version: 66.06
glider: 139
mission: 10
dive: 16
start: 5 22 112 15 32 17
data:
$ID,139
$MISSION,10
$DIVE,16
$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,607.11749
$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,-2379775.5
$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,46
$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
$GPS1,132957,2111.018,-15754.451,901,99.0,901,9.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.2
$GPS2,153127,2110.808,-15755.728,52,3.6,71,9.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,D_WEST
$TGT_LATLONG,2108.334,-15802.064
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.215,-0.153
$KALMAN_X,2267.5,115.1,-391.1,-5636.9,-493.0
$KALMAN_Y,-506.1,-13.6,204.3,-8727.1,170.1
$MHEAD_RNG_PITCHd_Wd,224.8,11867,-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,-79.68,0.000,2,0.000,0.000,349,2094,3343,0,0,0,0,0,0
$GC,101,-1.31,-146.1,4.0,-11.8,15,126,12.45,2.47,-3.05,0.000,4,0.137,0.057,2665,672,3523,0,0,0,0,0,0
$GC,205,-1.31,-146.1,33.0,-17.4,32,209,0.00,2.28,0.00,0.000,6,0.000,0.020,2666,2080,3523,0,0,0,0,0,0
$GC,468,-1.31,-146.1,78.5,-16.9,56,472,0.00,2.42,0.00,0.000,4,0.000,0.048,2665,666,3524,0,0,0,0,0,0
$GC,524,-1.31,-146.1,88.7,-17.5,60,531,0.00,2.30,0.00,0.000,6,0.000,0.021,2666,2074,3524,0,0,0,0,0,0
$GC,788,-1.31,-146.1,127.4,-14.6,85,793,0.00,2.42,0.00,0.000,4,0.000,0.048,2665,671,3524,0,0,0,0,0,0
$GC,818,-1.31,-146.1,132.4,-16.6,87,822,0.00,2.28,0.00,0.000,6,0.000,0.020,2665,2085,3524,0,0,0,0,0,0
$GC,1082,-1.31,-146.1,169.1,-12.5,111,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2086,3524,0,0,0,0,0,0
$GC,1343,-1.31,-146.1,197.9,-10.9,136,1348,0.00,2.42,0.00,0.000,4,0.000,0.048,2665,666,3524,0,0,0,0,0,0
$GC,1407,-1.31,-146.1,205.4,-12.0,139,1411,0.00,2.28,0.00,0.000,6,0.000,0.021,2665,2078,3524,0,0,0,0,0,0
$GC,1734,-1.31,-146.1,248.2,-12.3,155,1738,0.00,2.35,0.00,0.000,4,0.000,0.033,2666,3469,3523,0,0,0,0,0,0
$GC,1797,-1.31,-146.1,255.0,-10.1,158,1802,0.00,2.38,0.00,0.000,6,0.000,0.034,2666,2075,3523,0,0,1,0,0,0
$GC,2126,-1.31,-146.1,286.0,-9.1,174,2130,0.00,2.40,0.00,0.000,4,0.000,0.052,2665,674,3522,0,0,0,0,0,0
$GC,2176,-1.31,-146.1,291.7,-11.1,176,2180,0.00,2.28,0.00,0.000,6,0.000,0.024,2665,2072,3522,0,0,0,0,0,0
$STATE,2262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2262,begin apogee
$GC,2269,-0.31,0.0,300.9,10.5,180,2388,1.05,0.00,116.28,0.667,6,0.067,0.000,2895,2073,2925,0,0,0,0,0,0
$STATE,2389,end apogee,CONTROL_FINISHED_OK
$STATE,2389,begin climb
$GC,2392,1.31,146.1,305.7,0.0,183,2520,1.50,2.47,118.05,0.660,4,0.028,0.038,3254,3477,2328,0,0,0,0,0,0
$GC,2583,1.31,146.1,294.6,14.2,188,2588,0.00,2.47,0.00,0.000,6,0.000,0.040,3254,2077,2326,0,0,1,0,0,0
$GC,2904,1.31,146.1,249.8,13.2,204,2909,0.00,2.45,0.00,0.000,4,0.000,0.038,3254,3478,2319,0,0,0,0,0,0
$GC,2954,1.31,146.1,243.5,11.9,206,2959,0.00,2.47,0.00,0.000,6,0.000,0.040,3254,2069,2319,0,0,1,0,0,0
$GC,3271,1.31,146.1,212.8,10.5,221,3275,0.00,2.45,0.00,0.000,4,0.000,0.035,3254,3478,2316,0,0,0,0,0,0
$GC,3303,1.31,146.1,208.6,12.5,222,3310,0.00,2.47,0.00,0.000,6,0.000,0.039,3254,2080,2316,0,0,1,0,0,0
$GC,3629,1.34,168.8,176.9,9.0,249,3652,0.00,2.50,17.73,0.576,4,0.000,0.035,3254,3479,2237,0,0,1,0,0,0
$GC,3903,1.35,178.7,147.0,9.5,273,3920,0.00,2.42,10.05,0.520,6,0.000,0.035,3254,2070,2195,0,0,1,0,0,0
$GC,4176,1.35,178.7,112.2,10.9,299,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,2070,2191,0,0,0,0,0,0
$GC,4431,1.39,211.2,89.2,8.5,323,4465,0.00,2.47,27.92,0.525,4,0.000,0.031,3254,3474,2062,0,0,1,0,0,0
$GC,4680,1.39,211.2,62.8,11.1,345,4687,0.00,2.45,0.00,0.000,6,0.000,0.035,3254,2077,2060,0,0,1,0,0,0
$GC,4944,1.39,211.2,30.5,13.2,370,4948,0.00,2.42,0.00,0.000,4,0.000,0.050,3255,669,2058,0,0,0,0,0,0
$GC,5021,1.39,211.2,18.7,15.2,383,5028,0.00,2.33,0.00,0.000,6,0.000,0.021,3254,2087,2054,0,0,0,0,0,0
$STATE,5173,end climb,SURFACE_DEPTH_REACHED
$STATE,5174,begin surface coast
$FINISH,0.3,1.010563
$STATE,5191,end surface coast,CONTROL_FINISHED_OK
$STATE,5191,begin surface
$SM_CCo,5214,194.90,0.458,0,0,449,607.12
$SM_GC,1.00,0.00,0.00,194.90,0.000,0.000,0.458,350,2092,449,-12.01,0.34,607.12
$IRIDIUM_FIX,2104.07,-15753.03,160801,151554
$TT8_MAMPS,0.029146
$HUMID,54.68
$INTERNAL_PRESSURE,9.92856
$TCM_TEMP,21.40
$XPDR_PINGS,0
$24V_AH,23.5,40.580
$10V_AH,10.3,41.117
$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,27.500,57.675,290.025,194.900,0.000,147.260,181.807,271.222,2.750,0.000,72.472,736.026,3177.625,538.596,1208.179,805.388,33.342,1034.959,0.000,1140.420,0.000,18.271,0.000
$DEVICE_MAMPS,137.293,56.758,666.523,457.899,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.334,303.687,680.276,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,22380,414
$CAP_FILE_SIZE,70182,0
$CFSIZE,260165632,255451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,220512,153127,2110.808,-15755.728,901,99.0,901,9.8