version: 66.06
glider: 136
mission: 2
dive: 28
start: 3 26 110 14 12 13
data:
$ID,136
$MISSION,2
$DIVE,28
$D_SURF,3
$D_FLARE,3
$D_TGT,149
$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,71
$T_MISSION,80
$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,150
$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,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,-115690.22
$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,1850
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,18
$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,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,85
$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
$GPS1,140436,4806.673,-12222.788,8,1.4,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.4
$GPS2,141150,4806.707,-12222.789,14,1.5,14,18.3
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,125.0,1633,-12.1,-6.995
$D_GRID,149
$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,-0.98,-146.6,0.0,0.0,0,68,0.00,0.00,-50.33,0.000,2,0.000,0.000,674,1850,2137,0,0,0,0,0,0
$GC,71,-0.98,-146.6,3.3,-5.3,9,118,12.85,2.88,-27.50,0.000,4,0.147,0.058,2969,3433,3032,0,0,0,0,0,0
$GC,272,-0.98,-146.6,20.3,-9.1,46,279,0.00,2.85,0.00,0.000,6,0.000,0.040,2969,1853,3033,0,0,0,0,0,0
$GC,345,-0.98,-146.6,26.9,-9.3,59,352,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1853,3033,0,0,0,0,0,0
$GC,418,-0.98,-146.6,33.7,-9.3,72,424,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,1853,3033,0,0,0,0,0,0
$GC,490,-0.98,-146.6,40.3,-9.1,85,496,0.00,3.00,0.00,0.000,4,0.000,0.067,2969,267,3033,0,0,0,0,0,0
$GC,513,-0.98,-146.6,42.5,-9.8,89,519,0.00,2.83,0.00,0.000,6,0.000,0.037,2969,1857,3033,0,0,0,0,0,0
$GC,651,-0.98,-146.6,55.5,-8.9,114,657,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1857,3033,0,0,0,0,0,0
$GC,790,-0.98,-146.6,68.0,-9.1,139,796,0.00,2.85,0.00,0.000,4,0.000,0.051,2969,3438,3033,0,0,0,0,0,0
$GC,818,-0.98,-146.6,70.8,-9.6,144,826,0.00,2.88,0.00,0.000,6,0.000,0.042,2969,1850,3033,0,0,0,0,0,0
$GC,961,-0.98,-146.6,83.4,-8.6,169,967,0.00,3.00,0.00,0.000,4,0.000,0.069,2969,267,3033,0,0,0,0,0,0
$GC,985,-0.98,-146.6,85.8,-9.8,173,991,0.00,2.83,0.00,0.000,6,0.000,0.038,2969,1852,3033,0,0,0,0,0,0
$GC,1124,-0.98,-146.6,98.7,-9.4,198,1131,0.00,2.88,0.00,0.000,4,0.000,0.051,2969,3426,3033,0,0,0,0,0,0
$GC,1178,-0.98,-146.6,103.6,-9.5,207,1183,0.00,2.83,0.00,0.000,6,0.000,0.042,2969,1850,3033,0,0,0,0,0,0
$GC,1314,-0.98,-146.6,115.1,-8.2,232,1321,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1850,3033,0,0,0,0,0,0
$STATE,1365,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1365,begin apogee
$GC,1370,-0.33,0.0,119.2,8.4,241,1492,0.70,0.00,115.68,0.857,6,0.081,0.000,3116,1850,2433,0,0,0,0,0,0
$STATE,1492,end apogee,CONTROL_FINISHED_OK
$STATE,1492,begin climb
$GC,1494,0.98,146.6,120.3,0.0,263,1627,1.35,2.97,118.05,0.835,4,0.064,0.050,3403,3435,1833,0,0,1,0,0,0
