version: 66.06
glider: 146
mission: 6
dive: 8
start: 5 11 111 2 26 59
data:
$ID,146
$MISSION,6
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$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,166
$T_MISSION,340
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52520
$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,0
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-267488.41
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.527605
$PRESSURE_SLOPE,0.000115925
$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,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,021715,2240.894,-15758.542,8,99.0,28,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-69.1
$GPS2,022606,2240.870,-15758.678,26,1.3,26,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.081,0.221
$KALMAN_X,-3788.9,-346.4,-299.6,1223.7,-881.0
$KALMAN_Y,-9009.8,-1334.1,482.1,4249.4,-1935.5
$MHEAD_RNG_PITCHd_Wd,10.1,7975,-19.8,-10.040
$D_GRID,500
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,111,0.00,0.00,-92.35,0.000,6,0.000,0.000,480,1748,3479,0,0,0,0,0,0
$GC,114,-1.38,-116.8,4.5,-9.5,12,132,12.10,2.58,0.00,0.000,4,0.166,0.028,2700,3345,3481,0,0,0,0,0,0
$GC,300,-1.13,-116.8,54.7,-20.3,31,305,0.30,2.47,0.00,0.000,6,0.127,0.027,2759,1785,3481,0,0,0,0,0,0
$GC,566,-0.96,-116.8,105.3,-17.3,55,571,0.20,2.50,0.00,0.000,4,0.130,0.027,2797,3346,3482,0,0,0,0,0,0
$GC,623,-0.91,-116.8,114.6,-15.2,59,628,0.00,2.50,0.00,0.000,6,0.000,0.029,2797,1774,3482,0,0,0,0,0,0
$GC,886,-0.83,-116.8,154.5,-14.8,83,891,0.15,2.53,0.00,0.000,4,0.123,0.036,2827,3355,3483,0,0,0,0,0,0
$GC,919,-0.83,-116.8,158.6,-13.2,85,923,0.00,2.50,0.00,0.000,6,0.000,0.035,2827,1780,3483,0,0,0,0,0,0
$GC,1185,-0.83,-116.8,194.0,-13.0,109,1189,0.00,2.50,0.00,0.000,4,0.000,0.029,2827,3343,3483,0,0,0,0,0,0
$GC,1205,-0.83,-116.8,197.6,-12.9,110,1211,0.00,2.50,0.00,0.000,6,0.000,0.031,2827,1777,3483,0,0,0,0,0,0
$GC,1478,-0.83,-116.8,228.6,-11.0,119,1482,0.00,2.50,0.00,0.000,4,0.000,0.038,2827,3348,3483,0,0,0,0,0,0
$GC,1527,-0.83,-116.8,234.4,-10.9,120,1531,0.00,2.47,0.00,0.000,6,0.000,0.030,2827,1789,3483,0,0,0,0,0,0
$GC,1799,-0.83,-116.8,264.3,-11.0,127,1803,0.00,2.80,0.00,0.000,4,0.000,0.080,2826,196,3483,0,0,0,0,0,0
$GC,1848,-0.83,-116.8,270.4,-12.1,128,1853,0.00,2.47,0.00,0.000,6,0.000,0.031,2826,1783,3482,0,0,0,0,0,0
$GC,2120,-0.83,-116.8,300.1,-11.1,135,2125,0.00,2.53,0.00,0.000,4,0.000,0.041,2827,3345,3482,0,0,0,0,0,0
$GC,2153,-0.88,-116.8,303.7,-10.5,135,2159,0.00,2.55,0.00,0.000,6,0.000,0.044,2826,1790,3482,0,0,0,0,0,0
