version: 66.06
glider: 148
mission: 9
dive: 7
start: 11 10 110 0 24 31
data:
$ID,148
$MISSION,9
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,250
$D_ABORT,350
$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,83
$T_MISSION,180
$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,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-857549.5
$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,2830
$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,1800
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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,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
$GPS1,001438,2141.435,-15810.081,8,1.7,8,9.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-65.2
$GPS2,002338,2141.405,-15810.159,15,1.7,15,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.027,0.233
$KALMAN_X,-879.7,-412.6,127.0,655.5,-17.5
$KALMAN_Y,-725.3,-30.4,-9.9,3569.8,-376.6
$MHEAD_RNG_PITCHd_Wd,356.7,119050,-19.8,-10.040
$D_GRID,250
$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,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,110,0.00,0.00,-90.00,0.000,2,0.000,0.000,413,1923,3319,0,0,0,0,0,0
$GC,113,-1.38,-116.8,3.4,-5.7,12,138,11.00,2.35,-4.93,0.000,4,0.155,0.044,2521,3384,3580,0,0,0,0,0,0
$GC,217,-1.26,-116.8,29.4,-18.7,27,226,0.10,2.50,0.00,0.000,6,0.098,0.024,2547,1796,3581,0,0,0,0,0,0
$GC,483,-1.14,-116.8,73.0,-15.9,52,492,0.15,0.00,0.00,0.000,6,0.118,0.000,2579,1796,3581,0,0,0,0,0,0
$GC,749,-1.14,-116.8,110.9,-14.9,77,754,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1796,3582,0,0,0,0,0,0
$GC,1010,-1.23,-116.8,144.5,-11.8,102,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2578,1796,3582,0,0,0,0,0,0
$GC,1267,-1.34,-116.8,174.1,-11.2,126,1268,0.17,0.00,0.00,0.000,6,0.057,0.000,2509,1795,3582,0,0,0,0,0,0
$GC,1538,-1.28,-116.8,211.5,-13.4,146,1543,0.20,2.53,0.00,0.000,4,0.107,0.032,2552,3381,3582,0,0,0,0,0,0
$GC,1563,-1.28,-116.8,214.9,-12.8,146,1567,0.00,2.45,0.00,0.000,6,0.000,0.023,2552,1795,3582,0,0,0,0,0,0
$GC,1822,-1.35,-116.8,242.1,-10.3,153,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2552,1795,3582,0,0,0,0,0,0
$STATE,1902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1902,begin apogee
$GC,1907,-0.31,0.0,250.2,9.9,155,2001,0.90,0.00,90.55,0.641,6,0.077,0.000,2759,1672,3105,0,0,0,0,0,0
$STATE,2002,end apogee,CONTROL_FINISHED_OK
$STATE,2002,begin climb
$GC,2006,1.38,116.8,252.9,0.0,157,2105,1.55,0.00,92.72,0.634,6,0.053,0.000,3128,1672,2628,0,0,0,0,0,0
$GC,2375,1.31,200.2,243.7,5.2,166,2449,0.00,2.67,67.93,0.632,4,0.000,0.045,3128,3267,2287,0,0,0,0,0,0
$GC,2543,1.31,200.2,228.9,11.4,169,2548,0.00,2.45,0.00,0.000,6,0.000,0.029,3128,1731,2282,0,0,0,0,0,0
$GC,2794,1.21,201.4,204.0,10.0,176,2796,0.15,0.00,0.00,0.000,6,0.122,0.000,3096,1730,2281,0,0,0,0,0,0
$GC,3043,1.22,210.8,180.1,9.5,194,3054,0.00,0.00,8.82,0.532,6,0.000,0.000,3096,1731,2245,0,0,0,0,0,0
$GC,3311,1.25,229.4,156.8,9.0,219,3333,0.00,2.58,16.70,0.568,4,0.000,0.049,3096,174,2168,0,0,0,0,0,0
$GC,3356,1.26,237.3,152.7,9.6,223,3369,0.00,2.40,8.15,0.505,6,0.000,0.022,3096,1708,2137,0,0,0,0,0,0
$GC,3625,1.26,242.0,124.9,9.8,248,3639,0.00,2.58,4.65,0.414,4,0.000,0.046,3096,170,2117,0,0,0,0,0,0
$GC,3662,1.26,242.0,121.0,11.7,251,3666,0.00,2.38,0.00,0.000,6,0.000,0.023,3096,1692,2117,0,0,0,0,0,0
$GC,3929,1.38,275.3,98.4,8.1,275,3968,0.15,0.00,28.62,0.547,6,0.064,0.000,3156,1694,1981,0,0,0,0,0,0
$GC,4225,1.38,275.3,68.6,10.4,303,4230,0.12,2.50,0.00,0.000,4,0.127,0.054,3131,169,1978,0,0,0,0,0,0
$GC,4408,1.38,275.3,48.6,10.7,319,4412,0.00,2.33,0.00,0.000,6,0.000,0.021,3132,1690,1976,0,0,0,0,0,0
$GC,4687,1.38,275.3,20.3,10.1,350,4696,0.00,2.50,0.00,0.000,4,0.000,0.044,3132,171,1976,0,0,0,0,0,0
$GC,4730,1.38,275.3,15.4,12.1,356,4738,0.00,2.35,0.00,0.000,6,0.000,0.021,3132,1677,1976,0,0,0,0,0,0
$STATE,4838,end climb,SURFACE_DEPTH_REACHED
$STATE,4838,begin surface coast
$FINISH,0.4,1.023441
$STATE,4886,end surface coast,CONTROL_FINISHED_OK
$STATE,4886,begin surface
$SM_CCo,4907,83.90,0.427,1,0,1269,450.13
$SM_GC,1.12,0.00,0.00,83.90,0.000,0.000,0.427,415,1820,1269,-11.11,0.57,450.13
$IRIDIUM_FIX,2131.85,-15810.62,030200,222212
$TT8_MAMPS,0.026845
$HUMID,38.85
$INTERNAL_PRESSURE,9.83823
$TCM_TEMP,23.60
$XPDR_PINGS,2
$24V_AH,23.9,3.817
$10V_AH,10.5,3.491
$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,25.500,34.850,318.150,83.900,0.000,24.796,34.713,317.189,0.500,0.000,16.781,690.636,2404.635,418.355,1437.182,591.710,33.359,911.338,0.000,1444.342,0.000,0.540,0.000
$DEVICE_MAMPS,154.934,75.933,641.212,427.219,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,257.556,279.890,361.355,584.450,1030.716,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,28967,380
$CAP_FILE_SIZE,62948,0
$CFSIZE,260165632,172089344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,101110,014924,2141.608,-15810.446,42,1.7,59,9.9