version: 66.06
glider: 148
mission: 9
dive: 4
start: 11 9 110 20 23 47
data:
$ID,148
$MISSION,9
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,250
$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,50
$T_MISSION,80
$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,550
$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,-857092.25
$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,2801
$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,41
$R_STBD_OVSHOOT,39
$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
$GPS1,201436,2140.264,-15810.031,31,1.9,35,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.6
$GPS2,202252,2140.309,-15810.067,13,1.9,27,9.9
$SPEED_LIMITS,0.173,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.097,0.214
$KALMAN_X,-386.8,-421.4,-391.5,833.6,-191.5
$KALMAN_Y,110.9,0.1,-17.4,673.7,44.2
$MHEAD_RNG_PITCHd_Wd,14.5,121035,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,124,0.00,0.00,-104.70,0.000,2,0.000,0.000,416,2030,3580,0,0,0,0,0,0
$GC,127,-1.38,-116.8,4.6,-10.2,14,144,10.80,2.55,0.00,0.000,4,0.154,0.031,2492,3637,3581,0,0,0,0,0,0
$GC,153,0.34,-116.8,18.6,-42.9,17,163,1.73,2.50,0.00,0.000,6,0.100,0.021,2867,2044,3582,0,0,0,0,0,0
$GC,438,-0.54,-116.8,44.4,-9.8,52,451,0.75,2.47,0.00,0.000,4,0.051,0.038,2678,477,3582,0,0,0,0,0,0
$GC,490,-1.12,-116.8,48.5,-8.1,56,502,0.50,2.42,0.00,0.000,6,0.037,0.021,2517,2071,3583,0,0,0,0,0,0
$GC,759,-0.94,-116.8,95.5,-18.7,81,764,0.32,2.53,0.00,0.000,4,0.100,0.036,2592,473,3582,0,0,0,0,0,0
$GC,831,-1.10,-116.8,105.9,-10.6,87,837,0.12,2.33,0.00,0.000,6,0.071,0.024,2542,1992,3582,0,0,0,0,0,0
$GC,1093,-1.10,-116.8,138.4,-13.0,112,1097,0.00,2.40,0.00,0.000,4,0.000,0.038,2541,470,3582,0,0,0,0,0,0
$GC,1172,-1.10,-116.8,147.5,-11.7,119,1176,0.00,2.33,0.00,0.000,6,0.000,0.021,2541,2001,3583,0,0,0,0,0,0
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1200,begin apogee
$GC,1206,-0.31,0.0,151.2,12.3,121,1303,0.82,0.00,89.15,0.553,6,0.089,0.000,2729,2002,3104,0,0,0,0,0,0
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1306,1.38,116.8,157.1,0.0,131,1407,1.55,2.53,91.62,0.551,4,0.057,0.047,3099,478,2628,0,0,0,0,0,0
$GC,1434,1.43,310.5,161.8,-1.2,144,1595,0.00,2.45,154.30,0.552,6,0.000,0.023,3099,2059,1839,0,0,0,0,0,0
$GC,1851,1.54,310.5,119.0,13.5,184,1856,0.15,2.58,0.00,0.000,4,0.061,0.050,3161,474,1833,0,0,0,0,0,0
$GC,2148,1.43,310.5,76.6,13.1,212,2157,0.20,2.45,0.00,0.000,6,0.096,0.026,3115,2020,1832,0,0,0,0,0,0
$GC,2416,1.54,310.5,50.8,10.2,237,2420,0.00,2.45,0.00,0.000,4,0.000,0.041,3115,478,1831,0,0,0,0,0,0
$GC,2533,1.61,310.5,37.3,11.6,247,2538,0.15,2.40,0.00,0.000,6,0.063,0.025,3173,2033,1831,0,0,0,0,0,0
$STATE,2782,end climb,SURFACE_DEPTH_REACHED
$STATE,2782,begin surface coast
$FINISH,0.5,1.023381
$STATE,2815,end surface coast,CONTROL_FINISHED_OK
$STATE,2815,begin surface
$SM_CCo,2834,115.75,0.423,1,0,861,550.21
$SM_GC,1.23,0.00,0.00,115.75,0.000,0.000,0.423,413,2037,861,-10.98,-0.37,550.21
$IRIDIUM_FIX,2129.53,-15808.47,030200,191934
$TT8_MAMPS,0.026078
$HUMID,36.73
$INTERNAL_PRESSURE,9.83823
$TCM_TEMP,24.30
$XPDR_PINGS,1
$24V_AH,24.0,3.546
$10V_AH,10.5,3.206
$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,28.200,34.375,335.075,115.750,0.000,30.086,32.822,270.862,0.250,0.000,29.157,495.638,782.640,417.561,1248.807,519.885,32.335,880.646,0.000,1245.043,0.000,0.540,0.000
$DEVICE_MAMPS,154.167,49.855,553.007,422.617,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,189.300,231.179,295.310,538.292,951.730,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,22703,287
$CAP_FILE_SIZE,49611,0
$CFSIZE,260165632,172220416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091110,211356,2140.576,-15809.650,14,1.6,14,9.9