version: 66.06
glider: 139
mission: 10
dive: 12
start: 5 22 112 8 5 46
data:
$ID,139
$MISSION,10
$DIVE,12
$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,-2377496.2
$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,25
$R_STBD_OVSHOOT,43
$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
$GPS1,075657,2111.893,-15752.758,30,4.6,49,9.8
$_CALLS,1
$_XMS_NAKs,17
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-67.9
$GPS2,080456,2111.872,-15752.709,33,2.6,52,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.261,0.033
$KALMAN_X,1516.3,-140.5,-22.5,203.7,1084.6
$KALMAN_Y,-95.7,152.5,-57.3,-7063.7,-394.4
$MHEAD_RNG_PITCHd_Wd,267.4,17439,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.31,-146.1,0.0,0.0,0,99,0.00,0.00,-80.85,0.000,2,0.000,0.000,348,2079,3360,0,0,0,0,0,0
$GC,103,-1.31,-146.1,3.9,-11.6,15,127,12.50,2.47,-2.75,0.000,4,0.138,0.057,2665,668,3523,0,0,0,0,0,0
$GC,230,-1.31,-146.1,37.6,-17.6,34,236,0.00,2.33,0.00,0.000,6,0.000,0.021,2666,2076,3525,0,0,0,0,0,0
$GC,492,-1.31,-146.1,82.5,-16.9,59,496,0.00,2.45,0.00,0.000,4,0.000,0.047,2665,664,3525,0,0,0,0,0,0
$GC,544,-1.31,-146.1,91.3,-15.8,63,548,0.00,2.30,0.00,0.000,6,0.000,0.021,2665,2094,3525,0,0,0,0,0,0
$GC,808,-1.31,-146.1,123.9,-11.9,87,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2096,3525,0,0,0,0,0,0
$GC,1069,-1.31,-146.1,157.7,-13.0,112,1070,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2096,3526,0,0,0,0,0,0
$GC,1324,-1.31,-146.1,186.0,-10.6,136,1329,0.00,2.45,0.00,0.000,4,0.000,0.048,2665,672,3525,0,0,0,0,0,0
$GC,1368,-1.31,-146.1,190.9,-11.3,139,1374,0.00,2.28,0.00,0.000,6,0.000,0.021,2665,2079,3526,0,0,0,0,0,0
$GC,1624,-1.31,-146.1,218.3,-11.3,156,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2079,3526,0,0,0,0,0,0
$GC,1935,-1.31,-146.1,251.8,-10.2,171,1939,0.00,2.45,0.00,0.000,4,0.000,0.051,2666,670,3525,0,0,0,0,0,0
$GC,1996,-1.31,-146.1,258.0,-9.2,174,2001,0.00,2.28,0.00,0.000,6,0.000,0.025,2665,2071,3525,0,0,0,0,0,0
$GC,2326,-1.31,-146.1,286.2,-9.4,190,2330,0.00,2.38,0.00,0.000,4,0.000,0.038,2666,3479,3524,0,0,0,0,0,0
$GC,2376,-1.31,-146.1,291.0,-8.9,192,2380,0.00,2.40,0.00,0.000,6,0.000,0.038,2665,2079,3524,0,0,0,0,0,0
$STATE,2486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2486,begin apogee
$GC,2492,-0.31,0.0,300.4,8.8,197,2613,1.05,0.00,116.97,0.683,6,0.067,0.000,2895,2080,2925,0,0,0,0,0,0
$STATE,2614,end apogee,CONTROL_FINISHED_OK
$STATE,2614,begin climb
$GC,2617,1.31,146.1,304.2,0.0,200,2746,1.52,2.53,119.38,0.673,4,0.029,0.054,3256,670,2327,0,0,0,0,0,0
$GC,2752,1.39,207.7,301.7,7.2,203,2811,0.00,2.38,52.40,0.657,6,0.000,0.028,3256,2078,2077,0,0,0,0,0,0
$GC,3130,1.39,207.7,234.5,18.4,221,3134,0.00,2.42,0.00,0.000,4,0.000,0.038,3256,3489,2068,0,0,0,0,0,0
$GC,3192,1.39,207.7,222.9,17.5,224,3196,0.00,2.50,0.00,0.000,6,0.000,0.044,3256,2076,2068,0,0,0,0,0,0
$GC,3515,1.39,207.7,168.6,16.1,248,3519,0.00,2.47,0.00,0.000,4,0.000,0.057,3256,666,2065,0,0,0,0,0,0
$GC,3548,1.39,207.7,162.2,18.4,250,3554,0.00,2.38,0.00,0.000,6,0.000,0.028,3256,2076,2063,0,0,0,0,0,0
$GC,3812,1.39,207.7,120.1,15.6,275,3816,0.00,2.40,0.00,0.000,4,0.000,0.036,3256,3488,2062,0,0,0,0,0,0
$GC,3940,1.39,207.7,102.3,11.5,286,3944,0.00,2.45,0.00,0.000,6,0.000,0.038,3256,2073,2062,0,0,0,0,0,0
$GC,4204,1.39,207.7,72.1,12.0,310,4208,0.00,2.40,0.00,0.000,4,0.000,0.032,3256,3491,2061,0,0,0,0,0,0
$GC,4322,1.39,207.7,56.3,12.3,320,4326,0.00,2.42,0.00,0.000,6,0.000,0.036,3256,2070,2061,0,0,0,0,0,0
$GC,4586,1.39,207.7,25.5,12.1,347,4593,0.00,2.45,0.00,0.000,4,0.000,0.051,3256,672,2061,0,0,0,0,0,0
$GC,4612,1.39,207.7,21.8,13.4,351,4619,0.00,2.33,0.00,0.000,6,0.000,0.022,3256,2081,2059,0,0,0,0,0,0
$STATE,4756,end climb,SURFACE_DEPTH_REACHED
$STATE,4757,begin surface coast
$FINISH,0.9,1.023437
$STATE,4768,end surface coast,CONTROL_FINISHED_OK
$STATE,4768,begin surface
$SM_CCo,4791,95.18,0.468,0,0,1293,400.08
$SM_GC,1.09,0.00,0.00,95.18,0.000,0.000,0.468,347,2085,1293,-12.02,0.17,400.08
$IRIDIUM_FIX,2104.07,-15753.03,160801,060617
$TT8_MAMPS,0.029146
$HUMID,58.82
$INTERNAL_PRESSURE,9.98716
$TCM_TEMP,21.10
$XPDR_PINGS,1
$24V_AH,23.5,40.189
$10V_AH,10.3,40.814
$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,27.575,52.900,288.750,95.175,0.000,29.669,34.347,258.385,3.000,0.000,53.317,673.285,2699.313,448.993,1063.669,486.241,33.341,888.050,0.000,1015.803,0.000,18.273,0.000
$DEVICE_MAMPS,138.060,56.758,682.630,467.870,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,255.266,275.972,632.728,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355828
$DATA_FILE_SIZE,22373,379
$CAP_FILE_SIZE,60040,0
$CFSIZE,260165632,255619072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220512,092856,2111.812,-15753.100,64,1.6,64,9.8