version: 66.06
glider: 136
mission: 2
dive: 27
start: 3 26 110 13 9 24
data:
$ID,136
$MISSION,2
$DIVE,27
$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,-115673.99
$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,17
$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
$GPS1,125920,4806.953,-12223.002,10,2.0,10,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.3
$GPS2,130901,4807.021,-12223.014,13,2.0,13,18.3
$SPEED_LIMITS,0.121,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,128.2,2269,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.98,-146.6,0.0,0.0,0,74,0.00,0.00,-54.97,0.000,2,0.000,0.000,677,1850,2277,0,0,0,0,0,0
$GC,77,-0.98,-146.6,3.0,-4.8,10,123,12.88,2.90,-23.05,0.000,4,0.147,0.060,2972,3426,3033,0,0,0,0,0,0
$GC,282,-0.98,-146.6,21.6,-9.1,47,288,0.00,2.85,0.00,0.000,6,0.000,0.040,2972,1846,3033,0,0,0,0,0,0
$GC,355,-0.98,-146.6,28.2,-9.1,60,362,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1846,3033,0,0,0,0,0,0
$GC,428,-0.98,-146.6,34.8,-9.3,73,435,0.00,2.97,0.00,0.000,4,0.000,0.067,2972,268,3033,0,0,0,0,0,0
$GC,463,-0.98,-146.6,38.3,-10.1,79,470,0.00,2.83,0.00,0.000,6,0.000,0.037,2972,1844,3033,0,0,0,0,0,0
$GC,537,-0.98,-146.6,45.5,-9.6,92,544,0.00,2.90,0.00,0.000,4,0.000,0.050,2972,3434,3033,0,0,0,0,0,0
$GC,557,-0.98,-146.6,47.3,-9.5,95,562,0.00,2.83,0.00,0.000,6,0.000,0.041,2972,1847,3033,0,0,1,0,0,0
$GC,694,-0.98,-146.6,60.1,-9.2,120,700,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1847,3033,0,0,0,0,0,0
$GC,835,-0.98,-146.6,72.9,-9.4,145,841,0.00,2.88,0.00,0.000,4,0.000,0.049,2972,3435,3033,0,0,0,0,0,0
$GC,859,-0.98,-146.6,75.2,-9.4,149,865,0.00,2.83,0.00,0.000,6,0.000,0.042,2971,1850,3033,0,0,1,0,0,0
$GC,997,-0.98,-146.6,87.7,-8.9,174,1004,0.00,3.00,0.00,0.000,4,0.000,0.068,2972,277,3033,0,0,0,0,0,0
$GC,1033,-0.98,-146.6,91.4,-9.8,180,1039,0.00,2.83,0.00,0.000,6,0.000,0.038,2972,1844,3033,0,0,0,0,0,0
$GC,1172,-0.98,-146.6,103.5,-8.5,205,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,1844,3033,0,0,0,0,0,0
$STATE,1286,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1286,begin apogee
$GC,1291,-0.33,0.0,113.2,8.2,226,1412,0.68,0.00,115.62,0.852,6,0.084,0.000,3112,1844,2433,0,0,0,0,0,0
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1415,0.98,146.6,116.8,0.0,248,1542,1.38,2.95,118.05,0.829,4,0.066,0.050,3403,3435,1833,0,0,0,0,0,0
$GC,1560,0.99,149.3,108.8,6.9,274,1567,0.00,2.88,0.00,0.000,6,0.000,0.042,3403,1856,1829,0,0,1,0,0,0
$GC,1703,1.01,169.9,100.0,6.3,299,1731,0.00,3.10,19.48,0.769,4,0.000,0.070,3403,277,1740,0,0,0,0,0,0
$GC,1760,1.01,169.9,95.7,7.4,309,1766,0.00,2.85,0.00,0.000,6,0.000,0.039,3403,1854,1739,0,0,0,0,0,0
