version: 66.06
glider: 139
mission: 10
dive: 14
start: 5 22 112 11 23 36
data:
$ID,139
$MISSION,10
$DIVE,14
$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,-2377686.2
$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,51
$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
$GPS1,111115,2111.476,-15753.495,117,3.0,136,9.8
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-73.6
$GPS2,112246,2111.483,-15753.567,63,6.6,82,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.239,-0.111
$KALMAN_X,2117.6,-51.4,933.5,-2923.0,-24.6
$KALMAN_Y,-305.6,174.6,-518.7,-7138.2,88.8
$MHEAD_RNG_PITCHd_Wd,235.2,15794,-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,-80.65,0.000,2,0.000,0.000,348,2102,3356,0,0,0,0,0,0
$GC,103,-1.31,-146.1,4.0,-11.4,15,127,12.52,2.47,-2.80,0.000,4,0.139,0.053,2664,670,3524,0,0,0,0,0,0
$GC,242,-1.31,-146.1,39.0,-14.1,35,249,0.00,2.30,0.00,0.000,6,0.000,0.021,2664,2075,3525,0,0,0,0,0,0
$GC,503,-1.31,-146.1,81.9,-15.5,60,507,0.00,2.42,0.00,0.000,4,0.000,0.049,2664,665,3525,0,0,0,0,0,0
$GC,546,-1.31,-146.1,89.9,-18.3,63,552,0.00,2.30,0.00,0.000,6,0.000,0.021,2664,2088,3525,0,0,0,0,0,0
$GC,809,-1.31,-146.1,122.9,-12.1,88,810,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2088,3525,0,0,0,0,0,0
$GC,1062,-1.31,-146.1,154.9,-13.8,112,1066,0.00,2.45,0.00,0.000,4,0.000,0.048,2664,667,3526,0,0,0,0,0,0
$GC,1147,-1.31,-146.1,167.7,-14.8,119,1151,0.00,2.28,0.00,0.000,6,0.000,0.022,2664,2085,3526,0,0,0,0,0,0
$GC,1420,-1.31,-146.1,202.1,-9.1,143,1424,0.00,2.33,0.00,0.000,4,0.000,0.032,2664,3478,3526,0,0,0,0,0,0
$GC,1461,-1.31,-146.1,205.7,-8.3,145,1465,0.00,2.40,0.00,0.000,6,0.000,0.035,2664,2077,3526,0,0,0,0,0,0
$GC,1790,-1.31,-146.1,237.8,-9.7,161,1794,0.00,2.42,0.00,0.000,4,0.000,0.052,2664,665,3525,0,0,0,0,0,0
$GC,1823,-1.31,-146.1,241.5,-10.7,162,1830,0.00,2.33,0.00,0.000,6,0.000,0.025,2664,2074,3526,0,0,0,0,0,0
$GC,2138,-1.31,-146.1,275.2,-10.1,178,2142,0.00,2.45,0.00,0.000,4,0.000,0.054,2664,671,3524,0,0,0,0,0,0
$GC,2171,-1.31,-146.1,278.7,-10.6,179,2176,0.00,2.33,0.00,0.000,6,0.000,0.026,2664,2087,3524,0,0,0,0,0,0
$STATE,2403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2403,begin apogee
$GC,2410,-0.31,0.0,301.0,9.9,191,2530,1.05,0.00,117.00,0.685,6,0.071,0.000,2892,2087,2924,0,0,0,0,0,0
$STATE,2531,end apogee,CONTROL_FINISHED_OK
$STATE,2531,begin climb
$GC,2534,1.31,146.1,305.2,0.0,194,2663,1.52,2.47,118.68,0.676,4,0.030,0.041,3251,3475,2328,0,0,0,0,0,0
$GC,2747,1.31,146.1,291.6,14.5,200,2752,0.00,2.47,0.00,0.000,6,0.000,0.042,3251,2082,2325,0,0,0,0,0,0
$GC,3069,1.31,146.1,244.6,11.8,216,3073,0.00,2.42,0.00,0.000,4,0.000,0.039,3251,3476,2319,0,0,0,0,0,0
$GC,3090,1.31,146.1,242.1,10.7,217,3094,0.00,2.47,0.00,0.000,6,0.000,0.042,3251,2074,2319,0,0,0,0,0,0
$GC,3412,1.31,146.1,204.6,12.0,233,3416,0.00,2.45,0.00,0.000,4,0.000,0.038,3251,3482,2316,0,0,0,0,0,0
$GC,3444,1.31,146.1,200.1,12.8,234,3451,0.00,2.50,0.00,0.000,6,0.000,0.044,3251,2082,2316,0,0,0,0,0,0
$GC,3771,1.40,218.1,171.0,6.7,265,3837,0.00,2.47,59.35,0.622,4,0.000,0.035,3251,3469,2036,0,0,0,0,0,0
$GC,3901,1.40,218.1,155.4,14.3,277,3905,0.00,2.47,0.00,0.000,6,0.000,0.042,3251,2076,2034,0,0,0,0,0,0
$GC,4165,1.40,218.1,114.8,16.7,301,4169,0.00,2.45,0.00,0.000,4,0.000,0.054,3251,671,2029,0,0,0,0,0,0
$GC,4204,1.40,218.1,108.1,16.4,304,4208,0.00,2.33,0.00,0.000,6,0.000,0.026,3250,2076,2025,0,0,0,0,0,0
$GC,4473,1.40,218.1,70.8,13.7,329,4477,0.00,2.38,0.00,0.000,4,0.000,0.033,3251,3484,2025,0,0,0,0,0,0
$GC,4550,1.40,218.1,59.7,13.3,335,4557,0.00,2.47,0.00,0.000,6,0.000,0.036,3251,2075,2025,0,0,0,0,0,0
$GC,4815,1.40,218.1,32.3,11.0,360,4819,0.00,2.40,0.00,0.000,4,0.000,0.049,3251,672,2025,0,0,0,0,0,0
$GC,4832,1.40,218.1,29.9,11.3,361,4839,0.00,2.33,0.00,0.000,6,0.000,0.021,3251,2092,2022,0,0,0,0,0,0
$GC,5035,1.40,218.1,2.8,13.0,398,5042,0.00,2.45,0.00,0.000,4,0.000,0.044,3251,677,2022,0,0,0,0,0,0
$STATE,5047,end climb,SURFACE_DEPTH_REACHED
$STATE,5047,begin surface coast
$FINISH,0.2,1.001221
$STATE,5059,end surface coast,CONTROL_FINISHED_OK
$STATE,5059,begin surface
$SM_CCo,5085,88.15,0.469,0,0,1293,400.08
$SM_GC,1.19,0.00,0.00,88.15,0.000,0.000,0.469,351,2086,1293,-12.00,0.20,400.08
$IRIDIUM_FIX,2106.38,-15753.03,160801,111151
$TT8_MAMPS,0.029146
$HUMID,58.50
$INTERNAL_PRESSURE,9.96762
$TCM_TEMP,20.70
$XPDR_PINGS,0
$24V_AH,23.5,40.360
$10V_AH,10.2,40.939
$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,27.600,67.325,295.025,88.150,0.000,52.343,70.371,305.921,2.750,0.000,83.317,709.442,2937.979,443.037,1158.098,621.327,33.353,926.027,0.000,1087.489,0.000,18.269,0.000
$DEVICE_MAMPS,138.827,54.457,684.931,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,270.603,293.540,667.732,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355840
$DATA_FILE_SIZE,22386,402
$CAP_FILE_SIZE,66234,0
$CFSIZE,260165632,255537152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220512,112246,2111.483,-15753.567,901,99.0,901,9.8