version: 66.06
glider: 136
mission: 2
dive: 30
start: 3 26 110 16 24 0
data:
$ID,136
$MISSION,2
$DIVE,30
$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,-115732.52
$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,19
$R_STBD_OVSHOOT,31
$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
$GPS1,161600,4806.553,-12222.678,37,1.7,43,18.3
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-68.6
$GPS2,162337,4806.521,-12222.647,9,1.1,14,18.3
$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,310.3,3209,-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,15,-0.98,-146.6,0.0,0.0,0,58,0.00,0.00,-39.85,0.000,2,0.000,0.000,679,1861,1921,0,0,0,0,0,0
$GC,60,-0.98,-146.6,3.4,-6.2,7,107,12.98,2.83,-26.85,0.000,4,0.151,0.058,2969,3432,3032,0,0,0,0,0,0
$GC,347,-0.98,-146.6,37.7,-10.6,60,354,0.00,2.85,0.00,0.000,6,0.000,0.040,2969,1852,3032,0,0,0,0,0,0
$GC,421,-0.98,-146.6,45.6,-10.7,73,427,0.00,2.85,0.00,0.000,4,0.000,0.048,2969,3427,3032,0,0,0,0,0,0
$GC,489,-0.98,-146.6,52.9,-10.8,85,495,0.00,2.83,0.00,0.000,6,0.000,0.041,2969,1849,3032,0,0,0,0,0,0
$GC,626,-0.98,-146.6,66.7,-10.0,110,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1849,3032,0,0,0,0,0,0
$GC,765,-0.98,-146.6,80.9,-10.2,135,771,0.00,2.88,0.00,0.000,4,0.000,0.049,2969,3434,3032,0,0,0,0,0,0
$GC,810,-0.98,-146.6,85.6,-10.3,143,816,0.00,2.85,0.00,0.000,6,0.000,0.042,2969,1844,3032,0,0,0,0,0,0
$GC,954,-0.98,-146.6,99.9,-9.6,168,963,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,1843,3032,0,0,0,0,0,0
$GC,1101,-0.98,-146.6,114.3,-8.9,193,1108,0.00,2.95,0.00,0.000,4,0.000,0.074,2969,270,3032,0,0,0,0,0,0
$GC,1125,-0.98,-146.6,116.7,-9.3,197,1131,0.00,2.80,0.00,0.000,6,0.000,0.038,2969,1841,3032,0,0,0,0,0,0
$GC,1267,-0.98,-146.6,120.6,0.0,222,1274,0.00,2.90,0.00,0.000,4,0.000,0.054,2969,3428,3032,0,0,0,0,0,0
$STATE,1323,end dive,NO_VERTICAL_VELOCITY
$STATE,1323,begin apogee
$GC,1332,-0.33,0.0,120.7,0.0,232,1453,0.65,0.00,115.75,0.859,6,0.056,0.000,3116,1846,2433,0,0,0,0,0,0
$STATE,1453,end apogee,CONTROL_FINISHED_OK
$STATE,1453,begin climb
$GC,1455,0.98,146.6,120.6,0.0,254,1584,1.35,2.95,118.53,0.833,4,0.065,0.049,3403,3436,1833,0,0,0,0,0,0
$GC,1601,0.98,146.6,112.8,7.1,280,1608,0.00,2.88,0.00,0.000,6,0.000,0.042,3403,1857,1830,0,0,1,0,0,0
$GC,1743,1.02,177.3,103.8,6.0,305,1777,0.00,3.12,25.90,0.786,4,0.000,0.070,3403,268,1709,0,0,0,0,0,0
$GC,1812,1.02,179.4,99.2,6.9,317,1818,0.00,2.85,0.00,0.000,6,0.000,0.038,3403,1850,1708,0,0,0,0,0,0
$GC,1951,1.06,211.4,90.8,6.0,342,1992,0.10,2.95,30.35,0.779,4,0.081,0.051,3433,3427,1570,0,0,0,0,0,0
$GC,2009,1.06,211.4,86.5,7.3,352,2016,0.00,2.88,0.00,0.000,6,0.000,0.042,3433,1854,1568,0,0,0,0,0,0
