version: 66.06
glider: 148
mission: 9
dive: 14
start: 11 10 110 16 4 7
data:
$ID,148
$MISSION,9
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,620
$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,166
$T_MISSION,330
$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,-857733.06
$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,2860
$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,1750
$C_ROLL_CLIMB,1650
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,42
$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
$GPS1,155234,2146.215,-15808.450,10,99.0,29,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.1
$GPS2,160314,2146.149,-15808.605,11,1.8,11,9.9
$SPEED_LIMITS,0.174,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.057,0.228
$KALMAN_X,-3355.0,271.0,23.2,5212.8,-261.5
$KALMAN_Y,-3354.9,124.3,-112.2,14928.9,-38.3
$MHEAD_RNG_PITCHd_Wd,4.1,109978,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-82.53,0.000,2,0.000,0.000,413,1837,3369,0,0,0,0,0,0
$GC,107,-1.38,-116.8,3.8,-7.0,11,132,11.30,2.40,-3.80,0.000,4,0.158,0.044,2550,3327,3584,0,0,0,0,0,0
$GC,205,-1.28,-116.8,31.5,-16.8,25,214,0.10,2.50,0.00,0.000,6,0.092,0.024,2576,1751,3585,0,0,0,0,0,0
$GC,472,-1.28,-116.8,71.4,-15.0,50,477,0.00,2.53,0.00,0.000,4,0.000,0.031,2576,3333,3586,0,0,0,0,0,0
$GC,505,-1.28,-116.8,76.5,-12.7,52,514,0.00,2.50,0.00,0.000,6,0.000,0.025,2576,1759,3586,0,0,0,0,0,0
$GC,771,-1.28,-116.8,106.9,-11.5,77,775,0.00,2.50,0.00,0.000,4,0.000,0.033,2576,3330,3587,0,0,0,0,0,0
$GC,806,-1.35,-116.8,111.6,-12.2,80,810,0.00,2.45,0.00,0.000,6,0.000,0.023,2577,1753,3587,0,0,0,0,0,0
$GC,1068,-1.43,-116.8,139.7,-10.8,104,1073,0.12,2.55,0.00,0.000,4,0.071,0.034,2524,3339,3589,0,0,0,0,0,0
$GC,1100,-1.37,-116.8,144.2,-14.5,106,1110,0.12,2.47,0.00,0.000,6,0.087,0.024,2556,1774,3588,0,0,0,0,0,0
$GC,1361,-1.37,-116.8,178.1,-12.1,131,1366,0.00,2.45,0.00,0.000,4,0.000,0.033,2556,3329,3589,0,0,0,0,0,0
$GC,1401,-1.46,-116.8,182.7,-11.0,134,1407,0.00,2.45,0.00,0.000,6,0.000,0.024,2556,1768,3589,0,0,0,0,0,0
$GC,1661,-1.52,-116.8,208.2,-9.9,153,1666,0.12,2.50,0.00,0.000,4,0.071,0.035,2504,3334,3589,0,0,0,0,0,0
$GC,1681,-1.52,-116.8,211.0,-12.6,153,1686,0.12,2.40,0.00,0.000,6,0.117,0.024,2529,1784,3589,0,0,0,0,0,0
$GC,1945,-1.52,-116.8,241.1,-11.2,160,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2529,1784,3589,0,0,0,0,0,0
$GC,2189,-1.52,-116.8,268.6,-11.5,166,2193,0.00,2.60,0.00,0.000,4,0.000,0.045,2530,182,3589,0,0,0,0,0,0
$GC,2251,-1.59,-116.8,276.9,-13.2,167,2255,0.00,2.47,0.00,0.000,6,0.000,0.024,2529,1780,3589,0,0,0,0,0,0
