version: 66.06
glider: 183
mission: 1
dive: 7
start: 5 26 110 23 42 31
data:
$ID,183
$MISSION,1
$DIVE,7
$D_SURF,4
$D_FLARE,5
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,66
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51282
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,580
$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,-4550.9395
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,144
$PITCH_MAX,3955
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,241
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3324
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-63.280094
$PRESSURE_SLOPE,0.00012025224
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$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,80
$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,-0.89999998
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$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,0.0043469137
$SEABIRD_T_H,0.00062159239
$SEABIRD_T_I,2.0014088e-05
$SEABIRD_T_J,1.6690842e-06
$SEABIRD_C_G,-9.9685602
$SEABIRD_C_H,1.1354375
$SEABIRD_C_I,-0.0013495153
$SEABIRD_C_J,0.00019269099
$GPS1,233622,4806.282,-12222.064,11,4.3,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-76.1
$GPS2,234152,4806.290,-12222.065,16,4.1,35,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,-0.196
$KALMAN_X,-98.8,6.1,3.1,1258.0,-51.0
$KALMAN_Y,1193.7,271.5,-3.2,-2652.2,519.9
$MHEAD_RNG_PITCHd_Wd,155.1,544,-16.9,-7.576
$D_GRID,150
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.68,-97.8,0.0,0.0,0,136,0.00,0.00,-121.18,0.000,6,0.000,0.000,134,2317,3724,0,0,0,0,0,0
$GC,137,-0.68,-97.8,5.6,-5.3,29,151,8.77,2.30,0.00,0.000,4,0.245,0.056,2352,885,3724,0,0,0,0,0,0
$GC,193,-0.68,-97.8,12.2,-7.6,42,199,0.00,2.33,0.00,0.000,6,0.000,0.062,2342,2299,3725,0,0,0,0,0,0
$GC,263,-0.68,-97.8,17.0,-7.3,58,268,0.00,2.42,0.00,0.000,4,0.000,0.074,2331,3717,3725,0,0,0,0,0,0
$GC,306,-0.68,-97.8,21.1,-10.0,68,312,0.00,2.33,0.00,0.000,6,0.000,0.057,2331,2312,3725,0,0,0,0,0,0
$GC,376,-0.68,-97.8,28.4,-10.4,84,381,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2312,3726,0,0,0,0,0,0
$GC,444,-0.68,-97.8,35.5,-10.8,100,445,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2312,3726,0,0,0,0,0,0
$GC,509,-0.68,-97.8,43.0,-11.7,115,514,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2312,3726,0,0,0,0,0,0
$GC,643,-0.68,-97.8,59.8,-12.7,146,647,0.00,0.00,0.00,0.000,6,0.000,0.000,2331,2312,3726,0,0,0,0,0,0
$GC,776,-0.68,-97.8,77.2,-13.0,177,782,0.00,2.38,0.00,0.000,4,0.000,0.073,2320,3712,3726,0,0,0,0,0,0
$GC,811,-0.68,-97.8,81.8,-13.2,185,817,0.10,2.30,0.00,0.000,6,0.166,0.057,2350,2307,3726,0,0,0,0,0,0
$GC,946,-0.68,-97.8,97.2,-11.2,216,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2307,3726,0,0,0,0,0,0
$GC,1076,-0.68,-97.8,111.5,-10.7,246,1082,0.00,2.28,0.00,0.000,4,0.000,0.063,2350,889,3726,0,0,0,0,0,0
$GC,1103,-0.68,-97.8,114.3,-10.5,252,1108,0.00,2.30,0.00,0.000,6,0.000,0.062,2343,2308,3726,0,0,0,0,0,0
$STATE,1159,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1159,begin apogee
$GC,1162,-0.17,0.0,120.1,10.0,265,1238,0.55,0.00,72.55,0.619,6,0.159,0.000,2517,2177,3324,0,0,0,0,0,0
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1239,0.68,97.8,122.0,0.0,283,1320,0.80,2.28,73.72,0.597,4,0.102,0.056,2803,800,2923,0,0,0,0,0,0
$GC,1332,0.68,97.8,113.1,13.2,305,1338,0.00,2.35,0.00,0.000,6,0.000,0.054,2803,2203,2923,0,0,0,0,0,0
$GC,1467,0.68,97.8,92.3,15.1,336,1468,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,2923,0,0,0,0,0,0
$GC,1597,0.68,97.8,72.8,15.0,366,1602,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,2922,0,0,0,0,0,0
$GC,1731,0.68,97.8,53.8,14.1,397,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,2922,0,0,0,0,0,0
$GC,1865,0.68,97.8,35.8,13.4,428,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,2922,0,0,0,0,0,0
$GC,1933,0.68,97.8,27.0,12.8,444,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,2921,0,0,0,0,0,0
$GC,2002,0.68,97.8,18.5,11.8,460,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,2921,0,0,0,0,0,0
$GC,2067,0.68,97.8,11.6,10.8,475,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2203,2922,0,0,0,0,0,0
$GC,2136,0.68,97.8,4.4,10.1,491,2141,0.00,2.35,0.00,0.000,4,0.000,0.067,2803,3631,2921,0,0,0,0,0,0
$STATE,2143,end climb,SURFACE_DEPTH_REACHED
$STATE,2144,begin surface coast
$FINISH,4.9,1.019685
$STATE,2191,end surface coast,CONTROL_FINISHED_OK
$STATE,2191,begin surface
$SM_CCo,2193,371.90,0.532,0,0,440,707.45
$SM_GC,1.13,7.20,0.00,0.00,0.046,0.000,0.000,134,2318,435,-7.57,0.37,708.67
$IRIDIUM_FIX,4748.51,-12217.40,200899,222257
$TT8_MAMPS,0.055224
$HUMID,41.41
$INTERNAL_PRESSURE,8.88553
$TCM_TEMP,18.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,110.1,20.0
$24V_AH,24.4,0.923
$10V_AH,10.5,1.148
$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,17.425,28.050,146.275,371.900,0.000,28.686,24.165,185.946,3.500,0.000,38.269,0.000,1138.211,625.237,941.216,292.176,33.314,1042.715,0.000,724.625,0.000,26.012,0.000
$DEVICE_MAMPS,245.440,76.700,618.969,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,337.991,252.468,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,19074,504
$CAP_FILE_SIZE,59365,0
$CFSIZE,260165632,257069056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,002746,4806.150,-12222.018,10,4.9,29,18.3