version: 66.06
glider: 136
mission: 2
dive: 9
start: 3 26 110 1 17 28
data:
$ID,136
$MISSION,2
$DIVE,9
$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,33
$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,250
$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,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,-115388.48
$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,21
$R_STBD_OVSHOOT,17
$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,0
$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,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
$GPS1,011050,4809.358,-12224.686,7,2.0,7,18.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.7
$GPS2,011632,4809.424,-12224.752,13,1.0,13,18.4
$SPEED_LIMITS,0.262,0.375
$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,132.8,4985,-19.2,-15.152
$D_GRID,50
$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,-1.58,-244.4,0.0,0.0,0,94,0.00,0.00,-75.95,0.000,2,0.000,0.000,673,2093,2290,0,0,0,0,0,0
$GC,97,-1.58,-244.4,3.0,-6.0,14,142,12.20,0.00,-27.62,0.000,6,0.150,0.000,2835,2094,3432,0,0,0,0,0,0
$GC,209,-1.58,-244.4,22.1,-18.9,34,216,0.05,2.95,0.00,0.000,4,0.166,0.063,2844,519,3432,0,0,0,0,0,0
$GC,261,-1.58,-244.4,32.4,-19.5,43,268,0.00,2.88,0.00,0.000,6,0.000,0.043,2844,2092,3432,0,0,0,0,0,0
$GC,334,-1.58,-244.4,46.2,-19.1,56,341,0.00,2.97,0.00,0.000,4,0.000,0.063,2844,520,3432,0,0,0,0,0,0
$STATE,357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,357,begin apogee
$GC,365,-0.33,0.0,50.8,19.1,60,561,1.35,0.00,188.02,0.821,6,0.096,0.000,3113,2102,2432,0,0,0,0,0,0
$STATE,562,end apogee,CONTROL_FINISHED_OK
$STATE,562,begin climb
$GC,564,1.58,244.4,58.7,0.0,96,771,2.00,3.05,192.23,0.790,4,0.066,0.064,3532,520,1433,0,0,0,0,0,0
$GC,802,1.58,244.4,32.3,15.4,139,809,0.00,2.90,0.00,0.000,6,0.000,0.042,3533,2097,1429,0,0,0,0,0,0
$GC,875,1.62,277.1,21.8,13.8,152,909,0.05,0.00,27.65,0.727,6,0.124,0.000,3553,2097,1302,0,0,0,0,0,0
$GC,976,1.70,341.7,6.7,12.5,170,1017,0.00,0.00,38.25,0.728,2,0.000,0.000,3553,2097,1123,0,0,0,0,0,0
$STATE,1017,end climb,SURFACE_DEPTH_REACHED
$STATE,1017,begin surface coast
$FINISH,0.4,1.012975
$STATE,1045,end surface coast,CONTROL_FINISHED_OK
$STATE,1045,begin surface
$SM_CCo,1066,18.12,0.089,0,0,1006,350.04
$SM_GC,0.99,0.00,0.00,18.12,0.000,0.000,0.089,678,2098,1006,-11.58,-0.06,350.04
$IRIDIUM_FIX,4751.72,-12220.85,200699,000029
$TT8_MAMPS,0.03068
$HUMID,31.45
$INTERNAL_PRESSURE,9.32338
$TCM_TEMP,231.80
$XPDR_PINGS,0
$24V_AH,23.3,1.223
$10V_AH,10.5,0.517
$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,28.575,17.650,446.150,18.125,0.000,23.331,29.025,179.862,0.000,0.000,14.872,199.349,72.641,370.451,440.235,354.414,33.321,724.833,0.000,464.680,0.000,1.001,0.000
$DEVICE_MAMPS,166.439,64.428,820.690,88.972,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,113.592,360.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324304
$DATA_FILE_SIZE,6621,182
$CAP_FILE_SIZE,30382,0
$CFSIZE,260165632,234614784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260310,013613,4809.331,-12224.704,6,1.4,11,18.4