version: 66.06
glider: 139
mission: 10
dive: 4
start: 5 21 112 21 1 59
data:
$ID,139
$MISSION,10
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,500
$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,40
$T_MISSION,60
$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,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51959
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.25
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2377292.8
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,355
$PITCH_MAX,3650
$C_PITCH,2964
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,235
$ROLL_MAX,3935
$ROLL_DEG,40
$C_ROLL_DIVE,2079
$C_ROLL_CLIMB,2079
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,58
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0.30000001
$ROLL_ADJ_DBAND,1
$VBD_MIN,450
$VBD_MAX,3860
$C_VBD,2925
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-14.664049
$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,30
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$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,0.0043016663
$SEABIRD_T_H,0.00062182697
$SEABIRD_T_I,2.2485125e-05
$SEABIRD_T_J,2.3191574e-06
$SEABIRD_C_G,-10.411542
$SEABIRD_C_H,1.1792051
$SEABIRD_C_I,-0.0019162094
$SEABIRD_C_J,0.00023985174
$GPS1,205358,2114.830,-15752.613,13,3.4,32,9.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-71.7
$GPS2,210110,2114.810,-15752.628,12,5.2,31,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.183,-0.190
$KALMAN_X,352.8,234.4,218.7,896.5,206.2
$KALMAN_Y,-309.1,-209.4,-198.1,-913.3,-185.3
$MHEAD_RNG_PITCHd_Wd,126.3,23645,-18.1,-10.000
$D_GRID,120
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.31,-146.1,0.0,0.0,0,115,0.00,0.00,-96.70,0.000,2,0.000,0.000,349,2103,3323,0,0,0,0,0,0
$GC,119,-1.31,-146.1,3.5,-8.4,18,143,12.32,2.53,-3.62,0.000,4,0.133,0.061,2672,673,3523,0,0,0,0,0,0
$GC,163,-1.31,-146.1,19.4,-30.9,25,169,0.00,2.30,0.00,0.000,6,0.000,0.022,2672,2070,3524,0,0,0,0,0,0
$GC,365,-1.31,-146.1,52.0,-15.8,49,369,0.00,2.45,0.00,0.000,4,0.000,0.052,2672,669,3524,0,0,0,0,0,0
$GC,394,-1.31,-146.1,57.0,-16.8,51,398,0.00,2.30,0.00,0.000,6,0.000,0.023,2672,2070,3523,0,0,0,0,0,0
$GC,657,-1.31,-146.1,92.6,-14.3,75,661,0.00,2.42,0.00,0.000,4,0.000,0.052,2672,667,3523,0,0,0,0,0,0
$GC,696,-1.31,-146.1,98.1,-13.7,78,700,0.00,2.33,0.00,0.000,6,0.000,0.023,2672,2087,3523,0,0,0,0,0,0
$STATE,891,end dive,TARGET_DEPTH_EXCEEDED
$STATE,891,begin apogee
$GC,897,-0.31,0.0,120.5,11.8,96,1014,1.00,0.00,112.20,0.525,6,0.070,0.000,2892,2087,2924,0,0,0,0,0,0
$STATE,1015,end apogee,CONTROL_FINISHED_OK
$STATE,1015,begin climb
$GC,1018,1.31,146.1,125.7,0.0,108,1144,1.55,2.40,114.22,0.520,4,0.032,0.033,3258,3483,2329,0,0,0,0,0,0
$GC,1393,1.31,146.1,103.8,10.2,142,1400,0.00,2.40,0.00,0.000,6,0.000,0.034,3259,2078,2325,0,0,0,0,0,0
$GC,1658,1.41,226.6,80.9,6.3,167,1733,0.00,2.42,65.62,0.492,4,0.000,0.030,3258,3485,2000,0,0,0,0,0,0
$GC,1782,1.41,226.6,67.5,15.1,178,1787,0.00,2.42,0.00,0.000,6,0.000,0.037,3259,2074,1999,0,0,0,0,0,0
$GC,2047,1.41,226.6,27.5,14.7,203,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,2075,1994,0,0,0,0,0,0
$STATE,2215,end climb,SURFACE_DEPTH_REACHED
$STATE,2215,begin surface coast
$FINISH,0.4,1.015469
$STATE,2226,end surface coast,CONTROL_FINISHED_OK
$STATE,2227,begin surface
$SM_CCo,2249,129.62,0.443,0,0,885,500.17
$SM_GC,1.02,0.00,0.00,129.62,0.000,0.000,0.443,350,2072,885,-12.02,-0.20,500.17
$IRIDIUM_FIX,2104.07,-15755.17,150801,202051
$TT8_MAMPS,0.029146
$HUMID,54.48
$INTERNAL_PRESSURE,10.0653
$TCM_TEMP,22.40
$XPDR_PINGS,0
$24V_AH,23.7,39.490
$10V_AH,10.4,40.363
$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,27.200,23.975,292.050,129.625,0.000,30.787,31.986,214.732,0.500,0.000,33.044,381.909,901.196,430.375,686.539,421.870,32.337,770.947,0.000,666.833,0.000,4.143,0.000
$DEVICE_MAMPS,132.691,60.593,524.628,443.326,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,154.117,171.097,462.725,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,12880,236
$CAP_FILE_SIZE,38508,0
$CFSIZE,260165632,255913984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210512,214246,2114.626,-15752.259,9,3.3,28,9.8