$GC,1900,1.03,180.8,86.3,6.6,334,1919,0.05,2.92,10.73,0.726,4,0.126,0.051,3423,3427,1694,0,0,0,0,0,0
$GC,1953,1.03,180.8,82.0,8.1,343,1959,0.00,2.85,0.00,0.000,6,0.000,0.042,3422,1850,1692,0,0,0,0,0,0
$GC,2091,1.03,180.8,71.6,7.5,368,2098,0.00,3.05,0.00,0.000,4,0.000,0.071,3423,277,1691,0,0,0,0,0,0
$GC,2134,1.03,180.8,68.2,8.3,375,2140,0.00,2.83,0.00,0.000,6,0.000,0.038,3423,1851,1691,0,0,0,0,0,0
$GC,2274,1.03,180.8,57.1,7.5,400,2281,0.00,2.90,0.00,0.000,4,0.000,0.051,3423,3435,1690,0,0,0,0,0,0
$GC,2305,1.03,180.8,54.7,8.0,405,2311,0.00,2.85,0.00,0.000,6,0.000,0.040,3423,1849,1690,0,0,0,0,0,0
$GC,2442,1.03,180.8,44.3,7.5,430,2449,0.00,3.03,0.00,0.000,4,0.000,0.069,3423,270,1690,0,0,0,0,0,0
$GC,2473,1.03,180.8,41.8,8.0,435,2478,0.00,2.83,0.00,0.000,6,0.000,0.038,3423,1851,1690,0,0,0,0,0,0
$GC,2609,1.03,180.8,31.6,7.2,460,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1851,1690,0,0,0,0,0,0
$GC,2682,1.03,180.8,26.1,7.7,473,2689,0.00,2.88,0.00,0.000,4,0.000,0.051,3423,3425,1690,0,0,0,0,0,0
$GC,2707,1.03,180.8,24.1,7.7,477,2713,0.00,2.83,0.00,0.000,6,0.000,0.041,3423,1854,1689,0,0,1,0,0,0
$GC,2779,1.03,180.8,18.8,7.3,490,2785,0.00,3.00,0.00,0.000,4,0.000,0.068,3423,268,1689,0,0,0,0,0,0
$GC,2824,1.03,180.8,15.1,8.1,498,2831,0.00,2.85,0.00,0.000,6,0.000,0.037,3423,1852,1689,0,0,0,0,0,0
$GC,2897,1.04,188.6,10.2,6.7,511,2915,0.00,2.88,7.32,0.668,4,0.000,0.049,3423,3431,1664,0,0,0,0,0,0
$GC,2954,1.06,209.2,6.6,6.3,521,2984,0.00,2.85,19.50,0.736,6,0.000,0.041,3423,1850,1579,0,0,1,0,0,0
$STATE,3038,end climb,SURFACE_DEPTH_REACHED
$STATE,3038,begin surface coast
$FINISH,1.4,1.018947
$STATE,3138,end surface coast,CONTROL_FINISHED_OK
$STATE,3138,begin surface
$SM_CCo,3158,90.95,0.091,0,0,1005,350.04
$SM_GC,1.58,0.00,0.00,90.95,0.000,0.000,0.091,673,1850,1005,-11.60,0.00,350.04
$IRIDIUM_FIX,4748.51,-12224.57,200699,131355
$TT8_MAMPS,0.03068
$HUMID,32.28
$INTERNAL_PRESSURE,9.32338
$TCM_TEMP,262.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,32.6
$24V_AH,23.3,3.304
$10V_AH,10.5,1.293
$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,27.250,81.100,290.700,90.950,0.000,46.471,56.057,289.561,0.750,0.000,14.932,832.101,712.517,410.023,1264.630,626.521,0.000,1004.676,0.000,1334.555,0.000,7.070,0.000
$DEVICE_MAMPS,147.264,70.564,852.137,91.273,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.094,956.991,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324328
$DATA_FILE_SIZE,25417,554
$CAP_FILE_SIZE,73284,0
$CFSIZE,260165632,234041344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,260310,140436,4806.673,-12222.788,8,1.4,24,18.3