version: 66.06
glider: 139
mission: 10
dive: 6
start: 5 21 112 22 40 23
data:
$ID,139
$MISSION,10
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,240
$D_ABORT,300
$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,80
$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,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,400
$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,-2377344.2
$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,56
$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
$GPS1,223226,2114.319,-15751.978,36,1.4,48,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.0
$GPS2,223931,2114.303,-15752.007,11,1.3,16,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.171,-0.200
$KALMAN_X,476.7,327.5,229.8,1739.8,19.7
$KALMAN_Y,-217.2,-284.6,-219.9,-1843.0,115.7
$MHEAD_RNG_PITCHd_Wd,129.6,22222,-18.1,-10.000
$D_GRID,240
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.31,-146.1,0.0,0.0,0,114,0.00,0.00,-96.43,0.000,2,0.000,0.000,349,2103,3356,0,0,0,0,0,0
$GC,118,-1.31,-146.1,4.0,-10.5,18,142,12.38,2.53,-2.90,0.000,4,0.134,0.060,2670,674,3524,0,0,0,0,0,0
$GC,161,-1.31,-146.1,20.8,-31.4,25,168,0.00,2.30,0.00,0.000,6,0.000,0.023,2670,2053,3524,0,0,0,0,0,0
$GC,368,-1.31,-146.1,54.6,-15.3,49,372,0.00,2.40,0.00,0.000,4,0.000,0.051,2670,670,3524,0,0,0,0,0,0
$GC,397,-1.31,-146.1,59.6,-17.9,51,401,0.00,2.33,0.00,0.000,6,0.000,0.022,2670,2094,3524,0,0,0,0,0,0
$GC,659,-1.31,-146.1,95.6,-13.3,75,663,0.00,2.47,0.00,0.000,4,0.000,0.051,2670,673,3524,0,0,0,0,0,0
$GC,676,-1.31,-146.1,98.1,-13.5,76,681,0.00,2.30,0.00,0.000,6,0.000,0.022,2670,2081,3524,0,0,0,0,0,0
$GC,939,-1.31,-146.1,130.7,-12.9,100,944,0.00,2.42,0.00,0.000,4,0.000,0.051,2670,671,3524,0,0,0,0,0,0
$GC,972,-1.31,-146.1,135.5,-13.6,102,979,0.00,2.33,0.00,0.000,6,0.000,0.024,2670,2073,3524,0,0,0,0,0,0
$GC,1238,-1.31,-146.1,165.0,-11.8,127,1242,0.00,2.45,0.00,0.000,4,0.000,0.051,2670,668,3524,0,0,0,0,0,0
$GC,1290,-1.31,-146.1,172.4,-13.5,131,1295,0.00,2.30,0.00,0.000,6,0.000,0.023,2670,2095,3524,0,0,0,0,0,0
$GC,1551,-1.31,-146.1,202.7,-10.5,154,1552,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2095,3524,0,0,0,0,0,0
$GC,1862,-1.31,-146.1,234.6,-10.6,169,1866,0.00,2.47,0.00,0.000,4,0.000,0.054,2670,667,3523,0,0,0,0,0,0
$STATE,1909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1909,begin apogee
$GC,1918,-0.31,0.0,240.2,10.9,171,2036,1.00,0.00,114.47,0.621,6,0.066,0.000,2893,2077,2925,0,0,0,0,0,0
$STATE,2037,end apogee,CONTROL_FINISHED_OK
$STATE,2037,begin climb
$GC,2040,1.31,146.1,244.1,0.0,177,2167,1.52,2.47,116.97,0.615,4,0.028,0.040,3259,3473,2328,0,0,0,0,0,0
$GC,2308,1.31,146.1,225.7,13.5,189,2312,0.00,2.40,0.00,0.000,6,0.000,0.040,3259,2078,2325,0,0,0,0,0,0
$GC,2633,1.31,146.1,183.7,10.9,211,2638,0.00,2.40,0.00,0.000,4,0.000,0.038,3259,3486,2320,0,0,0,0,0,0
$GC,2764,1.31,146.1,170.0,11.0,222,2768,0.00,2.42,0.00,0.000,6,0.000,0.038,3259,2074,2320,0,0,0,0,0,0
$GC,3027,1.34,172.3,143.1,8.8,246,3053,0.00,2.50,21.38,0.553,4,0.000,0.054,3259,670,2221,0,0,0,0,0,0
$GC,3135,1.34,172.3,130.2,13.8,255,3140,0.00,2.35,0.00,0.000,6,0.000,0.027,3259,2080,2216,0,0,0,0,0,0
$GC,3400,1.34,172.3,101.0,11.4,279,3404,0.00,2.33,0.00,0.000,4,0.000,0.035,3259,3477,2215,0,0,0,0,0,0
$GC,3473,1.34,172.3,92.3,11.7,285,3477,0.00,2.40,0.00,0.000,6,0.000,0.038,3259,2079,2215,0,0,0,0,0,0
$GC,3738,1.34,172.3,61.4,12.8,309,3742,0.00,2.38,0.00,0.000,4,0.000,0.034,3259,3490,2214,0,0,0,0,0,0
$GC,3781,1.34,172.3,55.3,12.8,312,3788,0.00,2.42,0.00,0.000,6,0.000,0.036,3259,2080,2214,0,0,0,0,0,0
$GC,4046,1.35,180.6,27.7,9.6,339,4058,0.00,0.00,7.20,0.414,6,0.000,0.000,3259,2080,2187,0,0,0,0,0,0
$GC,4253,1.35,180.6,7.2,11.0,377,4260,0.00,2.47,0.00,0.000,4,0.000,0.054,3259,678,2185,0,0,0,0,0,0
$STATE,4299,end climb,SURFACE_DEPTH_REACHED
$STATE,4299,begin surface coast
$FINISH,0.3,1.023504
$STATE,4316,end surface coast,CONTROL_FINISHED_OK
$STATE,4316,begin surface
$SM_CCo,4341,105.85,0.466,0,0,1293,400.08
$SM_GC,0.97,0.00,0.00,105.85,0.000,0.000,0.466,345,2095,1293,-12.05,0.45,400.08
$IRIDIUM_FIX,2108.69,-15752.16,150801,212146
$TT8_MAMPS,0.029146
$HUMID,57.75
$INTERNAL_PRESSURE,10.036
$TCM_TEMP,21.20
$XPDR_PINGS,0
$24V_AH,23.6,39.636
$10V_AH,10.4,40.460
$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,27.325,57.550,260.025,105.850,0.000,25.417,33.872,219.310,2.000,0.000,16.476,675.731,2252.737,421.344,1067.210,467.689,33.326,886.510,0.000,1057.745,0.000,15.540,0.000
$DEVICE_MAMPS,134.225,59.826,621.270,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.900,284.224,682.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355756
$DATA_FILE_SIZE,22347,388
$CAP_FILE_SIZE,60102,0
$CFSIZE,260165632,255827968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210512,235525,2113.973,-15751.389,11,1.6,16,9.8