version: 66.06
glider: 146
mission: 7
dive: 3
start: 5 23 112 7 44 29
data:
$ID,146
$MISSION,7
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,50
$T_MISSION,100
$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,52355
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-287794.06
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3106
$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,2000
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,106
$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,2841
$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,10
$ALTIM_PULSE,8
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,073155,2240.251,-15804.055,9,1.9,26,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.26
$_SM_ANGLEo,-66.0
$GPS2,074337,2240.188,-15804.163,10,1.6,15,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.159,0.173
$KALMAN_X,-355.1,-384.9,-356.3,351.2,-436.5
$KALMAN_Y,-386.9,-416.2,-388.1,462.2,-467.6
$MHEAD_RNG_PITCHd_Wd,32.6,11400,-19.8,-10.000
$D_GRID,150
$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,-116.8,0.0,0.0,0,124,0.00,0.00,-100.43,0.000,6,0.000,0.000,471,2050,3317,0,0,0,0,0,0
$GC,127,-1.38,-116.8,0.6,-1.5,11,146,12.48,2.38,0.00,0.000,4,0.163,0.038,2797,3518,3319,0,0,0,0,0,0
$GC,288,-1.14,-116.8,22.6,-11.9,30,297,0.25,2.42,0.00,0.000,6,0.116,0.024,2851,1989,3318,0,0,0,0,0,0
$GC,580,-1.06,-116.8,50.8,-8.2,59,585,0.10,2.42,0.00,0.000,4,0.150,0.038,2871,3518,3318,0,0,0,0,0,0
$GC,717,-1.02,-116.8,62.2,-8.3,68,727,0.00,2.40,0.00,0.000,6,0.000,0.025,2871,2001,3317,0,0,0,0,0,0
$GC,983,-0.98,-116.8,81.9,-7.4,93,987,0.10,2.40,0.00,0.000,4,0.135,0.036,2890,3518,3318,0,0,0,0,0,0
$GC,1027,-0.98,-116.8,85.1,-6.8,96,1032,0.00,2.38,0.00,0.000,6,0.000,0.025,2891,2000,3318,0,0,0,0,0,0
$GC,1288,-0.98,-116.8,100.8,-5.7,120,1292,0.00,2.60,0.00,0.000,4,0.000,0.053,2891,428,3317,0,0,0,0,0,0
$GC,1324,-0.98,-116.8,103.2,-6.8,122,1335,0.00,2.35,0.00,0.000,6,0.000,0.019,2891,1961,3317,0,0,0,0,0,0
$GC,1591,-0.98,-116.8,121.4,-7.8,147,1595,0.00,2.53,0.00,0.000,4,0.000,0.031,2892,3561,3317,0,0,0,0,0,0
$GC,1638,-0.98,-116.8,125.6,-8.3,150,1649,0.00,2.45,0.00,0.000,6,0.000,0.032,2891,2012,3317,0,0,0,0,0,0
$GC,1904,-0.98,-116.8,148.2,-8.9,175,1909,0.00,2.62,0.00,0.000,4,0.000,0.057,2891,430,3317,0,0,0,0,0,0
$STATE,1919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1919,begin apogee
$GC,1929,-0.31,0.0,150.1,8.6,176,2025,0.62,0.00,89.25,0.598,6,0.084,0.000,3036,1810,2841,0,0,0,0,0,0
$STATE,2026,end apogee,CONTROL_FINISHED_OK
$STATE,2026,begin climb
$GC,2028,1.38,116.8,154.5,0.0,186,2136,1.58,2.58,93.30,0.583,4,0.058,0.041,3405,3358,2363,0,0,0,0,0,0
$GC,2153,1.50,145.7,147.6,8.3,196,2189,0.08,2.55,24.88,0.554,6,0.061,0.036,3433,1816,2245,0,0,0,0,0,0
$GC,2445,1.55,145.7,116.6,11.4,223,2449,0.00,2.47,0.00,0.000,4,0.000,0.031,3433,3358,2240,0,0,0,0,0,0
$GC,2628,1.64,145.7,95.4,12.8,237,2633,0.12,2.47,0.00,0.000,6,0.084,0.041,3469,1828,2239,0,0,0,0,0,0
$GC,2894,1.64,145.7,60.4,12.9,261,2898,0.00,2.42,0.00,0.000,4,0.000,0.036,3469,3350,2238,0,0,0,0,0,0
$GC,3010,1.64,145.7,46.0,12.3,269,3014,0.00,2.40,0.00,0.000,6,0.000,0.032,3469,1853,2238,0,0,0,0,0,0
$GC,3328,1.64,145.7,8.8,12.5,305,3337,0.00,2.38,0.00,0.000,4,0.000,0.035,3469,3349,2237,0,0,0,0,0,0
$STATE,3370,end climb,SURFACE_DEPTH_REACHED
$STATE,3370,begin surface coast
$FINISH,-1.0,1.023677
$STATE,3419,end surface coast,CONTROL_FINISHED_OK
$STATE,3421,begin surface
$SM_CCo,3445,235.77,0.491,0,0,1004,450.13
$SM_GC,-0.29,0.00,0.00,235.77,0.000,0.000,0.491,474,1982,1004,-12.11,-0.51,450.13
$IRIDIUM_FIX,2232.34,-15803.24,170801,070725
$TT8_MAMPS,0.026078
$HUMID,56.14
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,23.40
$XPDR_PINGS,15
$24V_AH,23.7,1.452
$10V_AH,10.5,1.478
$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,27.425,48.525,207.425,235.775,0.000,60.554,104.764,269.569,3.750,0.000,17.414,570.000,969.220,458.376,1690.010,705.757,31.413,918.440,0.000,1708.317,0.000,0.538,0.000
$DEVICE_MAMPS,162.604,56.758,598.260,490.880,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,211.476,221.290,322.899,872.164,1392.242,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356016
$DATA_FILE_SIZE,22515,316
$CAP_FILE_SIZE,62727,0
$CFSIZE,260165632,146964480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230512,084706,2239.936,-15804.479,35,1.2,35,10.0