version: 66.06
glider: 148
mission: 12
dive: 3
start: 5 23 113 23 34 10
data:
$ID,148
$MISSION,12
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,100
$D_ABORT,130
$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,33
$T_MISSION,70
$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,52665
$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,420
$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,-1014887.9
$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,3390
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,2900
$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,0.0043645771
$SEABIRD_T_H,0.00062944926
$SEABIRD_T_I,2.4626779e-05
$SEABIRD_T_J,2.6951686e-06
$SEABIRD_C_G,-9.9698391
$SEABIRD_C_H,1.1487522
$SEABIRD_C_I,-0.0018401047
$SEABIRD_C_J,0.00022632178
$GPS1,232900,2245.065,-15800.248,11,1.1,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-76.0
$GPS2,233318,2245.087,-15800.278,8,1.4,14,10.1
$SPEED_LIMITS,0.175,0.261
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.255,-0.054
$KALMAN_X,-341.5,-282.6,-269.5,524.9,-252.7
$KALMAN_Y,35.2,20.3,17.3,107.3,21.7
$MHEAD_RNG_PITCHd_Wd,91.8,502,-17.7,-10.101
$D_GRID,100
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.28,-146.0,0.0,0.0,0,92,0.00,0.00,-74.32,0.000,2,0.000,0.000,413,2039,3149,0,0,0,0,0,0
$GC,95,-1.28,-146.0,3.6,-6.8,10,128,14.50,2.55,-5.85,0.000,4,0.166,0.038,3104,3626,3498,0,0,0,0,0,0
$GC,145,-0.47,-146.0,21.9,-33.6,16,155,0.77,2.55,0.00,0.000,6,0.075,0.028,3285,2048,3498,0,0,0,0,0,0
$GC,426,-0.80,-146.0,40.8,-5.0,47,431,0.25,2.55,0.00,0.000,4,0.038,0.043,3178,469,3498,0,0,0,0,0,0
$GC,559,-0.90,-146.0,55.3,-10.5,58,568,0.00,2.42,0.00,0.000,6,0.000,0.021,3179,2028,3498,0,0,0,0,0,0
$GC,824,-0.90,-146.0,84.2,-11.2,83,828,0.00,2.55,0.00,0.000,4,0.000,0.042,3178,459,3498,0,0,0,0,0,0
$GC,957,-0.97,-146.0,99.3,-10.6,95,963,0.00,2.38,0.00,0.000,6,0.000,0.021,3178,2014,3498,0,0,0,0,0,0
$STATE,975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,976,begin apogee
$GC,981,-0.31,0.0,101.3,11.1,97,1100,0.60,0.00,108.60,0.491,6,0.077,0.000,3319,2018,2899,0,0,0,0,0,0
$STATE,1101,end apogee,CONTROL_FINISHED_OK
$STATE,1101,begin climb
$GC,1104,1.28,146.0,107.1,0.0,109,1231,1.45,2.62,113.22,0.492,4,0.041,0.053,3676,476,2303,0,0,0,0,0,0
$GC,1520,1.16,261.9,97.6,4.7,149,1625,0.17,2.47,92.38,0.483,6,0.120,0.022,3641,2057,1831,0,0,0,0,0,0
$GC,1880,1.17,276.9,68.7,9.4,183,1905,0.00,2.55,12.70,0.422,4,0.000,0.035,3641,3622,1767,0,0,0,0,0,0
$GC,1976,1.31,280.2,59.6,9.9,191,1981,0.12,2.58,0.00,0.000,6,0.065,0.031,3696,2023,1764,0,0,0,0,0,0
$GC,2241,1.31,280.2,30.0,10.7,215,2251,0.10,2.60,0.00,0.000,4,0.127,0.048,3675,470,1763,0,0,0,0,0,0
$STATE,2471,end climb,SURFACE_DEPTH_REACHED
$STATE,2472,begin surface coast
$FINISH,0.3,1.022904
$STATE,2524,end surface coast,CONTROL_FINISHED_OK
$STATE,2524,begin surface
$SM_CCo,2549,79.35,0.424,0,0,1185,420.20
$SM_GC,1.41,0.00,0.00,79.35,0.000,0.000,0.424,408,2053,1185,-13.72,0.06,420.20
$IRIDIUM_FIX,2237.01,-15758.03,170802,232300
$TT8_MAMPS,0.026845
$HUMID,60.86
$INTERNAL_PRESSURE,9.59408
$TCM_TEMP,23.80
$XPDR_PINGS,197
$24V_AH,23.8,0.569
$10V_AH,10.0,0.420
$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,31.100,30.325,326.900,79.350,0.000,0.000,0.000,0.000,49.250,0.000,15.924,454.822,615.477,355.021,1194.687,83.773,31.412,800.026,0.000,1207.133,0.000,0.540,0.000
$DEVICE_MAMPS,166.439,52.923,492.414,424.151,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,170.029,213.140,265.072,701.578,959.722,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356172
$DATA_FILE_SIZE,19410,259
$CAP_FILE_SIZE,52971,0
$CFSIZE,260165632,171823104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240513,001909,2245.196,-15800.240,10,2.1,29,10.1