version: 66.06
glider: 135
mission: 2
dive: 24
start: 3 26 110 12 51 58
data:
$ID,135
$MISSION,2
$DIVE,24
$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,-11150.828
$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,36
$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
$GPS1,124408,4805.957,-12222.020,10,1.3,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-65.8
$GPS2,125101,4806.000,-12222.021,33,1.3,33,18.3
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.164
$KALMAN_X,-3858.5,-189.7,-78.8,5818.2,-9.9
$KALMAN_Y,7163.4,269.2,240.7,-11088.6,103.5
$MHEAD_RNG_PITCHd_Wd,303.9,4438,-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,-117.3,0.0,0.0,0,78,0.00,0.00,-60.62,0.000,2,0.000,0.000,296,2054,2328,0,0,0,0,0,0
$GC,81,-1.22,-117.3,4.1,-5.7,11,106,11.60,2.97,-3.67,0.000,4,0.162,0.071,2291,471,2506,0,0,0,0,0,0
$GC,349,-1.22,-117.3,32.6,-8.7,60,355,0.00,2.80,0.00,0.000,6,0.000,0.036,2291,2045,2507,0,0,0,0,0,0
$GC,422,-1.22,-117.3,38.6,-7.8,73,428,0.00,2.90,0.00,0.000,4,0.000,0.059,2291,461,2506,0,0,0,0,0,0
$GC,567,-1.22,-117.3,51.5,-9.2,99,573,0.00,2.80,0.00,0.000,6,0.000,0.036,2291,2053,2506,0,0,0,0,0,0
$GC,707,-1.22,-117.3,63.8,-8.9,124,714,0.00,2.83,0.00,0.000,4,0.000,0.058,2291,3621,2506,0,0,0,0,0,0
$GC,731,-1.22,-117.3,66.0,-9.2,128,737,0.00,2.78,0.00,0.000,6,0.000,0.046,2291,2041,2507,0,0,0,0,0,0
$GC,873,-1.22,-117.3,78.4,-8.7,153,879,0.00,2.90,0.00,0.000,4,0.000,0.060,2291,464,2506,0,0,0,0,0,0
$GC,908,-1.22,-117.3,81.8,-9.5,159,913,0.00,2.80,0.00,0.000,6,0.000,0.036,2291,2056,2506,0,0,0,0,0,0
$GC,1050,-1.22,-117.3,93.8,-8.3,184,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2058,2506,0,0,0,0,0,0
$GC,1195,-1.22,-117.3,105.5,-8.1,209,1201,0.00,2.78,0.00,0.000,4,0.000,0.059,2291,3623,2506,0,0,0,0,0,0
$GC,1213,-1.22,-117.3,107.1,-8.2,212,1219,0.00,2.75,0.00,0.000,6,0.000,0.047,2291,2061,2506,0,0,0,0,0,0
$STATE,1223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1223,begin apogee
$GC,1228,-0.38,0.0,108.0,7.9,214,1333,0.93,0.00,98.05,0.686,6,0.093,0.000,2476,2060,2025,0,0,0,0,0,0
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1336,1.22,117.3,110.5,0.0,233,1440,1.67,0.00,97.85,0.666,6,0.067,0.000,2827,2061,1546,0,0,0,0,0,0
$GC,1575,1.22,117.3,91.7,9.7,276,1581,0.00,2.95,0.00,0.000,4,0.000,0.061,2827,460,1540,0,0,0,0,0,0
$GC,1599,1.22,117.3,89.2,10.1,280,1605,0.00,2.83,0.00,0.000,6,0.000,0.035,2827,2044,1539,0,0,0,0,0,0
$GC,1742,1.22,117.3,76.1,9.2,305,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2044,1538,0,0,0,0,0,0
$GC,1878,1.22,117.3,62.8,9.4,330,1885,0.00,2.83,0.00,0.000,4,0.000,0.055,2827,3620,1537,0,0,0,0,0,0
$GC,1897,1.22,117.3,61.1,9.3,333,1903,0.00,2.75,0.00,0.000,6,0.000,0.043,2827,2039,1537,0,0,0,0,0,0
$GC,2039,1.22,117.3,47.7,9.5,358,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2038,1537,0,0,0,0,0,0
$GC,2177,1.22,117.3,35.2,8.9,383,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2037,1537,0,0,0,0,0,0
$GC,2250,1.22,117.3,28.6,9.0,396,2257,0.00,2.88,0.00,0.000,4,0.000,0.061,2827,468,1537,0,0,0,0,0,0
$GC,2297,1.22,117.3,24.2,9.6,404,2303,0.00,2.80,0.00,0.000,6,0.000,0.035,2828,2048,1537,0,0,0,0,0,0
$GC,2370,1.22,117.3,17.8,9.1,417,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2048,1536,0,0,0,0,0,0
$GC,2444,1.22,117.3,12.1,7.7,430,2451,0.00,2.83,0.00,0.000,4,0.000,0.054,2827,3628,1536,0,0,0,0,0,0
$GC,2463,1.22,117.3,10.4,8.3,433,2469,0.00,2.75,0.00,0.000,6,0.000,0.043,2828,2057,1536,0,0,0,0,0,0
$GC,2535,1.27,165.4,6.2,5.0,446,2582,0.00,2.80,40.08,0.613,4,0.000,0.051,2827,3622,1349,0,0,0,0,0,0
$GC,2601,1.36,232.4,3.5,4.3,457,2616,0.08,2.78,8.80,0.087,2,0.048,0.042,2865,2048,1334,0,0,0,0,0,0
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2617,begin surface coast
$FINISH,2.2,1.019752
$STATE,2629,end surface coast,CONTROL_FINISHED_OK
$STATE,2629,begin surface
$SM_CCo,2649,149.70,0.573,1,0,638,340.23
$SM_GC,1.71,0.00,0.00,149.70,0.000,0.000,0.573,295,2047,638,-10.44,-0.08,340.23
$IRIDIUM_FIX,4751.72,-12221.84,200699,121201
$TT8_MAMPS,0.029146
$HUMID,31.17
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,14.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,31.1
$24V_AH,23.6,2.746
$10V_AH,10.4,1.255
$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,26.150,56.475,244.775,149.700,0.000,22.667,32.427,214.692,2.000,0.000,34.611,706.566,554.166,415.305,1046.837,510.568,33.339,909.596,0.000,1109.880,0.000,16.075,0.000
$DEVICE_MAMPS,161.837,71.331,686.465,572.949,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,308.265,783.815,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324320
$DATA_FILE_SIZE,22283,461
$CAP_FILE_SIZE,59408,0
$CFSIZE,260165632,256741376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260310,133952,4806.168,-12222.259,11,2.8,30,18.3