version: 66.06
glider: 135
mission: 2
dive: 26
start: 3 26 110 14 53 41
data:
$ID,135
$MISSION,2
$DIVE,26
$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,-11201.325
$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,25
$R_STBD_OVSHOOT,32
$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
$GPS1,144607,4806.437,-12222.503,12,1.1,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-66.1
$GPS2,145243,4806.472,-12222.505,10,1.6,10,18.3
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.174
$KALMAN_X,-3910.7,-66.3,4.4,5065.8,81.6
$KALMAN_Y,7354.8,97.0,80.3,-10074.0,-120.7
$MHEAD_RNG_PITCHd_Wd,308.3,3381,-13.9,-6.995
$D_GRID,105
$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,-60.53,0.000,2,0.000,0.000,292,2044,2056,0,0,0,0,0,0
$GC,81,-1.22,-117.3,4.3,-8.1,11,111,11.62,2.90,-10.50,0.000,4,0.162,0.070,2290,472,2507,0,0,0,0,0,0
$GC,352,-1.22,-117.3,30.5,-8.9,61,359,0.00,2.80,0.00,0.000,6,0.000,0.035,2290,2048,2507,0,0,0,0,0,0
$GC,425,-1.22,-117.3,36.7,-8.5,74,431,0.00,2.90,0.00,0.000,4,0.000,0.059,2290,464,2508,0,0,0,0,0,0
$GC,511,-1.22,-117.3,44.9,-9.7,89,516,0.00,2.80,0.00,0.000,6,0.000,0.035,2290,2055,2507,0,0,0,0,0,0
$GC,648,-1.22,-117.3,57.2,-9.0,114,655,0.00,2.83,0.00,0.000,4,0.000,0.058,2290,3622,2507,0,0,0,0,0,0
$GC,683,-1.22,-117.3,60.4,-8.9,120,690,0.00,2.78,0.00,0.000,6,0.000,0.048,2290,2050,2508,0,0,0,0,0,0
$GC,827,-1.22,-117.3,72.5,-8.4,145,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2050,2508,0,0,0,0,0,0
$GC,963,-1.22,-117.3,84.1,-8.5,170,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2050,2508,0,0,0,0,0,0
$GC,1111,-1.22,-117.3,95.9,-7.8,195,1116,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2049,2508,0,0,0,0,0,0
$STATE,1220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1221,begin apogee
$GC,1226,-0.38,0.0,105.1,7.9,215,1330,0.93,0.00,98.15,0.683,6,0.096,0.000,2475,2049,2025,0,0,0,0,0,0
$STATE,1330,end apogee,CONTROL_FINISHED_OK
$STATE,1330,begin climb
$GC,1332,1.22,117.3,107.3,0.0,234,1437,1.67,0.00,97.90,0.663,6,0.068,0.000,2825,2049,1546,0,0,0,0,0,0
$GC,1575,1.22,117.3,88.3,9.7,277,1580,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2049,1540,0,0,0,0,0,0
$GC,1711,1.22,117.3,75.0,9.5,302,1718,0.00,2.90,0.00,0.000,4,0.000,0.061,2826,468,1538,0,0,0,0,0,0
$GC,1731,1.22,117.3,73.2,9.7,305,1736,0.00,2.80,0.00,0.000,6,0.000,0.035,2826,2058,1538,0,0,0,0,0,0
$GC,1871,1.22,117.3,60.1,9.1,330,1877,0.00,2.80,0.00,0.000,4,0.000,0.055,2826,3620,1537,0,0,0,0,0,0
$GC,1917,1.22,117.3,55.5,9.6,338,1924,0.00,2.78,0.00,0.000,6,0.000,0.044,2826,2042,1537,0,0,0,0,0,0
$GC,2061,1.22,117.3,42.4,9.4,363,2067,0.00,2.90,0.00,0.000,4,0.000,0.061,2826,473,1536,0,0,0,0,0,0
$GC,2085,1.22,117.3,40.0,9.3,367,2091,0.00,2.75,0.00,0.000,6,0.000,0.036,2826,2048,1536,0,0,0,0,0,0
$GC,2223,1.22,117.3,27.9,8.7,392,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2048,1536,0,0,0,0,0,0
$GC,2297,1.22,117.3,21.7,8.2,405,2304,0.00,2.83,0.00,0.000,4,0.000,0.054,2826,3628,1536,0,0,0,0,0,0
$GC,2312,1.22,117.3,20.5,8.0,407,2318,0.00,2.78,0.00,0.000,6,0.000,0.044,2826,2047,1536,0,0,0,0,0,0
$GC,2383,1.22,117.3,14.7,7.9,420,2390,0.00,2.90,0.00,0.000,4,0.000,0.061,2826,469,1536,0,0,0,0,0,0
$GC,2456,1.22,117.3,9.3,7.1,433,2463,0.00,2.80,0.00,0.000,6,0.000,0.035,2826,2050,1536,0,0,0,0,0,0
$GC,2531,1.34,219.1,6.7,2.9,446,2616,0.15,0.00,81.32,0.611,2,0.064,0.000,2866,2051,1148,0,0,0,0,0,0
$STATE,2617,end climb,SURFACE_DEPTH_REACHED
$STATE,2617,begin surface coast
$FINISH,1.1,1.018829
$STATE,2690,end surface coast,CONTROL_FINISHED_OK
$STATE,2690,begin surface
$SM_CCo,2710,110.90,0.559,1,0,638,340.23
$SM_GC,1.79,0.00,0.00,110.90,0.000,0.000,0.559,295,2050,638,-10.44,0.00,340.23
$IRIDIUM_FIX,4748.51,-12222.84,200699,131324
$TT8_MAMPS,0.029146
$HUMID,32.00
$INTERNAL_PRESSURE,9.2425
$TCM_TEMP,12.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,31.9
$24V_AH,23.6,2.936
$10V_AH,10.4,1.378
$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,26.275,45.225,277.375,110.900,0.000,30.718,37.932,208.015,1.750,0.000,11.993,708.428,562.729,387.388,1061.647,517.317,33.343,892.305,0.000,1152.089,0.000,14.541,0.000
$DEVICE_MAMPS,161.837,69.797,682.630,559.143,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,316.770,828.998,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324384
$DATA_FILE_SIZE,22241,474
$CAP_FILE_SIZE,57049,0
$CFSIZE,260165632,256679936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260310,154158,4806.654,-12222.719,12,2.8,31,18.3