version: 66.06
glider: 136
mission: 2
dive: 21
start: 3 26 110 7 56 31
data:
$ID,136
$MISSION,2
$DIVE,21
$D_SURF,3
$D_FLARE,3
$D_TGT,148
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,10
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,33
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,300
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51227
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,2
$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,-115550.8
$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,2050
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,21
$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,50
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,072602,4807.280,-12223.812,11,1.3,11,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,8.16
$_SM_ANGLEo,-3.3
$GPS2,072602,4807.280,-12223.812,11,1.3,11,18.3
$SPEED_LIMITS,0.259,0.406
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.181,-0.329
$KALMAN_X,-1127.7,-619.4,-306.5,557.6,-31.4
$KALMAN_Y,2214.1,1183.9,603.7,-1209.4,34.1
$MHEAD_RNG_PITCHd_Wd,99.0,1131,-17.3,-14.949
$D_GRID,148
$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,16,-1.51,-293.3,0.0,0.0,0,24,0.00,0.00,-6.65,0.000,2,0.000,0.000,3216,3486,2468,0,0,0,0,0,0
$GC,27,-1.51,-293.3,7.9,-0.0,1,61,1.55,0.00,-26.42,0.000,6,0.041,0.000,2865,3486,3630,0,0,0,0,0,0
$GC,128,-1.51,-293.3,22.2,-17.7,19,140,0.00,5.62,0.00,0.000,4,0.000,0.055,2864,464,3630,0,0,0,0,0,0
$GC,251,-1.51,-293.3,44.5,-18.3,41,257,0.00,2.85,0.00,0.000,6,0.000,0.041,2864,2054,3630,0,0,0,0,0,0
$GC,389,-1.51,-293.3,69.4,-16.8,66,396,0.00,3.00,0.00,0.000,4,0.000,0.066,2864,461,3630,0,0,0,0,0,0
$GC,409,-1.51,-293.3,72.9,-17.7,69,415,0.00,2.85,0.00,0.000,6,0.000,0.042,2864,2047,3630,0,0,0,0,0,0
$GC,550,-1.51,-293.3,97.9,-17.0,94,556,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,2048,3630,0,0,0,0,0,0
$STATE,621,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,621,begin apogee
$GC,627,-0.33,0.0,110.4,18.2,106,860,1.23,0.00,224.00,0.842,6,0.091,0.000,3111,1895,2432,0,0,0,0,0,0
$STATE,861,end apogee,CONTROL_FINISHED_OK
$STATE,861,begin climb
$GC,864,1.51,293.3,119.1,0.0,149,1115,1.90,3.00,236.75,0.808,4,0.064,0.051,3521,3484,1235,0,0,0,0,0,0
$GC,1140,1.51,293.3,86.1,16.9,199,1146,0.00,2.83,0.00,0.000,6,0.000,0.043,3521,1904,1233,0,0,1,0,0,0
$GC,1281,1.51,293.3,63.5,15.5,224,1288,0.00,3.05,0.00,0.000,4,0.000,0.071,3521,327,1231,0,0,0,0,0,0
$GC,1326,1.51,293.3,55.8,16.0,232,1333,0.00,2.85,0.00,0.000,6,0.000,0.041,3521,1901,1230,0,0,1,0,0,0
$GC,1467,1.51,293.3,34.8,15.6,257,1472,0.00,0.00,0.00,0.000,6,0.000,0.000,3521,1901,1230,0,0,0,0,0,0
$GC,1538,1.51,293.3,23.5,15.7,270,1545,0.00,3.05,0.00,0.000,4,0.000,0.069,3521,317,1230,0,0,0,0,0,0
$GC,1558,1.51,293.3,20.3,16.3,273,1565,0.00,2.88,0.00,0.000,6,0.000,0.040,3521,1901,1229,0,0,0,0,0,0
$GC,1631,1.56,329.5,9.7,13.7,286,1671,0.00,2.97,31.35,0.721,4,0.000,0.052,3521,3485,1088,0,0,0,0,0,0
$STATE,1692,end climb,SURFACE_DEPTH_REACHED
$STATE,1692,begin surface coast
$FINISH,1.0,1.018137
$STATE,1725,end surface coast,CONTROL_FINISHED_OK
$STATE,1726,begin surface
$SM_CCo,1749,15.40,0.092,0,0,1006,350.04
$SM_GC,1.76,0.00,0.00,15.40,0.000,0.000,0.092,678,2046,1006,-11.58,-0.11,350.04
$IRIDIUM_FIX,4748.51,-12226.29,200699,060640
$TT8_MAMPS,0.029913
$HUMID,32.67
$INTERNAL_PRESSURE,9.33314
$TCM_TEMP,233.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,110.4,9.0
$24V_AH,23.3,2.759
$10V_AH,10.5,0.950
$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,17.375,37.850,492.100,15.400,0.000,0.000,0.000,0.000,4.250,0.000,0.000,394.301,263.337,378.686,682.714,100.825,0.000,805.894,0.000,717.152,0.000,32.161,0.000
$DEVICE_MAMPS,90.506,71.331,842.166,92.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,197.391,499.418,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324716
$DATA_FILE_SIZE,15970,303
$CAP_FILE_SIZE,36222,0
$CFSIZE,260165632,234287104
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,260310,082704,4807.090,-12223.164,11,2.6,30,18.3