version: 66.06
glider: 136
mission: 2
dive: 4
start: 3 25 110 22 23 51
data:
$ID,136
$MISSION,2
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$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,450
$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,-115293.56
$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,3195
$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,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2433
$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
$GPS1,221849,4808.903,-12224.216,19,2.0,31,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-61.4
$GPS2,222258,4808.973,-12224.256,14,2.1,33,18.4
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.091,-0.196
$KALMAN_X,-458.1,-275.9,-259.4,113.7,-144.1
$KALMAN_Y,1018.8,556.4,520.3,-149.9,310.3
$MHEAD_RNG_PITCHd_Wd,136.7,3971,-21.7,-10.000
$D_GRID,80
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.57,-97.8,0.0,0.0,0,111,0.00,0.00,-92.38,0.000,2,0.000,0.000,675,2093,2660,0,0,0,0,0,0
$GC,114,-1.57,-97.8,3.4,-6.5,17,138,12.00,2.97,-4.07,0.000,4,0.143,0.073,2844,520,2834,0,0,0,0,0,0
$GC,151,-1.57,-97.8,11.4,-19.6,23,158,0.00,2.88,0.00,0.000,6,0.000,0.043,2844,2101,2835,0,0,0,0,0,0
$GC,225,-1.57,-97.8,21.0,-14.0,36,231,0.00,2.90,0.00,0.000,4,0.000,0.051,2844,3696,2835,0,0,0,0,0,0
$GC,259,-1.57,-97.8,25.6,-13.2,42,266,0.00,2.85,0.00,0.000,6,0.000,0.039,2845,2106,2835,0,0,1,0,0,0
$GC,331,-1.57,-97.8,34.2,-11.0,55,338,0.00,2.95,0.00,0.000,4,0.000,0.063,2844,514,2835,0,0,0,0,0,0
$GC,382,-1.57,-97.8,40.2,-12.3,64,388,0.00,2.85,0.00,0.000,6,0.000,0.042,2845,2091,2835,0,0,0,0,0,0
$GC,521,-1.57,-97.8,57.2,-12.5,89,527,0.00,2.95,0.00,0.000,4,0.000,0.063,2844,512,2836,0,0,0,0,0,0
$GC,569,-1.57,-97.8,63.3,-13.3,97,574,0.00,2.85,0.00,0.000,6,0.000,0.043,2844,2101,2835,0,0,0,0,0,0
$STATE,706,end dive,TARGET_DEPTH_EXCEEDED
$STATE,706,begin apogee
$GC,711,-0.33,0.0,80.5,11.6,121,798,1.35,0.00,79.57,0.859,6,0.096,0.000,3115,2102,2432,0,0,0,0,0,0
$STATE,799,end apogee,CONTROL_FINISHED_OK
$STATE,800,begin climb
$GC,802,1.57,97.8,84.5,0.0,137,895,1.95,2.97,80.47,0.835,4,0.062,0.054,3534,3678,2032,0,0,0,0,0,0
$GC,919,1.57,97.8,76.4,10.6,158,925,0.00,2.85,0.00,0.000,6,0.000,0.041,3534,2106,2030,0,0,1,0,0,0
$GC,1059,1.57,97.8,60.9,11.2,183,1065,0.00,2.97,0.00,0.000,4,0.000,0.066,3534,514,2026,0,0,0,0,0,0
$GC,1116,1.57,97.8,54.2,11.8,193,1122,0.00,2.88,0.00,0.000,6,0.000,0.043,3534,2101,2025,0,0,0,0,0,0
$GC,1256,1.57,97.8,38.7,11.0,218,1263,0.00,2.97,0.00,0.000,4,0.000,0.064,3534,514,2024,0,0,0,0,0,0
$GC,1307,1.57,97.8,32.6,12.1,227,1314,0.00,2.88,0.00,0.000,6,0.000,0.042,3534,2092,2023,0,0,0,0,0,0
$GC,1381,1.57,97.8,24.5,10.5,240,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,2092,2023,0,0,0,0,0,0
$GC,1453,1.59,112.3,17.7,9.0,253,1471,0.00,0.00,11.98,0.737,6,0.000,0.000,3534,2092,1973,0,0,0,0,0,0
$GC,1538,1.59,119.0,10.4,9.5,268,1552,0.00,2.92,6.90,0.659,4,0.000,0.053,3534,3689,1947,0,0,0,0,0,0
$GC,1598,1.61,130.6,4.9,9.2,278,1617,0.00,2.85,8.57,0.684,6,0.000,0.040,3534,2103,1899,0,0,1,0,0,0
$STATE,1622,end climb,SURFACE_DEPTH_REACHED
$STATE,1622,begin surface coast
$FINISH,0.4,1.019617
$STATE,1650,end surface coast,CONTROL_FINISHED_OK
$STATE,1650,begin surface
$SM_CCo,1672,182.12,0.089,0,0,598,450.13
$SM_GC,1.03,0.00,0.00,182.12,0.000,0.000,0.089,672,2103,598,-11.61,0.08,450.13
$IRIDIUM_FIX,4748.51,-12226.29,190699,222242
$TT8_MAMPS,0.029913
$HUMID,31.57
$INTERNAL_PRESSURE,9.28431
$TCM_TEMP,231.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,75.7,15.8
$24V_AH,23.3,0.754
$10V_AH,10.5,0.342
$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,28.075,46.500,187.500,182.125,0.000,0.000,0.000,0.000,0.500,0.000,35.368,443.297,293.413,413.503,701.262,96.417,32.338,774.515,0.000,718.868,0.000,5.462,0.000
$DEVICE_MAMPS,143.429,72.865,859.040,88.972,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.984,537.414,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324448
$DATA_FILE_SIZE,12867,287
$CAP_FILE_SIZE,55356,0
$CFSIZE,260165632,234717184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,250310,225548,4808.933,-12224.210,10,1.8,26,18.4