version: 66.06
glider: 135
mission: 2
dive: 21
start: 3 26 110 9 58 48
data:
$ID,135
$MISSION,2
$DIVE,21
$D_SURF,3
$D_FLARE,4
$D_TGT,149
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$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,71
$T_MISSION,80
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51746
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,12223
$TGT_AUTO_DEFAULT,0
$SM_CC,340
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-11088.231
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,297
$PITCH_MAX,3602
$C_PITCH,2565
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3875
$ROLL_DEG,45
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,360
$VBD_MAX,3894
$C_VBD,2025
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,-7.0481406e-08
$PRESSURE_SLOPE,0.0001160407
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,70
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043533645
$SEABIRD_T_H,0.00063353725
$SEABIRD_T_I,2.4853985e-05
$SEABIRD_T_J,2.7377309e-06
$SEABIRD_C_G,-10.094657
$SEABIRD_C_H,1.1542023
$SEABIRD_C_I,-0.0011480595
$SEABIRD_C_J,0.00017689132
$GPS1,094914,4806.287,-12222.266,8,1.5,8,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.5
$GPS2,095750,4806.391,-12222.321,10,1.2,10,18.3
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,-0.188
$KALMAN_X,-3436.7,-325.0,-102.7,5187.0,-116.8
$KALMAN_Y,6181.0,487.8,191.1,-9557.3,294.5
$MHEAD_RNG_PITCHd_Wd,136.5,826,-13.9,-6.995
$D_GRID,107
$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,15,-1.22,-117.3,0.0,0.0,0,73,0.00,0.00,-55.08,0.000,2,0.000,0.000,296,2050,2204,0,0,0,0,0,0
$GC,76,-1.22,-117.3,4.2,-6.8,10,100,11.60,0.00,-6.47,0.000,6,0.161,0.000,2294,2050,2505,0,0,0,0,0,0
$GC,166,-1.22,-117.3,14.6,-8.4,26,174,0.00,2.85,0.00,0.000,4,0.000,0.058,2293,3622,2506,0,0,0,0,0,0
$GC,223,-1.22,-117.3,19.9,-9.3,36,230,0.00,2.78,0.00,0.000,6,0.000,0.045,2294,2045,2506,0,0,0,0,0,0
$GC,296,-1.22,-117.3,25.4,-7.6,49,301,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2044,2506,0,0,0,0,0,0
$GC,368,-1.22,-117.3,31.1,-8.0,62,375,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2044,2506,0,0,0,0,0,0
$GC,441,-1.22,-117.3,37.0,-8.1,75,448,0.00,2.88,0.00,0.000,4,0.000,0.061,2294,472,2506,0,0,0,0,0,0
$GC,473,-1.22,-117.3,39.7,-8.4,80,479,0.00,2.80,0.00,0.000,6,0.000,0.038,2294,2049,2506,0,0,0,0,0,0
$GC,550,-1.22,-117.3,46.2,-8.5,93,555,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2048,2506,0,0,0,0,0,0
$GC,685,-1.22,-117.3,58.2,-8.5,118,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2048,2506,0,0,0,0,0,0
$GC,829,-1.22,-117.3,70.2,-8.5,143,835,0.00,2.80,0.00,0.000,4,0.000,0.058,2294,3631,2506,0,0,0,0,0,0
$GC,876,-1.22,-117.3,74.5,-9.0,151,882,0.00,2.70,0.00,0.000,6,0.000,0.046,2294,2060,2506,0,0,0,0,0,0
$GC,1021,-1.22,-117.3,86.8,-8.5,176,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2059,2506,0,0,0,0,0,0
$GC,1161,-1.22,-117.3,98.5,-8.7,201,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2059,2506,0,0,0,0,0,0
$STATE,1262,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1262,begin apogee
$GC,1267,-0.38,0.0,107.1,8.1,219,1371,0.90,0.00,97.97,0.690,6,0.097,0.000,2473,2059,2025,0,0,0,0,0,0
$STATE,1372,end apogee,CONTROL_FINISHED_OK
$STATE,1372,begin climb
$GC,1374,1.22,117.3,110.2,0.0,238,1484,1.67,2.88,97.50,0.667,4,0.068,0.054,2824,3622,1546,0,0,0,0,0,0
$GC,1502,1.22,117.3,101.9,8.6,261,1508,0.00,2.78,0.00,0.000,6,0.000,0.044,2824,2040,1543,0,0,0,0,0,0
$GC,1641,1.22,117.3,88.9,9.4,286,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2038,1540,0,0,0,0,0,0
$GC,1784,1.22,117.3,75.7,9.3,311,1789,0.00,2.90,0.00,0.000,4,0.000,0.061,2824,462,1538,0,0,0,0,0,0
$GC,1834,1.22,117.3,70.3,10.1,320,1841,0.00,2.83,0.00,0.000,6,0.000,0.036,2824,2052,1538,0,0,0,0,0,0
$GC,1978,1.22,117.3,57.1,9.0,345,1983,0.00,2.78,0.00,0.000,4,0.000,0.054,2824,3623,1537,0,0,0,0,0,0
$GC,2017,1.22,117.3,53.2,9.2,352,2024,0.00,2.78,0.00,0.000,6,0.000,0.044,2824,2046,1537,0,0,0,0,0,0
$GC,2160,1.22,117.3,41.1,8.7,377,2165,0.00,2.90,0.00,0.000,4,0.000,0.061,2824,472,1536,0,0,0,0,0,0
$GC,2199,1.22,117.3,37.1,9.4,384,2206,0.00,2.80,0.00,0.000,6,0.000,0.036,2824,2046,1536,0,0,0,0,0,0
$GC,2273,1.22,117.3,30.5,8.9,397,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2046,1536,0,0,0,0,0,0
$GC,2347,1.22,117.3,24.1,8.8,410,2353,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2046,1536,0,0,0,0,0,0
$GC,2419,1.22,117.3,18.2,8.1,423,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2046,1536,0,0,0,0,0,0
$GC,2490,1.22,117.3,12.7,7.2,436,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2046,1536,0,0,0,0,0,0
$GC,2562,1.22,117.3,7.6,7.2,449,2570,0.00,2.83,0.00,0.000,4,0.000,0.055,2823,3623,1536,0,0,0,0,0,0
$STATE,2797,end climb,NO_VERTICAL_VELOCITY
$STATE,2797,begin surface
$SM_CCo,2800,253.43,0.586,1,0,360,408.42
$SM_GC,1.21,11.52,0.00,0.00,0.040,0.000,0.000,298,2052,354,-10.39,0.06,409.65
$IRIDIUM_FIX,4748.51,-12221.84,200699,101044
$TT8_MAMPS,0.028379
$HUMID,32.67
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.0,44.2
$24V_AH,23.6,2.487
$10V_AH,10.4,1.082
$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,25.700,45.050,195.475,253.425,0.000,47.317,106.697,189.469,1.250,0.000,11.739,761.917,756.061,501.689,1105.754,579.482,33.372,999.938,0.000,1192.081,0.000,11.615,0.000
$DEVICE_MAMPS,161.070,61.360,689.533,585.988,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.413,861.742,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324388
$DATA_FILE_SIZE,22291,492
$CAP_FILE_SIZE,60111,0
$CFSIZE,260165632,256839680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260310,105243,4806.225,-12222.185,14,1.3,26,18.3