$GC,2150,1.06,211.4,76.4,7.1,377,2156,0.00,3.03,0.00,0.000,4,0.000,0.069,3433,268,1567,0,0,0,0,0,0
$GC,2185,1.06,211.4,73.5,8.0,383,2190,0.00,2.85,0.00,0.000,6,0.000,0.038,3433,1857,1566,0,0,0,0,0,0
$GC,2323,1.06,211.4,63.4,7.4,408,2330,0.00,2.88,0.00,0.000,4,0.000,0.050,3433,3428,1566,0,0,0,0,0,0
$GC,2358,1.06,211.4,60.4,7.8,414,2365,0.00,2.85,0.00,0.000,6,0.000,0.042,3433,1850,1565,0,0,1,0,0,0
$GC,2502,1.06,211.4,50.4,7.1,439,2508,0.00,3.03,0.00,0.000,4,0.000,0.069,3433,266,1565,0,0,0,0,0,0
$GC,2539,1.06,211.4,47.6,7.5,445,2545,0.00,2.83,0.00,0.000,6,0.000,0.038,3433,1850,1564,0,0,0,0,0,0
$GC,2679,1.07,214.6,37.7,6.9,470,2686,0.00,2.90,0.00,0.000,4,0.000,0.050,3434,3428,1565,0,0,0,0,0,0
$GC,2705,1.07,215.3,35.8,7.0,474,2718,0.00,2.85,3.92,0.522,6,0.000,0.041,3433,1854,1553,0,0,0,0,0,0
$GC,2786,1.08,224.6,30.2,6.7,488,2806,0.00,3.08,9.88,0.703,4,0.000,0.067,3433,268,1517,0,0,0,0,0,0
$GC,2824,1.09,228.9,27.6,6.9,494,2838,0.00,2.85,5.80,0.618,6,0.000,0.038,3433,1845,1498,0,0,0,0,0,0
$GC,2905,1.11,251.9,22.0,6.2,508,2935,0.00,2.95,21.40,0.743,4,0.000,0.049,3433,3431,1405,0,0,0,0,0,0
$GC,2954,1.12,258.8,18.7,6.8,516,2968,0.00,2.85,7.70,0.662,6,0.000,0.041,3433,1853,1377,0,0,1,0,0,0
$GC,3034,1.14,277.3,13.2,6.4,530,3058,0.00,3.05,17.90,0.732,4,0.000,0.067,3433,268,1300,0,0,0,0,0,0
$GC,3089,1.17,299.6,9.9,6.3,539,3118,0.03,2.85,20.42,0.729,6,0.078,0.036,3446,1847,1209,0,0,0,0,0,0
$GC,3185,1.19,317.1,4.1,6.4,556,3203,0.00,0.00,15.57,0.717,6,0.000,0.000,3446,1846,1140,0,0,0,0,0,0
$STATE,3208,end climb,SURFACE_DEPTH_REACHED
$STATE,3208,begin surface coast
$FINISH,0.5,1.011169
$STATE,3279,end surface coast,CONTROL_FINISHED_OK
$STATE,3279,begin surface
$SM_CCo,3300,25.33,0.094,0,0,1006,350.04
$SM_GC,1.10,0.00,0.00,25.33,0.000,0.000,0.094,675,1847,1006,-11.59,-0.08,350.04
$IRIDIUM_FIX,4748.51,-12227.28,200699,151509
$TT8_MAMPS,0.03068
$HUMID,32.35
$INTERNAL_PRESSURE,9.33314
$TCM_TEMP,232.20
$XPDR_PINGS,0
$24V_AH,23.3,3.619
$10V_AH,10.5,1.498
$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,27.450,87.050,393.125,25.325,0.000,24.717,25.523,271.309,3.000,0.000,15.487,852.204,688.597,390.852,1288.848,573.250,0.000,1029.347,0.000,1351.777,0.000,24.680,0.000
$DEVICE_MAMPS,151.099,73.632,859.040,93.574,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.645,950.349,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324388
$DATA_FILE_SIZE,28610,573
$CAP_FILE_SIZE,75606,0
$CFSIZE,260165632,233910272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,260310,172032,4806.801,-12222.929,11,1.1,29,18.3
$RESTART_TIME,Mon Jan 18 18:09:05 2038
$RESTART_TIME,Mon Jan 18 18:09:05 2038