$GC,2404,-0.88,-116.8,329.4,-10.2,142,2408,0.00,2.53,0.00,0.000,4,0.000,0.046,2826,3338,3481,0,0,0,0,0,0
$GC,2436,-0.92,-116.8,332.9,-9.9,142,2442,0.00,2.58,0.00,0.000,6,0.000,0.050,2826,1788,3481,0,0,0,0,0,0
$GC,2686,-0.92,-116.8,357.7,-9.8,149,2691,0.00,2.53,0.00,0.000,4,0.000,0.043,2827,3342,3480,0,0,0,0,0,0
$GC,2709,-0.97,-116.8,359.8,-9.5,149,2715,0.12,2.60,0.00,0.000,6,0.082,0.046,2788,1789,3480,0,0,0,0,0,0
$GC,2965,-0.93,-116.8,389.4,-11.9,156,2966,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1789,3478,0,0,0,0,0,0
$GC,3208,-0.93,-116.8,418.8,-12.2,162,3213,0.00,2.60,0.00,0.000,4,0.000,0.051,2788,3339,3477,0,0,0,0,0,0
$GC,3281,-0.93,-116.8,427.4,-11.5,163,3286,0.00,2.65,0.00,0.000,6,0.000,0.058,2788,1786,3477,0,0,0,0,0,0
$GC,3531,-0.93,-116.8,455.3,-11.2,169,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1786,3475,0,0,0,0,0,0
$GC,3774,-0.93,-116.8,482.1,-11.1,175,3775,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,1786,3473,0,0,0,0,0,0
$STATE,3935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3935,begin apogee
$GC,3941,-0.31,0.0,500.1,11.1,179,4038,0.70,0.00,94.35,0.937,6,0.104,0.000,2937,1786,3000,0,0,0,0,0,0
$STATE,4039,end apogee,CONTROL_FINISHED_OK
$STATE,4039,begin climb
$GC,4042,1.38,116.8,504.7,0.0,181,4145,1.67,0.00,99.00,0.913,6,0.075,0.000,3308,1786,2524,0,0,0,0,0,0
$GC,4383,1.67,208.2,492.8,4.8,190,4471,0.25,2.85,77.15,0.906,4,0.061,0.065,3376,3378,2151,0,0,0,0,0,0
$GC,4612,1.77,208.2,472.0,10.3,195,4616,0.00,2.72,0.00,0.000,6,0.000,0.063,3376,1818,2144,0,0,0,0,0,0
$GC,4885,1.88,237.9,448.2,8.3,202,4916,0.17,2.70,25.40,0.870,4,0.075,0.048,3422,3389,2030,0,0,0,0,0,0
$GC,4974,1.88,239.4,439.4,10.0,204,4978,0.00,2.70,0.00,0.000,6,0.000,0.059,3421,1825,2026,0,0,0,0,0,0
$GC,5252,1.88,239.4,410.7,10.3,211,5256,0.00,2.60,0.00,0.000,4,0.000,0.048,3421,3386,2023,0,0,0,0,0,0
$GC,5318,1.88,239.4,403.5,10.7,212,5322,0.00,2.62,0.00,0.000,6,0.000,0.048,3421,1839,2023,0,0,0,0,0,0
$GC,5574,1.88,239.4,374.8,11.2,219,5578,0.00,2.92,0.00,0.000,4,0.000,0.094,3421,232,2021,0,0,0,0,0,0
$GC,5595,1.88,239.4,372.1,12.2,219,5600,0.00,2.58,0.00,0.000,6,0.000,0.023,3421,1835,2020,0,0,0,0,0,0
$GC,5851,1.88,239.4,345.1,10.4,226,5855,0.00,2.58,0.00,0.000,4,0.000,0.045,3421,3397,2019,0,0,0,0,0,0
$GC,5906,1.89,244.2,339.6,9.8,227,5916,0.00,2.60,4.90,0.631,6,0.000,0.044,3421,1834,2005,0,0,0,0,0,0
$GC,6172,1.89,246.8,313.5,9.9,234,6177,0.00,2.55,0.00,0.000,4,0.000,0.041,3421,3393,2003,0,0,0,0,0,0
$GC,6212,1.94,246.8,309.3,10.7,235,6216,0.00,2.55,0.00,0.000,6,0.000,0.038,3421,1841,2003,0,0,0,0,0,0