$GC,1653,0.98,146.6,111.1,7.4,291,1658,0.00,2.88,0.00,0.000,6,0.000,0.041,3403,1850,1830,0,0,0,0,0,0
$GC,1792,1.00,158.3,101.5,6.6,316,1811,0.00,3.08,10.25,0.729,4,0.000,0.069,3403,273,1786,0,0,0,0,0,0
$GC,1858,1.00,158.3,97.0,7.2,327,1864,0.00,2.85,0.00,0.000,6,0.000,0.038,3403,1853,1785,0,0,0,0,0,0
$GC,1998,1.02,177.7,87.8,6.4,352,2021,0.00,2.90,17.55,0.763,4,0.000,0.050,3403,3435,1707,0,0,0,0,0,0
$GC,2044,1.03,184.6,84.6,6.8,360,2063,0.05,2.88,7.32,0.674,6,0.123,0.041,3426,1851,1680,0,0,1,0,0,0
$GC,2197,1.03,184.6,72.7,7.9,387,2202,0.00,3.00,0.00,0.000,4,0.000,0.069,3426,265,1679,0,0,0,0,0,0
$GC,2233,1.03,184.6,69.6,8.5,393,2239,0.00,2.85,0.00,0.000,6,0.000,0.038,3426,1852,1677,0,0,0,0,0,0
$GC,2373,1.03,184.6,58.7,7.3,418,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1852,1678,0,0,0,0,0,0
$GC,2513,1.03,184.6,48.4,7.4,443,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1852,1678,0,0,0,0,0,0
$GC,2651,1.03,184.6,38.1,7.7,468,2658,0.00,3.03,0.00,0.000,4,0.000,0.067,3426,273,1677,0,0,0,0,0,0
$GC,2676,1.03,184.6,36.0,8.2,472,2682,0.00,2.85,0.00,0.000,6,0.000,0.038,3426,1851,1677,0,0,0,0,0,0
$GC,2749,1.03,184.6,30.2,7.7,485,2756,0.00,2.88,0.00,0.000,4,0.000,0.051,3426,3427,1676,0,0,0,0,0,0
$GC,2779,1.03,184.6,27.6,8.1,490,2786,0.00,2.85,0.00,0.000,6,0.000,0.040,3426,1850,1676,0,0,0,0,0,0
$GC,2850,1.03,184.6,22.2,7.5,503,2857,0.00,3.00,0.00,0.000,4,0.000,0.067,3426,268,1676,0,0,0,0,0,0
$GC,2880,1.03,184.6,19.9,7.8,508,2887,0.00,2.85,0.00,0.000,6,0.000,0.038,3426,1850,1676,0,0,0,0,0,0
$GC,2953,1.03,186.4,14.8,6.9,521,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1850,1676,0,0,0,0,0,0
$GC,3026,1.09,231.6,10.6,5.5,534,3077,0.00,2.95,41.45,0.753,4,0.000,0.050,3426,3431,1487,0,0,0,0,0,0
$GC,3118,1.15,281.5,5.6,5.4,550,3170,0.05,2.85,44.00,0.746,6,0.051,0.039,3459,1856,1284,0,0,0,0,0,0
$STATE,3187,end climb,SURFACE_DEPTH_REACHED
$STATE,3188,begin surface coast
$FINISH,0.5,1.006331
$STATE,3293,end surface coast,CONTROL_FINISHED_OK
$STATE,3293,begin surface
$SM_CCo,3314,46.25,0.092,0,0,1006,350.04
$SM_GC,2.08,0.00,0.00,46.25,0.000,0.000,0.092,672,1855,1006,-11.61,0.14,350.04
$IRIDIUM_FIX,4748.51,-12221.84,200699,131306
$TT8_MAMPS,0.03068
$HUMID,31.88
$INTERNAL_PRESSURE,9.32338
$TCM_TEMP,232.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,43.9
$24V_AH,23.3,3.404
$10V_AH,10.5,1.361
$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,27.375,75.450,354.300,46.250,0.000,30.390,30.105,238.300,0.500,0.000,15.600,857.300,689.547,400.049,1314.135,545.221,0.000,1037.728,0.000,1390.493,0.000,5.541,0.000
$DEVICE_MAMPS,147.264,69.030,856.739,92.040,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,390.435,996.149,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324376
$DATA_FILE_SIZE,28548,581
$CAP_FILE_SIZE,72452,0
$CFSIZE,260165632,234000384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,260310,150922,4806.355,-12222.529,11,99.0,30,18.3