version: 66.06
glider: 136
mission: 2
dive: 24
start: 3 26 110 10 25 54
data:
$ID,136
$MISSION,2
$DIVE,24
$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,-115610.25
$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,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
$GPS1,101820,4807.180,-12223.136,8,1.9,8,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-64.4
$GPS2,102531,4807.285,-12223.175,15,1.9,26,18.3
$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,139.4,570,-24.1,-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,14,begin dive
$GC,16,-1.66,-44.9,0.0,0.0,0,106,0.00,0.00,-87.28,0.000,2,0.000,0.000,674,1848,2478,0,0,0,0,0,0
$GC,108,-1.71,-82.3,3.5,-3.1,16,139,12.00,2.90,-7.78,0.000,4,0.148,0.058,2815,3438,2770,0,0,1,0,0,0
$GC,173,-1.71,-82.3,10.6,-10.1,27,179,0.00,2.85,0.00,0.000,6,0.000,0.039,2814,1849,2771,0,0,1,0,0,0
$GC,245,-1.71,-82.3,16.6,-7.7,40,253,0.00,2.88,0.00,0.000,4,0.000,0.045,2815,3430,2770,0,0,0,0,0,0
$GC,286,-1.71,-82.3,19.6,-7.6,47,293,0.00,2.83,0.00,0.000,6,0.000,0.038,2815,1851,2770,0,0,1,0,0,0
$GC,359,-1.71,-82.3,25.3,-8.3,60,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1851,2770,0,0,0,0,0,0
$GC,429,-1.71,-82.3,31.9,-9.6,73,436,0.00,2.97,0.00,0.000,4,0.000,0.065,2814,268,2770,0,0,0,0,0,0
$GC,449,-1.71,-82.3,33.9,-9.7,76,456,0.00,2.83,0.00,0.000,6,0.000,0.038,2814,1844,2770,0,0,0,0,0,0
$GC,520,-1.71,-82.3,41.6,-10.9,89,526,0.00,2.97,0.00,0.000,4,0.000,0.065,2814,265,2770,0,0,0,0,0,0
$GC,538,-1.71,-82.3,43.7,-11.0,92,544,0.00,2.85,0.00,0.000,6,0.000,0.038,2814,1849,2770,0,0,0,0,0,0
$GC,677,-1.71,-82.3,59.6,-10.9,117,683,0.00,3.00,0.00,0.000,4,0.000,0.065,2814,264,2770,0,0,0,0,0,0
$GC,712,-1.71,-82.3,63.6,-11.6,123,718,0.00,2.80,0.00,0.000,6,0.000,0.039,2815,1845,2770,0,0,0,0,0,0
$GC,852,-1.71,-82.3,80.6,-12.2,148,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1845,2770,0,0,0,0,0,0
$GC,1001,-1.71,-82.3,97.3,-11.1,173,1006,0.00,3.00,0.00,0.000,4,0.000,0.067,2814,264,2770,0,0,0,0,0,0
$GC,1014,-1.71,-82.3,99.0,-10.8,175,1019,0.00,2.83,0.00,0.000,6,0.000,0.041,2814,1852,2770,0,0,0,0,0,0
$STATE,1133,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1133,begin apogee
$GC,1138,-0.33,0.0,112.2,10.5,195,1209,1.50,0.00,66.05,0.852,6,0.100,0.000,3113,1854,2433,0,0,0,0,0,0
$STATE,1209,end apogee,CONTROL_FINISHED_OK
$STATE,1210,begin climb
$GC,1212,1.71,82.3,114.7,0.0,208,1289,2.12,2.92,68.50,0.830,4,0.064,0.053,3560,3434,2096,0,0,0,0,0,0
$GC,1313,1.71,82.3,105.7,11.5,226,1320,0.00,2.88,0.00,0.000,6,0.000,0.042,3561,1853,2093,0,0,1,0,0,0
$GC,1458,1.71,82.3,88.0,12.1,251,1462,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1853,2090,0,0,0,0,0,0
$GC,1596,1.71,82.3,71.3,11.4,276,1603,0.00,3.05,0.00,0.000,4,0.000,0.070,3561,267,2087,0,0,0,0,0,0
$GC,1620,1.71,82.3,68.2,12.1,280,1627,0.00,2.88,0.00,0.000,6,0.000,0.041,3561,1847,2087,0,0,0,0,0,0
$GC,1764,1.71,82.3,51.6,11.8,305,1770,0.00,2.90,0.00,0.000,4,0.000,0.051,3561,3443,2086,0,0,0,0,0,0
$GC,1803,1.71,82.3,46.4,12.3,312,1809,0.00,2.90,0.00,0.000,6,0.000,0.041,3561,1846,2086,0,0,0,0,0,0
$GC,1943,1.71,82.3,30.9,11.2,337,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,1846,2086,0,0,0,0,0,0
$GC,2014,1.71,82.3,23.0,11.0,350,2021,0.00,2.97,0.00,0.000,4,0.000,0.067,3561,268,2086,0,0,0,0,0,0
$GC,2080,1.71,82.3,15.4,11.8,362,2087,0.00,2.85,0.00,0.000,6,0.000,0.038,3561,1849,2085,0,0,0,0,0,0
$GC,2152,1.71,82.3,8.5,9.2,375,2159,0.00,2.88,0.00,0.000,4,0.000,0.050,3561,3425,2085,0,0,0,0,0,0
$STATE,2371,end climb,NO_VERTICAL_VELOCITY
$STATE,2371,begin surface
$SM_CCo,2374,261.90,0.742,1,0,500,474.16
$SM_GC,1.14,12.95,0.00,0.00,0.033,0.000,0.000,674,1843,497,-11.53,-0.20,474.90
$IRIDIUM_FIX,4748.51,-12226.29,200699,090924
$TT8_MAMPS,0.03068
$HUMID,32.35
$INTERNAL_PRESSURE,9.27455
$TCM_TEMP,232.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.2,16.4
$24V_AH,23.3,3.050
$10V_AH,10.5,1.114
$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,28.575,63.825,134.550,261.900,0.000,30.201,31.166,234.004,2.500,0.000,28.221,661.982,567.455,487.246,977.592,506.650,0.000,930.224,0.000,1019.104,0.000,23.028,0.000
$DEVICE_MAMPS,148.031,69.797,852.137,742.456,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,281.070,758.964,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324352
$DATA_FILE_SIZE,19177,416
$CAP_FILE_SIZE,56589,0
$CFSIZE,260165632,234168320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,260310,111258,4807.160,-12223.093,12,99.0,31,18.3