,4279,1.01,264.3,309.2,8.6,203,4303,0.00,0.00,21.90,0.712,6,0.000,0.000,3072,1641,2026,0,0,0,0,0,0
$GC,4524,1.07,264.3,283.0,11.3,209,4529,0.00,2.62,0.00,0.000,4,0.000,0.044,3072,3228,2021,0,0,0,0,0,0
$GC,4543,1.14,264.3,280.6,11.4,209,4548,0.15,2.60,0.00,0.000,6,0.067,0.031,3123,1626,2020,0,0,0,0,0,0
$GC,4808,1.06,264.3,247.7,12.8,216,4813,0.15,2.42,0.00,0.000,4,0.120,0.057,3093,176,2019,0,0,0,0,0,0
$GC,4898,1.06,264.3,235.7,14.5,218,4903,0.00,2.30,0.00,0.000,6,0.000,0.025,3093,1638,2018,0,0,0,0,0,0
$GC,5185,1.06,264.3,203.1,10.6,225,5189,0.00,2.45,0.00,0.000,4,0.000,0.050,3093,164,2016,0,0,0,0,0,0
$GC,5297,1.06,264.3,190.6,10.6,233,5301,0.00,2.28,0.00,0.000,6,0.000,0.024,3093,1623,2017,0,0,0,0,0,0
$GC,5558,1.06,264.3,162.3,12.1,257,5563,0.00,2.58,0.00,0.000,4,0.000,0.041,3093,3227,2016,0,0,0,0,0,0
$GC,5578,1.06,264.3,160.1,11.0,258,5587,0.00,2.60,0.00,0.000,6,0.000,0.029,3093,1618,2015,0,0,0,0,0,0
$GC,5844,1.13,264.3,129.3,10.6,283,5849,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,1618,2015,0,0,0,0,0,0
$GC,6107,1.28,299.3,106.7,8.0,308,6144,0.20,2.42,29.35,0.576,4,0.053,0.054,3167,178,1883,0,0,0,0,0,0
$GC,6428,1.16,299.3,68.5,13.6,338,6433,0.25,2.20,0.00,0.000,6,0.114,0.021,3115,1616,1880,0,0,0,0,0,0
$GC,6692,1.22,299.3,37.8,12.9,362,6700,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,1620,1879,0,0,0,0,0,0
$GC,6989,1.31,299.3,5.1,10.8,405,6999,0.12,2.60,0.00,0.000,4,0.071,0.036,3164,3222,1879,0,0,0,0,0,0
$STATE,7006,end climb,SURFACE_DEPTH_REACHED
$STATE,7006,begin surface coast
$FINISH,2.2,1.023472
$STATE,7014,end surface coast,CONTROL_FINISHED_OK
$STATE,7014,begin surface
$SM_CCo,7036,77.45,0.433,1,0,1269,450.13
$SM_GC,1.34,0.00,0.00,77.45,0.000,0.000,0.433,417,1724,1269,-11.24,-0.74,450.13
$IRIDIUM_FIX,2136.49,-15809.76,040200,080852
$TT8_MAMPS,0.026845
$HUMID,38.77
$INTERNAL_PRESSURE,9.79917
$TCM_TEMP,23.60
$XPDR_PINGS,7
$24V_AH,23.8,4.224
$10V_AH,10.5,3.878
$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,27.650,84.325,340.950,77.450,0.000,54.560,66.687,399.785,1.750,0.000,38.308,822.224,4228.745,459.270,1611.394,786.877,33.332,1078.314,0.000,1592.602,0.000,0.541,0.000
$DEVICE_MAMPS,174.876,70.564,780.039,433.355,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,276.153,261.413,342.144,527.401,932.682,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,32056,408
$CAP_FILE_SIZE,91003,0
$CFSIZE,260165632,171888640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101110,101324,2143.861,-15809.894,38,1.1,38,9.9