version: 66.06
glider: 136
mission: 2
dive: 23
start: 3 26 110 9 31 36
data:
$ID,136
$MISSION,2
$DIVE,23
$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,-115581.41
$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,21
$R_STBD_OVSHOOT,22
$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
$GPS1,092443,4807.197,-12223.200,7,1.8,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-64.3
$GPS2,093113,4807.294,-12223.251,10,1.8,15,18.3
$SPEED_LIMITS,0.121,0.229
$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,132.0,628,-21.6,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.51,-54.7,0.0,0.0,0,102,0.00,0.00,-82.65,0.000,2,0.000,0.000,679,1845,2366,0,0,0,0,0,0
$GC,105,-1.57,-101.8,3.0,-2.9,15,141,12.15,2.90,-13.60,0.000,4,0.147,0.058,2845,3433,2851,0,0,1,0,0,0
$GC,180,-1.57,-101.8,10.3,-9.8,28,187,0.00,2.83,0.00,0.000,6,0.000,0.039,2845,1857,2851,0,0,1,0,0,0
$GC,253,-1.57,-101.8,17.6,-10.1,41,259,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1857,2851,0,0,0,0,0,0
$GC,324,-1.57,-101.8,24.5,-9.5,54,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1857,2851,0,0,0,0,0,0
$GC,396,-1.57,-101.8,31.8,-10.5,67,403,0.00,3.03,0.00,0.000,4,0.000,0.066,2844,271,2851,0,0,0,0,0,0
$GC,410,-1.57,-101.8,33.4,-11.0,69,417,0.00,2.85,0.00,0.000,6,0.000,0.038,2845,1855,2851,0,0,0,0,0,0
$GC,481,-1.57,-101.8,42.0,-11.7,82,489,0.00,3.03,0.00,0.000,4,0.000,0.066,2845,272,2851,0,0,0,0,0,0
$GC,494,-1.57,-101.8,43.4,-11.6,84,501,0.00,2.83,0.00,0.000,6,0.000,0.039,2845,1840,2851,0,0,0,0,0,0
$GC,638,-1.57,-101.8,60.5,-11.9,109,644,0.00,2.97,0.00,0.000,4,0.000,0.067,2844,271,2851,0,0,0,0,0,0
$GC,655,-1.57,-101.8,62.9,-11.7,112,662,0.00,2.85,0.00,0.000,6,0.000,0.039,2844,1852,2851,0,0,0,0,0,0
$GC,794,-1.57,-101.8,79.1,-11.5,137,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1852,2851,0,0,0,0,0,0
$GC,936,-1.57,-101.8,96.0,-12.0,162,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1854,2851,0,0,0,0,0,0
$GC,1077,-1.57,-101.8,111.6,-11.0,187,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1854,2851,0,0,0,0,0,0
$STATE,1099,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1099,begin apogee
$GC,1104,-0.33,0.0,114.2,11.2,191,1191,1.35,0.00,81.45,0.851,6,0.097,0.000,3114,1854,2432,0,0,0,0,0,0
$STATE,1193,end apogee,CONTROL_FINISHED_OK
$STATE,1193,begin climb
$GC,1195,1.57,101.8,116.9,0.0,207,1284,1.92,0.00,83.55,0.831,6,0.064,0.000,3531,1854,2017,0,0,0,0,0,0
$GC,1416,1.57,101.8,93.8,12.6,247,1422,0.00,2.88,0.00,0.000,4,0.000,0.052,3531,3436,2010,0,0,0,0,0,0
$GC,1444,1.57,101.8,89.9,12.6,252,1451,0.00,2.88,0.00,0.000,6,0.000,0.043,3531,1852,2010,0,0,1,0,0,0
$GC,1588,1.57,101.8,73.0,11.8,277,1593,0.00,3.03,0.00,0.000,4,0.000,0.071,3531,268,2009,0,0,0,0,0,0
$GC,1622,1.57,101.8,68.7,12.1,283,1628,0.00,2.85,0.00,0.000,6,0.000,0.040,3531,1850,2008,0,0,0,0,0,0
$GC,1759,1.57,101.8,52.6,11.7,308,1767,0.00,2.90,0.00,0.000,4,0.000,0.051,3530,3432,2007,0,0,0,0,0,0
$GC,1785,1.57,101.8,49.8,11.3,312,1792,0.00,2.85,0.00,0.000,6,0.000,0.041,3531,1850,2007,0,0,1,0,0,0
$GC,1925,1.57,101.8,33.9,11.4,337,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1850,2006,0,0,0,0,0,0
$GC,1997,1.57,101.8,26.0,10.9,350,2003,0.00,0.00,0.00,0.000,6,0.000,0.000,3531,1850,2006,0,0,0,0,0,0
$GC,2070,1.57,101.8,18.2,11.0,363,2076,0.00,3.00,0.00,0.000,4,0.000,0.068,3531,264,2006,0,0,0,0,0,0
$GC,2110,1.57,101.8,13.7,11.1,370,2117,0.00,2.85,0.00,0.000,6,0.000,0.038,3531,1842,2005,0,0,0,0,0,0
$GC,2184,1.57,101.8,6.9,8.3,383,2190,0.00,2.90,0.00,0.000,4,0.000,0.050,3530,3448,2005,0,0,0,0,0,0
$STATE,2389,end climb,NO_VERTICAL_VELOCITY
$STATE,2389,begin surface
$SM_CCo,2392,248.10,0.234,1,0,499,474.16
$SM_GC,1.28,12.77,0.00,0.00,0.033,0.000,0.000,675,1848,497,-11.53,-0.06,474.90
$IRIDIUM_FIX,4748.51,-12207.50,200699,080810
$TT8_MAMPS,0.03068
$HUMID,31.88
$INTERNAL_PRESSURE,9.27455
$TCM_TEMP,232.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.1,28.8
$24V_AH,23.3,2.946
$10V_AH,10.5,1.059
$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,28.200,52.300,165.000,248.100,0.000,29.866,26.602,210.301,1.250,0.000,16.965,654.883,574.644,491.150,982.928,460.173,0.000,946.431,0.000,1034.448,0.000,11.471,0.000
$DEVICE_MAMPS,147.264,70.564,851.370,233.935,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,283.962,753.897,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324372
$DATA_FILE_SIZE,19168,421
$CAP_FILE_SIZE,55536,0
$CFSIZE,260165632,234201088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,0
$GPS,260310,101820,4807.180,-12223.136,8,1.9,8,18.3