version: 66.06
glider: 183
mission: 1
dive: 23
start: 5 27 110 12 18 36
data:
$ID,183
$MISSION,1
$DIVE,23
$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,-4925.1401
$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,22
$R_STBD_OVSHOOT,34
$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
$GPS1,121004,4807.870,-12223.788,7,3.9,26,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-76.2
$GPS2,121756,4807.883,-12223.820,9,1.8,9,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,-0.187
$KALMAN_X,1234.2,236.0,-106.7,-2363.5,-80.0
$KALMAN_Y,2616.3,-1213.2,-21.7,378.0,359.2
$MHEAD_RNG_PITCHd_Wd,142.7,1924,-16.9,-7.576
$D_GRID,105
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.68,-97.8,0.0,0.0,0,97,0.00,0.00,-83.93,0.000,2,0.000,0.000,135,2323,3168,0,0,0,0,0,0
$GC,99,-0.68,-97.8,5.2,-10.7,20,129,8.70,2.33,-16.05,0.000,4,0.242,0.072,2334,889,3723,0,0,0,0,0,0
$GC,319,-0.68,-97.8,22.9,-9.3,71,325,0.00,2.30,0.00,0.000,6,0.000,0.058,2326,2293,3724,0,0,0,0,0,0
$GC,389,-0.68,-97.8,30.2,-10.7,87,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2293,3724,0,0,0,0,0,0
$GC,458,-0.68,-97.8,37.7,-11.0,103,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2293,3724,0,0,0,0,0,0
$GC,526,-0.68,-97.8,45.7,-11.7,119,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2293,3724,0,0,0,0,0,0
$GC,660,-0.68,-97.8,62.3,-12.7,150,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2293,3724,0,0,0,0,0,0
$GC,794,-0.68,-97.8,79.0,-12.3,181,799,0.00,2.40,0.00,0.000,4,0.000,0.070,2315,3718,3724,0,0,0,0,0,0
$GC,855,-0.68,-97.8,87.0,-13.2,195,860,0.00,2.30,0.00,0.000,6,0.000,0.053,2315,2306,3724,0,0,0,0,0,0
$GC,989,-0.68,-97.8,104.2,-12.8,226,995,0.00,2.38,0.00,0.000,4,0.000,0.070,2304,3712,3724,0,0,0,0,0,0
$STATE,997,end dive,TARGET_DEPTH_EXCEEDED
$STATE,997,begin apogee
$GC,1002,-0.17,0.0,105.4,12.5,228,1079,0.62,0.00,72.50,0.606,6,0.164,0.000,2498,2200,3323,0,0,0,0,0,0
$STATE,1080,end apogee,CONTROL_FINISHED_OK
$STATE,1080,begin climb
$GC,1081,0.68,97.8,108.7,0.0,246,1162,0.82,2.33,73.82,0.592,4,0.108,0.054,2788,788,2923,0,0,0,0,0,0
$GC,1204,0.68,97.8,96.9,13.6,275,1210,0.00,2.35,0.00,0.000,6,0.000,0.051,2788,2204,2922,0,0,0,0,0,0
$GC,1339,0.68,97.8,77.8,14.3,306,1344,0.00,2.40,0.00,0.000,4,0.000,0.063,2788,3611,2922,0,0,0,0,0,0
$GC,1365,0.68,97.8,73.7,15.1,312,1371,0.00,2.33,0.00,0.000,6,0.000,0.046,2799,2201,2922,0,0,0,0,0,0
$GC,1500,0.68,97.8,54.5,13.7,343,1500,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2201,2922,0,0,0,0,0,0
$GC,1630,0.68,97.8,36.7,14.1,373,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2201,2921,0,0,0,0,0,0
$GC,1699,0.68,97.8,27.5,13.4,389,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2201,2921,0,0,0,0,0,0
$GC,1764,0.68,97.8,19.6,12.0,404,1769,0.00,2.25,0.00,0.000,4,0.000,0.056,2810,782,2921,0,0,0,0,0,0
$GC,1785,0.68,97.8,17.0,11.7,409,1791,0.00,2.28,0.00,0.000,6,0.000,0.054,2809,2200,2921,0,0,0,0,0,0
$GC,1855,0.68,97.8,8.9,11.5,425,1861,0.00,2.35,0.00,0.000,4,0.000,0.064,2809,3607,2921,0,0,0,0,0,0
$GC,1872,0.68,97.8,6.9,10.7,429,1878,0.10,2.28,0.00,0.000,6,0.186,0.048,2792,2205,2921,0,0,0,0,0,0
$GC,1943,0.91,279.1,5.0,-1.9,445,2075,0.17,2.35,126.82,0.548,4,0.097,0.054,2862,788,2185,0,0,0,0,0,0
$STATE,2095,end climb,SURFACE_DEPTH_REACHED
$STATE,2095,begin surface coast
$FINISH,4.1,1.017124
$STATE,2164,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2164,begin surface
$SM_CCo,2166,239.60,0.515,0,0,439,707.45
$SM_GC,1.00,7.45,0.00,0.00,0.049,0.000,0.000,127,2308,434,-7.54,0.08,708.92
$IRIDIUM_FIX,4754.94,-12225.30,210899,121259
$TT8_MAMPS,0.055991
$HUMID,40.31
$INTERNAL_PRESSURE,8.88553
$TCM_TEMP,18.80
$XPDR_PINGS,3
$24V_AH,24.4,2.135
$10V_AH,10.5,1.588
$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,17.875,37.675,273.150,239.600,0.000,54.189,104.721,188.271,2.000,0.000,11.924,0.000,1124.691,566.664,886.656,402.762,33.303,999.787,0.000,714.831,0.000,11.230,0.000
$DEVICE_MAMPS,241.605,72.098,605.930,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,330.338,262.657,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324772
$DATA_FILE_SIZE,19024,497
$CAP_FILE_SIZE,58721,0
$CFSIZE,260165632,256552960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,130109,4807.707,-12223.747,7,2.7,26,18.3