$GC,6495,1.98,246.8,278.0,11.2,242,6499,0.00,2.55,0.00,0.000,4,0.000,0.040,3421,3398,2002,0,0,0,0,0,0
$GC,6596,2.04,246.8,265.5,12.0,244,6601,0.12,2.50,0.00,0.000,6,0.092,0.040,3453,1862,2001,0,0,0,0,0,0
$GC,6862,2.04,246.8,235.2,10.9,251,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1862,2001,0,0,0,0,0,0
$GC,7107,2.06,270.4,212.9,8.7,257,7136,0.00,2.58,23.70,0.739,4,0.000,0.035,3453,3390,1897,0,0,0,0,0,0
$GC,7273,2.06,270.4,195.5,12.0,263,7277,0.00,2.50,0.00,0.000,6,0.000,0.034,3453,1849,1893,0,0,0,0,0,0
$GC,7536,2.06,270.4,163.7,12.9,287,7541,0.00,2.53,0.00,0.000,4,0.000,0.034,3453,3403,1892,0,0,0,0,0,0
$GC,7603,2.10,270.4,155.0,13.1,292,7608,0.00,2.53,0.00,0.000,6,0.000,0.031,3453,1852,1892,0,0,0,0,0,0
$GC,7867,2.14,270.4,121.3,12.3,316,7872,0.10,2.53,0.00,0.000,4,0.092,0.033,3481,3406,1892,0,0,0,0,0,0
$GC,7911,2.14,270.4,115.7,13.7,319,7916,0.00,2.45,0.00,0.000,6,0.000,0.038,3481,1879,1891,0,0,0,0,0,0
$GC,8178,2.14,270.4,81.9,12.3,343,8182,0.00,2.42,0.00,0.000,4,0.000,0.034,3481,3404,1891,0,0,0,0,0,0
$GC,8250,2.14,270.4,72.2,12.6,348,8259,0.00,2.47,0.00,0.000,6,0.000,0.031,3481,1885,1891,0,0,0,0,0,0
$GC,8515,2.14,270.4,43.1,11.8,373,8519,0.00,2.42,0.00,0.000,4,0.000,0.030,3481,3400,1891,0,0,0,0,0,0
$GC,8599,2.18,270.4,34.1,10.9,379,8603,0.00,2.42,0.00,0.000,6,0.000,0.030,3481,1892,1891,0,0,0,0,0,0
$GC,8920,2.23,270.4,4.2,12.0,423,8929,0.00,2.42,0.00,0.000,4,0.000,0.032,3480,3401,1891,0,0,0,0,0,0
$STATE,8938,end climb,SURFACE_DEPTH_REACHED
$STATE,8938,begin surface coast
$FINISH,0.2,0.978214
$STATE,8987,end surface coast,CONTROL_FINISHED_OK
$STATE,8987,begin surface
$SM_CCo,9012,142.82,0.539,0,0,1166,450.13
$SM_GC,0.99,0.00,0.00,142.82,0.000,0.000,0.539,480,1754,1166,-11.64,-0.45,450.13
$IRIDIUM_FIX,2232.34,-15755.87,040800,000021
$TT8_MAMPS,0.026078
$HUMID,58.70
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.60
$XPDR_PINGS,42
$24V_AH,23.4,1.246
$10V_AH,10.4,0.907
$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,28.150,117.825,324.500,142.825,0.000,31.078,34.253,300.021,10.500,0.000,27.960,905.634,5879.359,548.570,1730.800,631.137,33.332,1200.888,0.000,1716.979,0.000,0.538,0.000
$DEVICE_MAMPS,165.672,93.574,937.274,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,293.266,234.147,321.113,629.443,952.031,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356132
$DATA_FILE_SIZE,35206,432
$CAP_FILE_SIZE,98425,0
$CFSIZE,260165632,182099968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,050043,2240.905,-15759.017,24,1.6,28,10.0