version: 66.06
glider: 148
mission: 11
dive: 23
start: 5 24 112 2 9 28
data:
$ID,148
$MISSION,11
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,440
$D_NO_BLEED,200
$D_BOOST,0
$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,100
$T_MISSION,240
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52645
$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,380
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-897122.38
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2950
$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,1850
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2850
$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,-11.834597
$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,0.004341084
$SEABIRD_T_H,0.00063239998
$SEABIRD_T_I,2.5339032e-05
$SEABIRD_T_J,2.8251138e-06
$SEABIRD_C_G,-9.8402824
$SEABIRD_C_H,1.0914109
$SEABIRD_C_I,9.7469172e-05
$SEABIRD_C_J,8.7214314e-05
$GPS1,015513,2234.278,-15812.058,12,1.7,30,10.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.5
$GPS2,020836,2234.291,-15812.185,32,1.2,36,10.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.246,-0.084
$KALMAN_X,-43723.0,5135.6,810.6,17582.5,-3823.1
$KALMAN_Y,-31525.0,3098.3,587.2,8971.8,-1731.8
$MHEAD_RNG_PITCHd_Wd,98.8,28748,-17.5,-10.000
$D_GRID,300
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.27,-146.0,0.0,0.0,0,94,0.00,0.00,-74.47,0.000,2,0.000,0.000,414,1832,3279,0,0,0,0,0,0
$GC,97,-1.27,-146.0,3.7,-6.9,10,122,12.00,2.60,-2.95,0.000,4,0.157,0.036,2665,3446,3449,0,0,0,0,0,0
$GC,132,0.55,-146.0,19.0,-40.9,14,141,1.98,2.60,0.00,0.000,6,0.127,0.028,3062,1851,3449,0,0,0,0,0,0
$GC,406,0.82,-146.0,68.6,-15.2,41,412,0.25,2.58,0.00,0.000,4,0.104,0.039,3119,267,3451,0,0,0,0,0,0
$GC,484,0.82,-146.0,79.7,-11.1,47,493,0.00,2.50,0.00,0.000,6,0.000,0.021,3119,1847,3451,0,0,0,0,0,0
$GC,747,0.89,-146.0,112.4,-13.1,72,752,0.10,2.60,0.00,0.000,4,0.133,0.042,3139,269,3451,0,0,0,0,0,0
$GC,799,0.81,-146.0,119.6,-12.7,76,809,0.00,2.47,0.00,0.000,6,0.000,0.021,3140,1837,3451,0,0,0,0,0,0
$GC,1062,0.81,-146.0,153.7,-13.0,101,1066,0.00,2.58,0.00,0.000,4,0.000,0.042,3139,261,3451,0,0,0,0,0,0
$GC,1189,0.71,-146.0,169.8,-11.5,113,1194,0.15,2.40,0.00,0.000,6,0.057,0.021,3075,1818,3451,0,0,0,0,0,0
$GC,1450,0.85,-146.0,206.5,-14.3,134,1455,0.25,2.53,0.00,0.000,4,0.093,0.040,3135,269,3451,0,0,0,0,0,0
$GC,1556,0.76,-146.0,216.5,-8.1,136,1561,0.00,2.38,0.00,0.000,6,0.000,0.020,3135,1799,3452,0,0,0,0,0,0
$GC,1830,0.66,-146.0,233.6,-5.9,143,1835,0.17,2.53,0.00,0.000,4,0.051,0.044,3066,264,3451,0,0,0,0,0,0
$GC,1860,0.80,-146.0,236.5,-10.3,143,1866,0.25,2.35,0.00,0.000,6,0.097,0.021,3120,1790,3452,0,0,0,0,0,0
$GC,2116,0.73,-146.0,257.5,-8.1,150,2121,0.00,2.50,0.00,0.000,4,0.000,0.044,3119,261,3452,0,0,0,0,0,0
