version: 66.06
glider: 139
mission: 10
dive: 11
start: 5 22 112 6 24 51
data:
$ID,139
$MISSION,10
$DIVE,11
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,400
$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,100
$T_MISSION,120
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-2377442.2
$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,2960
$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,35
$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
$GPS1,061650,2112.319,-15752.456,34,1.7,34,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-72.9
$GPS2,062401,2112.297,-15752.412,14,1.8,31,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.259,-0.046
$KALMAN_X,913.2,-71.4,-538.7,1761.9,619.8
$KALMAN_Y,213.4,57.6,238.6,-6789.3,-135.5
$MHEAD_RNG_PITCHd_Wd,250.1,18218,-18.1,-10.000
$D_GRID,300
$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,18,-1.31,-146.1,0.0,0.0,0,95,0.00,0.00,-74.12,0.000,2,0.000,0.000,346,2077,3141,0,0,0,0,0,0
$GC,98,-1.31,-146.1,3.0,-7.7,14,128,12.57,2.47,-7.03,0.000,4,0.140,0.057,2666,670,3524,0,0,0,0,0,0
$GC,310,-1.31,-146.1,46.7,-17.3,44,314,0.00,2.33,0.00,0.000,6,0.000,0.021,2666,2094,3525,0,0,0,0,0,0
$GC,578,-1.31,-146.1,89.0,-15.2,69,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2095,3525,0,0,0,0,0,0
$GC,832,-1.31,-146.1,126.8,-14.8,93,837,0.00,2.47,0.00,0.000,4,0.000,0.047,2666,664,3526,0,0,0,0,0,0
$GC,855,-1.31,-146.1,130.6,-15.8,94,861,0.00,2.33,0.00,0.000,6,0.000,0.021,2666,2088,3526,0,0,0,0,0,0
$GC,1119,-1.31,-146.1,167.1,-11.8,119,1123,0.00,2.30,0.00,0.000,4,0.000,0.031,2666,3474,3526,0,0,0,0,0,0
$GC,1136,-1.31,-146.1,169.4,-11.8,120,1140,0.00,2.35,0.00,0.000,6,0.000,0.031,2666,2077,3526,0,0,0,0,0,0
$GC,1399,-1.31,-146.1,197.2,-10.1,144,1403,0.00,2.42,0.00,0.000,4,0.000,0.049,2666,670,3526,0,0,0,0,0,0
$GC,1442,-1.31,-146.1,202.0,-10.3,147,1447,0.00,2.28,0.00,0.000,6,0.000,0.021,2666,2077,3526,0,0,0,0,0,0
$GC,1766,-1.31,-146.1,235.0,-11.2,163,1770,0.00,2.42,0.00,0.000,4,0.000,0.049,2665,674,3526,0,0,0,0,0,0
$GC,1811,-1.31,-146.1,240.4,-11.9,165,1815,0.00,2.30,0.00,0.000,6,0.000,0.024,2666,2082,3526,0,0,0,0,0,0
$GC,2134,-1.31,-146.1,269.3,-8.3,181,2136,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2081,3525,0,0,0,0,0,0
$GC,2440,-1.31,-146.1,298.2,-10.3,196,2442,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2082,3524,0,0,0,0,0,0
$STATE,2461,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2461,begin apogee
$GC,2467,-0.31,0.0,300.4,10.4,197,2587,1.02,0.00,116.68,0.680,6,0.067,0.000,2890,2082,2925,0,0,0,0,0,0
$STATE,2588,end apogee,CONTROL_FINISHED_OK
$STATE,2588,begin climb
$GC,2591,1.31,146.1,305.3,0.0,200,2716,1.52,0.00,118.25,0.673,6,0.029,0.000,3253,2082,2329,0,0,0,0,0,0
$GC,3023,1.31,146.1,258.2,14.4,217,3027,0.00,2.38,0.00,0.000,4,0.000,0.040,3253,3477,2319,0,0,0,0,0,0
$GC,3201,1.31,146.1,234.6,13.2,225,3205,0.00,2.40,0.00,0.000,6,0.000,0.040,3253,2082,2320,0,0,0,0,0,0
$GC,3524,1.31,146.1,192.8,12.0,243,3528,0.00,2.40,0.00,0.000,4,0.000,0.038,3253,3481,2315,0,0,0,0,0,0
$GC,3779,1.32,156.0,166.0,9.5,265,3796,0.00,2.42,7.38,0.509,6,0.000,0.037,3253,2074,2287,0,0,0,0,0,0
$GC,4052,1.32,156.0,140.6,12.3,291,4056,0.00,2.40,0.00,0.000,4,0.000,0.035,3253,3481,2286,0,0,0,0,0,0
$GC,4306,1.32,156.0,112.7,11.6,313,4312,0.00,2.40,0.00,0.000,6,0.000,0.035,3253,2076,2285,0,0,0,0,0,0
$GC,4570,1.41,227.8,86.8,6.7,338,4636,0.00,2.42,60.62,0.543,4,0.000,0.032,3253,3485,1995,0,0,0,0,0,0
$GC,4782,1.41,227.8,66.0,13.0,357,4786,0.00,2.42,0.00,0.000,6,0.000,0.035,3253,2080,1993,0,0,0,0,0,0
$GC,5046,1.41,227.8,35.0,11.3,381,5050,0.00,2.42,0.00,0.000,4,0.000,0.050,3253,671,1990,0,0,0,0,0,0
$GC,5135,1.41,227.8,23.8,13.3,393,5142,0.00,2.33,0.00,0.000,6,0.000,0.022,3253,2076,1986,0,0,0,0,0,0
$STATE,5312,end climb,SURFACE_DEPTH_REACHED
$STATE,5313,begin surface coast
$FINISH,0.2,1.010447
$STATE,5330,end surface coast,CONTROL_FINISHED_OK
$STATE,5330,begin surface
$SM_CCo,5353,83.28,0.461,0,0,1293,400.08
$SM_GC,0.90,0.00,0.00,83.28,0.000,0.000,0.461,348,2079,1293,-12.02,0.00,400.08
$IRIDIUM_FIX,2106.38,-15752.16,160801,040450
$TT8_MAMPS,0.029146
$HUMID,57.52
$INTERNAL_PRESSURE,9.98716
$TCM_TEMP,21.60
$XPDR_PINGS,0
$24V_AH,23.5,40.102
$10V_AH,10.3,40.758
$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,27.600,47.675,302.925,83.275,0.000,27.718,33.516,240.471,2.750,0.000,32.052,755.799,2996.910,425.612,1229.159,466.018,33.334,934.780,0.000,1202.946,0.000,18.269,0.000
$DEVICE_MAMPS,139.594,56.758,680.329,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,288.878,309.839,712.757,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,22350,429
$CAP_FILE_SIZE,63799,0
$CFSIZE,260165632,255655936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220512,075657,2111.893,-15752.758,30,4.6,49,9.8