$GC,2519,-1.59,-116.8,308.2,-11.5,174,2523,0.00,2.47,0.00,0.000,4,0.000,0.040,2529,3334,3589,0,0,0,0,0,0
$GC,2570,-1.67,-116.8,314.2,-11.4,175,2575,0.12,2.45,0.00,0.000,6,0.072,0.033,2473,1774,3588,0,0,0,0,0,0
$GC,2849,-1.55,-116.8,353.3,-14.2,182,2851,0.22,0.00,0.00,0.000,6,0.105,0.000,2522,1774,3587,0,0,0,0,0,0
$GC,3091,-1.55,-116.8,379.5,-10.6,188,3095,0.00,2.55,0.00,0.000,4,0.000,0.048,2522,3322,3586,0,0,0,0,0,0
$GC,3134,-1.55,-116.8,384.0,-10.3,189,3138,0.00,2.45,0.00,0.000,6,0.000,0.029,2522,1783,3586,0,0,0,0,0,0
$GC,3422,-1.55,-116.8,411.4,-9.5,196,3426,0.00,2.70,0.00,0.000,4,0.000,0.059,2522,172,3584,0,0,0,0,0,0
$GC,3472,-1.55,-116.8,416.9,-10.2,197,3477,0.00,2.55,0.00,0.000,6,0.000,0.030,2522,1773,3584,0,0,0,0,0,0
$GC,3752,-1.55,-116.8,443.3,-9.5,204,3756,0.00,2.55,0.00,0.000,4,0.000,0.049,2522,3335,3582,0,0,0,0,0,0
$GC,3798,-1.62,-116.8,447.8,-9.4,205,3803,0.00,2.47,0.00,0.000,6,0.000,0.031,2522,1780,3581,0,0,0,0,0,0
$GC,4080,-1.62,-116.8,476.0,-10.1,212,4085,0.00,2.72,0.00,0.000,4,0.000,0.066,2522,176,3579,0,0,0,0,0,0
$GC,4203,-1.62,-116.8,490.2,-11.7,214,4208,0.00,2.58,0.00,0.000,6,0.000,0.036,2522,1777,3579,0,0,0,0,0,0
$STATE,4293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4293,begin apogee
$GC,4299,-0.31,0.0,500.2,10.6,217,4396,1.20,0.00,93.15,0.887,6,0.085,0.000,2789,1636,3105,0,0,0,0,0,0
$STATE,4396,end apogee,CONTROL_FINISHED_OK
$STATE,4397,begin climb
$GC,4400,1.38,116.8,502.6,0.0,219,4503,1.52,0.00,96.72,0.868,6,0.031,0.000,3172,1636,2628,0,0,0,0,0,0
$GC,4727,1.07,143.8,489.8,8.5,227,4755,0.35,0.00,23.25,0.828,6,0.130,0.000,3099,1636,2518,0,0,0,0,0,0
$GC,5017,0.97,172.3,465.1,8.4,234,5050,0.15,2.55,24.77,0.828,4,0.140,0.064,3072,186,2401,0,0,0,0,0,0
$GC,5192,0.82,172.3,446.2,11.0,237,5197,0.15,2.38,0.00,0.000,6,0.146,0.029,3043,1653,2397,0,0,0,0,0,0
$GC,5442,0.85,196.7,424.8,8.6,243,5465,0.00,0.00,21.50,0.810,6,0.000,0.000,3043,1654,2302,0,0,0,0,0,0
$GC,5686,0.96,229.5,404.8,8.1,249,5718,0.10,0.00,28.60,0.814,6,0.087,0.000,3079,1655,2169,0,0,0,0,0,0
$GC,5974,0.96,229.5,373.3,11.2,256,5978,0.00,2.50,0.00,0.000,4,0.000,0.058,3079,190,2163,0,0,0,0,0,0
$GC,6053,0.89,229.5,363.1,13.2,257,6058,0.12,2.38,0.00,0.000,6,0.128,0.029,3056,1662,2162,0,0,0,0,0,0
$GC,6304,0.95,229.5,336.3,10.6,263,6309,0.00,2.60,0.00,0.000,4,0.000,0.053,3056,3223,2160,0,0,0,0,0,0
$GC,6360,1.05,229.5,330.3,10.7,264,6365,0.15,2.53,0.00,0.000,6,0.067,0.035,3105,1676,2158,0,0,0,0,0,0
$GC,6635,0.98,229.5,299.1,11.0,271,6637,0.15,0.00,0.00,0.000,6,0.122,0.000,3076,1676,2158,0,0,0,0,0,0
