version: 66.06
glider: 136
mission: 2
dive: 12
start: 3 26 110 2 50 4
data:
$ID,136
$MISSION,2
$DIVE,12
$D_SURF,3
$D_FLARE,3
$D_TGT,148
$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,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,200
$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,-115469.72
$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,18
$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,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
$GPS1,023454,4809.037,-12224.963,10,1.6,21,18.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.2
$GPS2,024940,4809.122,-12225.042,15,2.2,34,18.4
$SPEED_LIMITS,0.259,0.406
$TGT_NAME,HEADING
$TGT_LATLONG,4758.974,-12230.560
$TGT_RADIUS,1852.000
$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,181.6,20000,-17.3,-14.949
$D_GRID,88
$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,-1.51,-293.3,0.0,0.0,0,90,0.00,0.00,-72.07,0.000,2,0.000,0.000,673,2102,2453,0,0,0,0,0,0
$GC,93,-1.51,-293.3,3.2,-5.0,13,144,12.20,2.97,-27.50,0.000,4,0.147,0.072,2855,514,3629,0,0,0,0,0,0
$GC,250,-1.51,-293.3,32.6,-20.7,41,256,0.00,2.88,0.00,0.000,6,0.000,0.043,2855,2097,3630,0,0,0,0,0,0
$GC,322,-1.51,-293.3,45.9,-18.7,54,328,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2098,3630,0,0,0,0,0,0
$GC,465,-1.51,-293.3,71.2,-17.4,79,471,0.00,2.95,0.00,0.000,4,0.000,0.066,2855,516,3630,0,0,0,0,0,0
$GC,515,-1.51,-293.3,80.7,-17.6,88,522,0.00,2.90,0.00,0.000,6,0.000,0.045,2855,2099,3630,0,0,0,0,0,0
$STATE,559,end dive,TARGET_DEPTH_EXCEEDED
$STATE,559,begin apogee
$GC,564,-0.33,0.0,88.9,17.3,96,798,1.27,0.00,225.15,0.847,6,0.088,0.000,3114,2099,2431,0,0,0,0,0,0
$STATE,799,end apogee,CONTROL_FINISHED_OK
$STATE,799,begin climb
$GC,802,1.51,293.3,97.8,0.0,139,1043,1.88,0.00,232.85,0.808,6,0.064,0.000,3520,2099,1237,0,0,0,0,0,0
$GC,1180,1.53,310.1,51.1,14.4,208,1203,0.00,3.03,15.30,0.712,4,0.000,0.067,3520,515,1168,0,0,0,0,0,0
$GC,1260,1.53,310.1,39.1,15.4,222,1267,0.00,2.90,0.00,0.000,6,0.000,0.042,3520,2099,1167,0,0,0,0,0,0
$GC,1335,1.53,312.1,27.9,14.9,235,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,2099,1166,0,0,0,0,0,0
$GC,1408,1.59,361.6,17.9,13.3,248,1460,0.10,3.05,44.88,0.739,4,0.077,0.064,3551,513,957,0,0,0,0,0,0
$GC,1485,1.63,389.7,6.7,14.0,261,1515,0.00,2.90,23.40,0.705,6,0.000,0.042,3551,2093,843,0,0,0,0,0,0
$STATE,1520,end climb,SURFACE_DEPTH_REACHED
$STATE,1520,begin surface coast
$FINISH,0.3,1.009672
$STATE,1543,end surface coast,CONTROL_FINISHED_OK
$STATE,1543,begin surface
$SM_CCo,1624,0.00,0.000,0,0,840,390.76
$SM_GC,1.03,12.93,0.00,0.00,0.034,0.000,0.000,674,2095,840,-11.53,-0.17,390.76
$IRIDIUM_FIX,4751.72,-12226.29,200699,020245
$TT8_MAMPS,0.03068
$HUMID,32.43
$INTERNAL_PRESSURE,9.31361
$TCM_TEMP,231.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,65.8,35.4
$24V_AH,23.3,1.622
$10V_AH,10.5,0.622
$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,28.375,23.575,541.575,0.000,0.000,95.947,165.702,288.899,1.250,0.000,36.565,303.263,440.062,413.089,642.083,721.309,0.000,858.214,0.000,647.768,0.000,10.078,0.000
$DEVICE_MAMPS,147.264,72.098,846.768,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,173.055,470.530,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,12849,271
$CAP_FILE_SIZE,43808,0
$CFSIZE,260165632,234528768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260310,031744,4808.914,-12225.205,9,1.3,9,18.4