$GC,2202,0.62,-146.0,265.0,-8.3,151,2208,0.30,2.33,0.00,0.000,6,0.018,0.021,3058,1766,3451,0,0,0,0,0,0
$GC,2452,0.71,-146.0,289.7,-9.6,158,2457,0.20,2.47,0.00,0.000,4,0.097,0.044,3102,269,3452,0,0,0,0,0,0
$GC,2540,0.64,-146.0,297.1,-8.6,159,2546,0.00,2.30,0.00,0.000,6,0.000,0.023,3102,1745,3452,0,0,0,0,0,0
$STATE,2584,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2585,begin apogee
$GC,2591,-0.31,0.0,300.5,7.1,161,2710,0.88,0.00,115.85,0.661,6,0.021,0.000,2844,2000,2849,0,0,0,0,0,0
$STATE,2711,end apogee,CONTROL_FINISHED_OK
$STATE,2711,begin climb
$GC,2713,1.27,146.0,318.3,0.0,164,2841,1.80,2.42,118.90,0.659,4,0.107,0.029,3218,3481,2253,0,0,0,0,0,0
$GC,3007,2.52,249.1,304.5,5.2,170,3107,1.23,2.50,87.43,0.654,6,0.061,0.029,3499,1950,1832,0,0,0,0,0,0
$GC,3350,2.77,283.9,277.1,8.4,179,3387,0.22,2.75,29.98,0.622,4,0.038,0.055,3594,380,1691,0,0,0,0,0,0
$GC,3541,2.77,283.9,250.1,12.9,183,3550,1.55,2.35,0.00,0.000,6,0.012,0.026,3554,1849,1690,5,0,0,0,0,0
$GC,3825,2.87,284.8,221.6,10.0,190,3829,0.00,2.50,0.00,0.000,4,0.000,0.048,3554,369,1686,0,0,0,0,0,0
$GC,4077,2.95,284.8,193.5,10.3,197,4086,1.95,2.35,0.00,0.000,6,0.006,0.024,3612,1846,1685,6,0,0,0,0,0
$GC,4351,2.95,284.8,163.3,10.5,223,4355,0.00,2.47,0.00,0.000,4,0.000,0.046,3613,364,1683,0,0,0,0,0,0
$GC,4526,2.87,284.8,140.6,13.5,240,4539,1.10,2.30,0.00,0.000,6,0.014,0.024,3575,1817,1683,3,0,0,0,0,0
$GC,4794,3.00,314.2,115.6,8.6,265,4828,0.12,2.47,25.65,0.526,4,0.064,0.050,3631,375,1567,0,0,0,0,0,0
$GC,5087,2.92,314.2,77.8,15.1,293,5099,0.75,2.22,0.00,0.000,6,0.023,0.023,3585,1796,1567,2,0,0,0,0,0
$GC,5354,3.02,314.2,47.6,10.9,318,5358,0.00,2.35,0.00,0.000,4,0.000,0.044,3584,370,1565,0,0,0,0,0,0
$GC,5499,3.02,314.2,30.9,10.9,331,5503,0.00,2.20,0.00,0.000,6,0.000,0.023,3584,1771,1565,0,0,0,0,0,0
$STATE,5729,end climb,SURFACE_DEPTH_REACHED
$STATE,5730,begin surface coast
$FINISH,0.5,1.000076
$STATE,5774,end surface coast,CONTROL_FINISHED_OK
$STATE,5775,begin surface
$SM_CCo,5798,36.53,0.440,0,0,1299,380.21
$SM_GC,1.79,0.00,0.00,36.53,0.000,0.000,0.440,411,1776,1299,-11.68,-2.09,380.21
$IRIDIUM_FIX,2227.67,-15811.48,180801,020240
$TT8_MAMPS,0.026845
$HUMID,61.22
$INTERNAL_PRESSURE,9.39876
$TCM_TEMP,22.60
$XPDR_PINGS,22
$24V_AH,23.6,3.475
$10V_AH,9.9,2.476
$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,38.075,68.875,377.800,36.525,0.000,99.755,100.015,323.240,5.500,0.000,37.497,780.751,2948.995,423.641,1726.110,762.076,33.318,1081.170,0.000,1701.487,0.000,0.538,0.000
$DEVICE_MAMPS,157.235,55.224,661.154,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,250.964,256.743,331.667,532.304,935.336,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356020
$DATA_FILE_SIZE,28956,374
$CAP_FILE_SIZE,87356,0
$CFSIZE,260165632,171356160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,16,0,0,0
$GPS,240512,034752,2233.858,-15812.016,7,99.0,27,10.0