version: 66.06
glider: 183
mission: 1
dive: 21
start: 5 27 110 10 44 41
data:
$ID,183
$MISSION,1
$DIVE,21
$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,-4
$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,-4896.9741
$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,2564
$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,27
$R_STBD_OVSHOOT,30
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$GPS1,103900,4808.034,-12224.009,33,1.3,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-78.1
$GPS2,104402,4808.067,-12224.050,12,1.8,12,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.099,-0.171
$KALMAN_X,1497.1,190.0,-104.0,-2866.9,51.4
$KALMAN_Y,1728.8,-863.5,-129.3,1363.7,-21.6
$MHEAD_RNG_PITCHd_Wd,131.7,2365,-16.9,-7.576
$D_GRID,103
$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,-97.8,0.0,0.0,0,115,0.00,0.00,-99.40,0.000,6,0.000,0.000,140,2327,3723,0,0,0,0,0,0
$GC,116,-0.68,-97.8,5.1,-1.2,24,130,8.77,2.35,0.00,0.000,4,0.245,0.069,2325,3714,3725,0,0,0,0,0,0
$GC,198,-0.68,-97.8,16.4,-9.1,43,204,0.00,2.33,0.00,0.000,6,0.000,0.054,2326,2310,3725,0,0,0,0,0,0
$GC,268,-0.68,-97.8,21.5,-7.4,59,272,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2311,3726,0,0,0,0,0,0
$GC,336,-0.68,-97.8,28.0,-10.0,75,342,0.00,2.38,0.00,0.000,4,0.000,0.071,2314,3698,3726,0,0,0,0,0,0
$GC,363,-0.68,-97.8,31.1,-11.3,81,368,0.00,2.33,0.00,0.000,6,0.000,0.056,2314,2301,3726,0,0,0,0,0,0
$GC,432,-0.68,-97.8,39.6,-12.1,97,438,0.00,2.28,0.00,0.000,4,0.000,0.061,2314,895,3726,0,0,0,0,0,0
$GC,454,-0.68,-97.8,42.4,-13.0,102,460,0.10,2.30,0.00,0.000,6,0.173,0.063,2333,2293,3726,0,0,0,0,0,0
$GC,589,-0.68,-97.8,59.0,-12.3,133,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2293,3726,0,0,0,0,0,0
$GC,719,-0.68,-97.8,75.1,-11.8,163,724,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2293,3726,0,0,0,0,0,0
$GC,853,-0.68,-97.8,91.4,-11.8,194,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2293,3726,0,0,0,0,0,0
$STATE,952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,952,begin apogee
$GC,955,-0.17,0.0,103.2,11.5,217,1031,0.52,0.00,72.80,0.605,6,0.156,0.000,2500,2174,3323,0,0,0,0,0,0
$STATE,1032,end apogee,CONTROL_FINISHED_OK
$STATE,1032,begin climb
$GC,1033,0.68,97.8,105.8,0.0,235,1114,0.82,2.30,73.75,0.591,4,0.109,0.054,2789,799,2924,0,0,0,0,0,0
$GC,1143,0.68,97.8,95.2,13.2,261,1149,0.00,2.35,0.00,0.000,6,0.000,0.052,2789,2206,2923,0,0,0,0,0,0
$GC,1278,0.68,97.8,74.9,15.0,292,1284,0.00,2.40,0.00,0.000,4,0.000,0.062,2789,3610,2923,0,0,0,0,0,0
$GC,1309,0.68,97.8,70.1,16.2,299,1314,0.00,2.30,0.00,0.000,6,0.000,0.047,2800,2217,2923,0,0,0,0,0,0
$GC,1443,0.68,97.8,49.8,14.6,330,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2218,2922,0,0,0,0,0,0
$GC,1574,0.68,97.8,31.0,14.0,360,1579,0.00,2.28,0.00,0.000,4,0.000,0.057,2810,778,2922,0,0,0,0,0,0
$GC,1635,0.68,97.8,23.0,13.1,374,1640,0.00,2.28,0.00,0.000,6,0.000,0.051,2810,2199,2922,0,0,0,0,0,0
$GC,1705,0.68,97.8,14.1,13.1,390,1710,0.00,2.38,0.00,0.000,4,0.000,0.064,2810,3611,2921,0,0,0,0,0,0
$GC,1957,0.85,230.9,5.9,0.6,448,2043,0.00,2.28,81.25,0.550,2,0.000,0.044,2821,2195,2462,0,0,0,0,0,0
$STATE,2044,end climb,SURFACE_DEPTH_REACHED
$STATE,2044,begin surface coast
$FINISH,3.9,1.018509
$STATE,2150,end surface coast,CONTROL_FINISHED_OK
$STATE,2150,begin surface
$SM_CCo,2162,198.23,0.074,0,0,959,580.13
$SM_GC,1.25,0.00,0.00,198.23,0.000,0.000,0.074,138,2321,959,-7.58,0.45,580.13
$IRIDIUM_FIX,4751.72,-12214.67,210899,101019
$TT8_MAMPS,0.055224
$HUMID,40.51
$INTERNAL_PRESSURE,8.9246
$TCM_TEMP,19.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.3,43.1
$24V_AH,24.4,1.959
$10V_AH,10.6,1.533
$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,17.625,32.875,227.800,198.225,0.000,23.642,25.311,187.871,1.250,0.000,14.079,0.000,1010.603,482.286,880.221,289.410,33.296,898.627,0.000,709.224,0.000,10.347,0.000
$DEVICE_MAMPS,245.440,79.768,605.163,73.632,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,329.066,267.648,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324832
$DATA_FILE_SIZE,19015,493
$CAP_FILE_SIZE,55692,0
$CFSIZE,260165632,256622592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,112431,4807.980,-12223.909,7,1.9,12,18.3