$GC,6877,0.98,229.5,274.7,10.1,277,6878,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1676,2157,0,0,0,0,0,0
$GC,7121,0.98,229.5,247.3,11.1,283,7125,0.00,2.55,0.00,0.000,4,0.000,0.061,3076,164,2156,0,0,0,0,0,0
$GC,7171,0.98,229.5,241.2,12.1,284,7176,0.00,2.35,0.00,0.000,6,0.000,0.025,3075,1672,2156,0,0,0,0,0,0
$GC,7450,1.00,242.4,214.4,9.3,291,7466,0.00,2.58,10.32,0.648,4,0.000,0.052,3076,169,2115,0,0,0,0,0,0
$GC,7543,1.00,242.4,204.3,11.0,293,7547,0.00,2.35,0.00,0.000,6,0.000,0.025,3076,1668,2114,0,0,0,0,0,0
$GC,7810,1.00,248.5,179.6,9.7,312,7823,0.00,2.50,6.75,0.565,4,0.000,0.048,3076,167,2089,0,0,0,0,0,0
$GC,7837,1.01,252.8,176.5,9.8,314,7847,0.00,2.35,5.20,0.507,6,0.000,0.025,3076,1663,2073,0,0,0,0,0,0
$GC,8112,1.08,252.8,149.6,10.4,340,8120,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1663,2071,0,0,0,0,0,0
$GC,8377,1.17,265.5,124.5,9.3,365,8396,0.17,0.00,12.00,0.581,6,0.058,0.000,3136,1663,2021,0,0,0,0,0,0
$GC,8650,1.17,265.5,94.9,11.0,391,8655,0.00,2.47,0.00,0.000,4,0.000,0.047,3136,164,2019,0,0,0,0,0,0
$GC,8678,1.08,265.5,92.0,11.0,393,8683,0.20,2.33,0.00,0.000,6,0.115,0.022,3096,1666,2019,0,0,0,0,0,0
$GC,8942,1.23,289.6,68.9,8.6,417,8971,0.12,2.58,21.85,0.554,4,0.071,0.038,3151,3222,1923,0,0,0,0,0,0
$GC,9049,1.23,289.6,57.5,11.3,426,9054,0.12,2.50,0.00,0.000,6,0.123,0.028,3126,1647,1921,0,0,0,0,0,0
$GC,9312,1.23,289.6,30.7,10.6,450,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,3126,1647,1920,0,0,0,0,0,0
$STATE,9551,end climb,SURFACE_DEPTH_REACHED
$STATE,9551,begin surface coast
$FINISH,0.6,1.011353
$STATE,9596,end surface coast,CONTROL_FINISHED_OK
$STATE,9596,begin surface
$SM_CCo,9618,73.32,0.062,0,0,1269,450.13
$SM_GC,1.40,0.00,0.00,73.32,0.000,0.000,0.062,410,1805,1269,-11.27,1.55,450.13
$IRIDIUM_FIX,2138.81,-15809.76,040200,131323
$TT8_MAMPS,0.026845
$HUMID,39.91
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.90
$XPDR_PINGS,3
$24V_AH,23.6,4.554
$10V_AH,10.5,4.200
$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,27.800,100.100,344.125,73.325,0.000,30.225,44.638,369.675,0.750,0.000,13.499,1019.299,6174.333,461.038,1909.276,747.671,33.338,1205.334,0.000,1901.697,0.000,0.538,0.000
$DEVICE_MAMPS,158.002,65.962,887.419,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.212,326.118,388.123,596.115,1053.878,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355992
$DATA_FILE_SIZE,38361,495
$CAP_FILE_SIZE,109447,0
$CFSIZE,260165632,171712512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,184716,2147.167,-15808.536,39,99.0,58,9.9