version: 66.06
glider: 135
mission: 2
dive: 22
start: 3 26 110 11 0 5
data:
$ID,135
$MISSION,2
$DIVE,22
$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,-11100.834
$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,21
$R_STBD_OVSHOOT,29
$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
$GPS1,105243,4806.225,-12222.185,14,1.3,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.2
$GPS2,105907,4806.280,-12222.194,10,1.3,10,18.3
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,-0.188
$KALMAN_X,-3596.5,-279.4,-104.8,5458.1,-101.9
$KALMAN_Y,6556.7,419.8,252.3,-10127.4,215.1
$MHEAD_RNG_PITCHd_Wd,136.7,572,-13.9,-6.995
$D_GRID,108
$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,-117.3,0.0,0.0,0,89,0.00,0.00,-71.30,0.000,2,0.000,0.000,298,2052,2354,0,0,0,0,0,0
$GC,92,-1.22,-117.3,4.7,-7.3,13,116,11.57,2.88,-3.08,0.000,4,0.161,0.068,2291,3626,2505,0,0,0,0,0,0
$GC,166,-1.22,-117.3,15.4,-10.0,26,172,0.00,2.78,0.00,0.000,6,0.000,0.046,2291,2055,2505,0,0,0,0,0,0
$GC,238,-1.22,-117.3,21.3,-7.6,39,245,0.00,2.95,0.00,0.000,4,0.000,0.061,2291,470,2506,0,0,0,0,0,0
$GC,274,-1.22,-117.3,24.3,-8.3,45,280,0.00,2.80,0.00,0.000,6,0.000,0.036,2291,2046,2505,0,0,0,0,0,0
$GC,347,-1.22,-117.3,30.4,-8.1,58,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2046,2505,0,0,0,0,0,0
$GC,421,-1.22,-117.3,36.4,-8.1,71,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2046,2505,0,0,0,0,0,0
$GC,493,-1.22,-117.3,42.5,-8.5,84,499,0.00,2.83,0.00,0.000,4,0.000,0.058,2291,3619,2505,0,0,0,0,0,0
$GC,516,-1.22,-117.3,44.6,-8.6,88,523,0.00,2.78,0.00,0.000,6,0.000,0.046,2291,2044,2505,0,0,0,0,0,0
$GC,659,-1.22,-117.3,57.3,-8.8,113,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2044,2505,0,0,0,0,0,0
$GC,795,-1.22,-117.3,69.0,-8.2,138,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2044,2505,0,0,0,0,0,0
$GC,937,-1.22,-117.3,80.6,-8.0,163,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2044,2505,0,0,0,0,0,0
$GC,1078,-1.22,-117.3,92.3,-8.2,188,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2043,2505,0,0,0,0,0,0
$GC,1216,-1.22,-117.3,103.3,-7.6,213,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2043,2505,0,0,0,0,0,0
$STATE,1283,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1283,begin apogee
$GC,1288,-0.38,0.0,108.2,7.5,225,1392,0.93,0.00,97.65,0.686,6,0.094,0.000,2477,2043,2025,0,0,0,0,0,0
$STATE,1392,end apogee,CONTROL_FINISHED_OK
$STATE,1392,begin climb
$GC,1395,1.22,117.3,110.6,0.0,244,1499,1.67,0.00,97.93,0.666,6,0.067,0.000,2828,2043,1546,0,0,0,0,0,0
$GC,1637,1.22,117.3,92.0,9.2,287,1642,0.00,2.92,0.00,0.000,4,0.000,0.061,2828,471,1539,0,0,0,0,0,0
$GC,1676,1.22,117.3,87.7,10.0,294,1683,0.00,2.83,0.00,0.000,6,0.000,0.036,2828,2054,1539,0,0,0,0,0,0
$GC,1817,1.22,117.3,74.7,9.2,319,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2054,1538,0,0,0,0,0,0
$GC,1958,1.22,117.3,61.1,9.6,344,1964,0.00,2.83,0.00,0.000,4,0.000,0.055,2828,3623,1537,0,0,0,0,0,0
$GC,1988,1.22,117.3,58.3,9.4,349,1994,0.00,2.72,0.00,0.000,6,0.000,0.044,2828,2053,1537,0,0,0,0,0,0
$GC,2127,1.22,117.3,45.9,9.1,374,2133,0.00,2.90,0.00,0.000,4,0.000,0.061,2828,470,1536,0,0,0,0,0,0
$GC,2181,1.22,117.3,40.7,9.9,383,2187,0.00,2.80,0.00,0.000,6,0.000,0.036,2829,2061,1536,0,0,0,0,0,0
$GC,2319,1.22,117.3,28.5,8.9,408,2325,0.00,2.80,0.00,0.000,4,0.000,0.054,2828,3626,1536,0,0,0,0,0,0
$GC,2370,1.22,117.3,23.8,8.9,417,2378,0.00,2.78,0.00,0.000,6,0.000,0.044,2829,2045,1535,0,0,0,0,0,0
$GC,2445,1.22,117.3,17.5,8.6,430,2451,0.00,2.90,0.00,0.000,4,0.000,0.062,2828,465,1535,0,0,0,0,0,0
$GC,2517,1.22,117.3,11.4,7.6,443,2524,0.00,2.80,0.00,0.000,6,0.000,0.036,2828,2046,1535,0,0,0,0,0,0
$GC,2591,1.24,140.4,6.9,6.1,456,2615,0.00,2.83,19.05,0.603,4,0.000,0.052,2828,3624,1452,0,0,0,0,0,0
$STATE,2830,end climb,NO_VERTICAL_VELOCITY
$STATE,2830,begin surface
$SM_CCo,2833,233.18,0.584,1,0,360,408.42
$SM_GC,1.20,11.52,0.00,0.00,0.038,0.000,0.000,295,2052,354,-10.40,0.06,409.90
$IRIDIUM_FIX,4748.51,-12224.57,200699,101027
$TT8_MAMPS,0.029146
$HUMID,32.87
$INTERNAL_PRESSURE,9.21321
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,37.2
$24V_AH,23.6,2.581
$10V_AH,10.4,1.144
$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,25.700,50.900,214.625,233.175,0.000,28.261,29.916,207.834,1.500,0.000,11.973,764.357,694.558,492.115,1123.522,509.794,33.341,1002.558,0.000,1216.101,0.000,11.685,0.000
$DEVICE_MAMPS,161.070,68.263,686.465,584.454,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,335.458,871.147,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324328
$DATA_FILE_SIZE,25436,500
$CAP_FILE_SIZE,60696,0
$CFSIZE,260165632,256802816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260310,115425,4806.079,-12222.029,38,1.4,38,18.3