version: 66.06
glider: 135
mission: 2
dive: 23
start: 3 26 110 12 2 0
data:
$ID,135
$MISSION,2
$DIVE,23
$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,-11115.588
$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,28
$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
$GPS1,115425,4806.079,-12222.029,38,1.4,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-63.4
$GPS2,120102,4806.135,-12222.053,12,1.2,12,18.3
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.029,-0.125
$KALMAN_X,-3724.4,-244.2,-109.6,5730.4,-25.2
$KALMAN_Y,6918.5,346.2,268.9,-10701.2,138.6
$MHEAD_RNG_PITCHd_Wd,148.6,259,-25.1,-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,-1.98,-41.7,0.0,0.0,0,84,0.00,0.00,-65.97,0.000,2,0.000,0.000,295,2052,2187,0,0,0,0,0,0
$GC,86,-1.98,-46.4,4.2,-6.5,12,105,10.73,0.00,-0.60,0.000,6,0.163,0.000,2128,2051,2215,0,0,0,0,0,0
$GC,171,-1.99,-54.2,13.7,-6.1,27,179,0.00,2.83,-0.57,0.000,4,0.000,0.064,2128,3620,2247,0,0,0,0,0,0
$GC,203,-2.01,-66.0,15.5,-5.7,32,210,0.00,2.78,-0.75,0.000,6,0.000,0.045,2128,2041,2297,0,0,0,0,0,0
$GC,277,-2.03,-85.8,19.0,-4.8,45,285,0.00,2.88,-1.15,0.000,4,0.000,0.068,2128,470,2376,0,0,0,0,0,0
$GC,430,-2.03,-85.8,33.7,-11.6,73,437,0.00,2.80,0.00,0.000,6,0.000,0.035,2128,2048,2376,0,0,0,0,0,0
$GC,503,-2.03,-85.8,41.7,-11.1,86,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2048,2377,0,0,0,0,0,0
$GC,642,-2.03,-85.8,57.6,-12.2,111,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2128,2048,2376,0,0,0,0,0,0
$GC,780,-2.03,-85.8,74.7,-12.1,136,787,0.00,2.85,0.00,0.000,4,0.000,0.059,2128,3653,2376,0,0,0,0,0,0
$GC,837,-2.03,-85.8,82.1,-13.0,146,844,0.00,2.83,0.00,0.000,6,0.000,0.048,2128,2055,2377,0,0,0,0,0,0
$GC,988,-2.03,-85.8,99.9,-11.8,171,996,0.00,2.90,0.00,0.000,4,0.000,0.062,2128,464,2377,0,0,0,0,0,0
$GC,1025,-2.03,-85.8,104.6,-12.1,177,1036,0.00,2.78,0.00,0.000,6,0.000,0.036,2128,2052,2377,0,0,0,0,0,0
$STATE,1057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1057,begin apogee
$GC,1062,-0.38,0.0,108.3,10.9,182,1143,1.80,0.00,72.70,0.686,6,0.112,0.000,2476,2052,2024,0,0,0,0,0,0
$STATE,1144,end apogee,CONTROL_FINISHED_OK
$STATE,1145,begin climb
$GC,1147,2.03,85.8,110.1,0.0,197,1228,2.47,0.00,72.03,0.667,6,0.063,0.000,3011,2053,1675,0,0,0,0,0,0
$GC,1364,2.03,85.8,80.6,15.8,236,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2053,1669,0,0,0,0,0,0
$GC,1503,2.03,85.8,58.8,15.5,261,1508,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2053,1668,0,0,0,0,0,0
$GC,1643,2.03,85.8,37.5,15.0,286,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2053,1668,0,0,0,0,0,0
$GC,1714,2.03,85.8,26.8,14.7,299,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2053,1667,0,0,0,0,0,0
$GC,1786,2.03,85.8,16.6,13.8,312,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2053,1668,0,0,0,0,0,0
$GC,1858,2.03,85.8,7.2,12.6,325,1864,0.00,2.90,0.00,0.000,4,0.000,0.060,3011,467,1667,0,0,0,0,0,0
$GC,1942,2.13,161.4,4.2,-1.5,340,2015,0.00,2.80,62.55,0.612,6,0.000,0.035,3011,2055,1367,0,0,0,0,0,0
$GC,2082,2.20,221.3,3.2,0.2,365,2096,0.15,0.00,11.00,0.087,2,0.065,0.000,3050,2055,1348,0,0,0,0,1,0
$STATE,2097,end climb,SURFACE_DEPTH_REACHED
$STATE,2097,begin surface coast
$FINISH,2.1,1.019540
$STATE,2301,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2301,begin surface
$SM_CCo,2322,152.10,0.574,1,0,638,340.23
$SM_GC,1.17,0.00,0.00,152.10,0.000,0.000,0.574,296,2054,638,-10.44,0.11,340.23
$IRIDIUM_FIX,4748.51,-12220.12,200699,111126
$TT8_MAMPS,0.029146
$HUMID,32.16
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,12.90
$XPDR_PINGS,0
$24V_AH,23.6,2.661
$10V_AH,10.4,1.198
$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,28.050,28.325,218.275,152.100,0.000,24.408,27.579,223.212,3.250,0.000,14.126,622.899,433.906,392.725,949.156,494.257,33.332,838.225,0.000,1020.886,0.000,27.543,0.000
$DEVICE_MAMPS,163.371,68.263,685.698,574.483,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,270.677,766.182,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324388
$DATA_FILE_SIZE,19138,405
$CAP_FILE_SIZE,51916,0
$CFSIZE,260165632,256786432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,260310,124408,4805.957,-12222.020,10,1.3,10,18.3