version: 66.06
glider: 139
mission: 10
dive: 13
start: 5 22 112 9 37 16
data:
$ID,139
$MISSION,10
$DIVE,13
$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,-2377602.2
$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,23
$R_STBD_OVSHOOT,42
$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
$GPS1,092856,2111.812,-15753.100,64,1.6,64,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-72.7
$GPS2,093626,2111.790,-15753.112,85,2.7,104,9.8
$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,1634.3,-103.0,700.4,-1365.0,556.9
$KALMAN_Y,-106.8,178.7,-427.2,-6865.0,-138.9
$MHEAD_RNG_PITCHd_Wd,250.2,16736,-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,-146.1,0.0,0.0,0,98,0.00,0.00,-79.80,0.000,2,0.000,0.000,347,2086,3327,0,0,0,0,0,0
$GC,101,-1.31,-146.1,3.9,-10.8,15,126,12.48,2.47,-3.33,0.000,4,0.137,0.057,2664,670,3524,0,0,0,0,0,0
$GC,315,-1.31,-146.1,52.1,-17.1,42,319,0.00,2.30,0.00,0.000,6,0.000,0.021,2664,2081,3525,0,0,0,0,0,0
$GC,576,-1.31,-146.1,93.6,-15.1,66,580,0.00,2.42,0.00,0.000,4,0.000,0.048,2664,670,3526,0,0,0,0,0,0
$GC,617,-1.31,-146.1,99.4,-14.0,69,622,0.00,2.30,0.00,0.000,6,0.000,0.021,2664,2090,3526,0,0,0,0,0,0
$GC,885,-1.31,-146.1,131.8,-12.4,94,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2091,3526,0,0,0,0,0,0
$GC,1139,-1.31,-146.1,161.9,-12.5,118,1142,0.00,2.42,0.00,0.000,4,0.000,0.048,2664,671,3526,0,0,0,0,0,0
$GC,1200,-1.31,-146.1,170.0,-12.9,123,1205,0.00,2.30,0.00,0.000,6,0.000,0.021,2664,2087,3527,0,0,0,0,0,0
$GC,1471,-1.31,-146.1,202.6,-11.1,148,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2090,3527,0,0,0,0,0,0
$GC,1783,-1.31,-146.1,232.6,-10.2,163,1787,0.00,2.45,0.00,0.000,4,0.000,0.050,2664,664,3527,0,0,0,0,0,0
$GC,1845,-1.31,-146.1,240.1,-10.8,166,1849,0.00,2.33,0.00,0.000,6,0.000,0.024,2663,2084,3527,0,0,0,0,0,0
$GC,2171,-1.31,-146.1,272.0,-8.9,182,2176,0.00,2.45,0.00,0.000,4,0.000,0.053,2664,672,3526,0,0,0,0,0,0
$GC,2199,-1.31,-146.1,274.6,-8.9,183,2203,0.00,2.30,0.00,0.000,6,0.000,0.026,2664,2084,3525,0,0,0,0,0,0
$STATE,2498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2498,begin apogee
$GC,2504,-0.31,0.0,300.4,9.1,198,2625,1.05,0.00,117.12,0.683,6,0.069,0.000,2892,2085,2925,0,0,0,0,0,0
$STATE,2626,end apogee,CONTROL_FINISHED_OK
$STATE,2626,begin climb
$GC,2629,1.31,146.1,304.5,0.0,201,2755,1.55,2.55,119.62,0.673,4,0.028,0.054,3255,669,2328,0,0,0,0,0,0
$GC,2772,1.31,146.1,301.2,14.0,204,2778,0.00,2.40,0.00,0.000,6,0.000,0.028,3255,2083,2323,0,0,0,0,0,0
$GC,3089,1.31,146.1,251.8,14.4,219,3093,0.00,2.42,0.00,0.000,4,0.000,0.040,3255,3483,2318,0,0,0,0,0,0
$GC,3174,1.31,146.1,239.2,14.7,223,3178,0.00,2.45,0.00,0.000,6,0.000,0.042,3255,2078,2318,0,0,0,0,0,0
$GC,3492,1.31,146.1,197.6,12.2,239,3496,0.00,2.40,0.00,0.000,4,0.000,0.038,3255,3482,2315,0,0,0,0,0,0
$GC,3722,1.31,146.1,173.2,11.5,259,3727,0.00,2.45,0.00,0.000,6,0.000,0.038,3255,2071,2314,0,0,0,0,0,0
$GC,3986,1.31,146.1,143.3,11.5,283,3991,0.00,2.42,0.00,0.000,4,0.000,0.036,3255,3484,2312,0,0,0,0,0,0
$GC,4016,1.31,146.1,139.7,11.3,285,4020,0.00,2.45,0.00,0.000,6,0.000,0.038,3255,2073,2312,0,0,0,0,0,0
$GC,4281,1.39,209.2,116.8,7.1,309,4337,0.00,2.45,51.17,0.574,4,0.000,0.035,3255,3482,2072,0,0,0,0,0,0
$GC,4400,1.39,209.2,103.5,11.7,319,4406,0.00,2.45,0.00,0.000,6,0.000,0.041,3255,2084,2070,0,0,0,0,0,0
$GC,4664,1.39,209.2,72.9,11.5,344,4668,0.00,2.38,0.00,0.000,4,0.000,0.032,3255,3487,2066,0,0,0,0,0,0
$GC,4688,1.39,209.2,69.9,11.6,346,4693,0.00,2.45,0.00,0.000,6,0.000,0.035,3255,2075,2066,0,0,0,0,0,0
$GC,4954,1.39,209.2,42.8,10.2,370,4958,0.00,2.40,0.00,0.000,4,0.000,0.049,3255,672,2064,0,0,0,0,0,0
$GC,5019,1.39,209.2,34.7,11.7,375,5026,0.00,2.33,0.00,0.000,6,0.000,0.022,3255,2084,2060,0,0,0,0,0,0
$GC,5282,1.39,209.2,7.8,15.5,419,5289,0.00,2.45,0.00,0.000,4,0.000,0.046,3255,675,2061,0,0,0,0,0,0
$STATE,5328,end climb,SURFACE_DEPTH_REACHED
$STATE,5328,begin surface coast
$FINISH,0.3,1.011083
$STATE,5345,end surface coast,CONTROL_FINISHED_OK
$STATE,5345,begin surface
$SM_CCo,5370,92.57,0.463,0,0,1294,400.08
$SM_GC,1.04,0.00,0.00,92.57,0.000,0.000,0.463,349,2102,1294,-12.01,0.65,400.08
$IRIDIUM_FIX,2104.07,-15750.02,160801,080832
$TT8_MAMPS,0.029146
$HUMID,58.23
$INTERNAL_PRESSURE,9.97739
$TCM_TEMP,21.30
$XPDR_PINGS,0
$24V_AH,23.5,40.268
$10V_AH,10.3,40.876
$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,27.550,62.525,287.925,92.575,0.000,41.281,47.115,162.858,2.750,0.000,105.328,759.412,3043.459,462.783,1243.921,410.155,33.343,929.148,0.000,1144.788,0.000,20.276,0.000
$DEVICE_MAMPS,136.526,56.758,682.630,462.501,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,290.014,308.620,715.252,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,22384,430
$CAP_FILE_SIZE,62553,0
$CFSIZE,260165632,255582208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220512,111115,2111.476,-15753.495,117,3.0,136,9.8