version: 66.06
glider: 136
mission: 2
dive: 1
start: 3 25 110 20 14 12
data:
$ID,136
$MISSION,2
$DIVE,1
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$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,15
$T_MISSION,25
$T_ABORT,1440
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51227
$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,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,700
$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,-115055.38
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,679
$PITCH_MAX,3985
$C_PITCH,3253
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.050000001
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,155
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3918
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3433
$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,-1.8290597
$PRESSURE_SLOPE,0.0001163524
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.3
$TCM_ROLL_OFFSET,-0.89999998
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$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,0.0043109441
$SEABIRD_T_H,0.00063083594
$SEABIRD_T_I,2.3949629e-05
$SEABIRD_T_J,2.5121064e-06
$SEABIRD_C_G,-10.048435
$SEABIRD_C_H,1.1130342
$SEABIRD_C_I,-0.0014419729
$SEABIRD_C_J,0.00020233419
$GPS1,200913,4807.839,-12223.485,6,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-61.5
$GPS2,201322,4807.915,-12223.539,10,2.5,29,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.079,-0.201
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,140.2,1820,-21.7,-10.000
$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,-1.57,-97.8,0.0,0.0,0,111,0.00,0.00,-92.55,0.000,2,0.000,0.000,680,2255,2632,0,0,0,0,0,0
$GC,114,-1.57,-97.8,3.1,-5.9,17,159,12.27,0.00,-29.27,0.000,6,0.143,0.000,2900,2255,3833,0,0,0,0,0,0
$GC,227,-1.57,-97.8,17.9,-15.0,37,234,0.00,2.95,0.00,0.000,4,0.000,0.067,2901,676,3835,0,0,0,0,0,0
$GC,273,-1.57,-97.8,25.2,-15.4,45,280,0.00,2.83,0.00,0.000,6,0.000,0.047,2901,2235,3835,0,0,0,0,0,0
$GC,345,-1.57,-97.8,36.3,-15.4,58,352,0.00,2.92,0.00,0.000,4,0.000,0.067,2900,682,3835,0,0,0,0,0,0
$GC,375,-1.57,-97.8,41.4,-16.9,63,381,0.00,2.83,0.00,0.000,6,0.000,0.047,2901,2255,3835,0,0,0,0,0,0
$STATE,398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,398,begin apogee
$GC,403,-0.33,0.0,45.1,15.4,67,483,1.30,0.00,75.57,0.840,6,0.079,0.000,3172,2255,3433,0,0,0,0,0,0
$STATE,484,end apogee,CONTROL_FINISHED_OK
$STATE,484,begin climb
$GC,486,1.57,97.8,50.4,0.0,82,574,1.88,2.97,75.72,0.825,4,0.036,0.056,3597,3833,3032,0,0,0,0,0,0
$GC,800,1.95,409.4,86.3,-11.4,138,1056,0.30,2.85,244.43,0.858,6,0.035,0.042,3685,2265,1761,0,0,0,0,0,0
$GC,1194,1.95,409.4,55.5,21.0,209,1199,0.00,3.00,0.00,0.000,4,0.000,0.065,3685,665,1754,0,0,0,0,0,0
$GC,1255,1.95,409.4,41.0,22.0,220,1262,0.00,2.92,0.00,0.000,6,0.000,0.047,3685,2267,1753,0,0,0,0,0,0
$GC,1393,1.95,409.4,11.8,21.1,245,1399,0.00,3.00,0.00,0.000,4,0.000,0.064,3685,663,1752,0,0,0,0,0,0
$STATE,1431,end climb,SURFACE_DEPTH_REACHED
$STATE,1431,begin surface coast
$FINISH,0.2,1.015581
$STATE,1444,end surface coast,CONTROL_FINISHED_OK
$STATE,1444,begin surface
$SM_CCo,1469,157.27,0.087,0,0,579,700.09
$SM_GC,1.02,0.00,0.00,157.27,0.000,0.000,0.087,682,2253,579,-11.83,0.08,700.09
$IRIDIUM_FIX,4748.51,-12224.57,190699,202020
$TT8_MAMPS,0.029913
$HUMID,31.57
$INTERNAL_PRESSURE,9.29408
$TCM_TEMP,258.00
$XPDR_PINGS,2
$24V_AH,23.3,0.453
$10V_AH,10.5,0.218
$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,29.250,29.175,395.725,157.275,0.000,0.000,0.000,0.000,0.500,0.000,31.388,317.361,215.994,504.569,597.562,81.500,29.237,888.577,0.000,611.312,0.000,1.004,0.000
$DEVICE_MAMPS,143.429,66.729,858.273,87.438,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,163.989,446.948,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324452
$DATA_FILE_SIZE,12893,254
$CAP_FILE_SIZE,59400,0
$CFSIZE,260165632,234790912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250310,204225,4807.879,-12223.626,12,1.9,29,18.3