version: 66.06
glider: 136
mission: 2
dive: 29
start: 3 26 110 15 17 30
data:
$ID,136
$MISSION,2
$DIVE,29
$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,-115716.41
$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,23
$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
$GPS1,150922,4806.355,-12222.529,11,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.2
$GPS2,151708,4806.366,-12222.492,12,1.8,24,18.3
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,310.1,3555,-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,-146.6,0.0,0.0,0,63,0.00,0.00,-44.90,0.000,2,0.000,0.000,671,1856,2004,0,0,0,0,0,0
$GC,66,-0.98,-146.6,3.1,-4.6,8,118,12.82,2.90,-28.85,0.000,4,0.144,0.059,2973,3427,3033,0,0,0,0,0,0
$GC,361,-0.98,-146.6,30.4,-9.3,62,368,0.00,2.85,0.00,0.000,6,0.000,0.041,2973,1852,3034,0,0,0,0,0,0
$GC,434,-0.98,-146.6,37.1,-8.9,75,440,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1852,3033,0,0,0,0,0,0
$GC,507,-0.98,-146.6,43.9,-9.2,88,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1851,3034,0,0,0,0,0,0
$GC,647,-0.98,-146.6,56.3,-8.9,113,653,0.00,2.88,0.00,0.000,4,0.000,0.048,2973,3438,3034,0,0,0,0,0,0
$GC,693,-0.98,-146.6,60.6,-9.2,121,699,0.00,2.83,0.00,0.000,6,0.000,0.041,2973,1849,3034,0,0,1,0,0,0
$GC,833,-0.98,-146.6,72.9,-8.6,146,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1848,3033,0,0,0,0,0,0
$GC,971,-0.98,-146.6,84.6,-8.5,171,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1847,3033,0,0,0,0,0,0
$GC,1116,-0.98,-146.6,97.2,-8.3,196,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1847,3034,0,0,0,0,0,0
$GC,1259,-0.98,-146.6,109.0,-8.5,221,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,1847,3033,0,0,0,0,0,0
$GC,1395,-0.98,-146.6,119.7,-7.4,246,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,1848,3033,0,0,0,0,0,0
$STATE,1413,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1413,begin apogee
$GC,1418,-0.33,0.0,121.0,7.3,249,1540,0.65,0.00,115.62,0.859,6,0.067,0.000,3115,1847,2432,0,0,0,0,0,0
$STATE,1540,end apogee,CONTROL_FINISHED_OK
$STATE,1541,begin climb
$GC,1542,0.98,146.6,120.9,0.0,271,1668,1.42,0.00,118.62,0.832,6,0.093,0.000,3399,1847,1835,0,0,0,0,0,0
$GC,1801,1.03,182.4,107.4,5.8,318,1841,0.08,2.97,30.17,0.791,4,0.093,0.048,3425,3434,1688,0,0,0,0,0,0
$GC,1891,1.03,187.0,101.8,6.8,333,1903,0.00,2.85,5.10,0.605,6,0.000,0.041,3425,1846,1669,0,0,1,0,0,0
$GC,2039,1.03,187.0,91.4,7.2,359,2044,0.00,2.97,0.00,0.000,4,0.000,0.067,3425,268,1668,0,0,0,0,0,0
$GC,2067,1.03,187.0,89.2,7.2,364,2075,0.00,2.85,0.00,0.000,6,0.000,0.038,3425,1842,1668,0,0,0,0,0,0
$GC,2212,1.04,188.8,79.3,6.9,389,2217,0.00,2.88,0.00,0.000,4,0.000,0.048,3425,3437,1667,0,0,0,0,0,0
$GC,2262,1.04,191.2,75.6,6.9,398,2273,0.00,2.88,4.78,0.589,6,0.000,0.040,3425,1850,1653,0,0,0,0,0,0
$GC,2408,1.04,191.2,65.4,7.2,424,2415,0.00,3.00,0.00,0.000,4,0.000,0.067,3425,268,1653,0,0,0,0,0,0
$GC,2463,1.04,191.2,61.6,7.4,433,2468,0.00,2.80,0.00,0.000,6,0.000,0.036,3425,1852,1653,0,0,0,0,0,0
$GC,2604,1.04,191.2,51.5,7.3,458,2611,0.00,2.88,0.00,0.000,4,0.000,0.048,3425,3433,1651,0,0,0,0,0,0
$GC,2635,1.04,191.2,49.2,7.4,463,2640,0.00,2.80,0.00,0.000,6,0.000,0.038,3425,1849,1651,0,0,1,0,0,0
$GC,2774,1.04,191.2,39.3,7.1,488,2781,0.00,2.97,0.00,0.000,4,0.000,0.067,3425,267,1651,0,0,0,0,0,0
$GC,2804,1.04,191.9,37.2,7.0,493,2811,0.00,2.83,0.00,0.000,6,0.000,0.036,3425,1840,1651,0,0,0,0,0,0
$GC,2875,1.04,191.9,32.3,7.0,506,2883,0.00,2.90,0.00,0.000,4,0.000,0.048,3425,3435,1651,0,0,0,0,0,0
$GC,2923,1.04,192.8,29.0,7.0,514,2929,0.00,2.85,0.00,0.000,6,0.000,0.038,3425,1851,1651,0,0,0,0,0,0
$GC,2996,1.05,199.9,24.2,6.8,527,3014,0.00,3.05,8.93,0.700,4,0.000,0.066,3425,269,1618,0,0,0,0,0,0
$GC,3056,1.05,201.4,19.9,6.9,537,3069,0.00,2.85,3.28,0.450,6,0.000,0.036,3424,1852,1611,0,0,0,0,0,0
$GC,3136,1.07,214.0,14.8,6.6,551,3155,0.00,2.90,12.73,0.723,4,0.000,0.047,3425,3439,1559,0,0,0,0,0,0
$GC,3174,1.10,242.3,12.4,6.1,557,3209,0.00,2.85,26.00,0.744,6,0.000,0.038,3425,1849,1444,0,0,1,0,0,0
$GC,3277,1.18,302.4,6.8,5.0,575,3340,0.12,3.08,52.53,0.755,4,0.075,0.066,3454,268,1198,0,0,0,0,0,0
$STATE,3369,end climb,SURFACE_DEPTH_REACHED
$STATE,3369,begin surface coast
$FINISH,2.5,1.018843
$STATE,3375,end surface coast,CONTROL_FINISHED_OK
$STATE,3375,begin surface
$SM_CCo,3399,29.35,0.091,0,0,1005,350.04
$SM_GC,1.34,0.00,0.00,29.35,0.000,0.000,0.091,679,1861,1005,-11.57,0.31,350.04
$IRIDIUM_FIX,4751.72,-12223.57,200699,141433
$TT8_MAMPS,0.03068
$HUMID,31.68
$INTERNAL_PRESSURE,9.32338
$TCM_TEMP,232.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,35.6
$24V_AH,23.3,3.510
$10V_AH,10.5,1.430
$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,27.550,69.475,377.750,29.350,0.000,23.945,26.225,270.449,1.500,0.000,25.554,872.115,736.390,393.949,1334.311,568.923,0.000,1041.401,0.000,1391.873,0.000,14.298,0.000
$DEVICE_MAMPS,144.196,67.496,859.040,90.506,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,397.822,991.001,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324752
$DATA_FILE_SIZE,28579,592
$CAP_FILE_SIZE,73247,0
$CFSIZE,260165632,233955328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,260310,161600,4806.553,-12222.678,37,1.7,43,18.3