version: 66.06
glider: 184
mission: 1
dive: 21
start: 5 27 110 12 23 42
data:
$ID,184
$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,720
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$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,51224
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4708
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32675.604
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2882
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,223
$ROLL_MAX,3813
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3490
$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,-53.093147
$PRESSURE_SLOPE,0.0001157311
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5
$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,0.0043635513
$SEABIRD_T_H,0.0006292222
$SEABIRD_T_I,2.4569574e-05
$SEABIRD_T_J,2.6955906e-06
$SEABIRD_C_G,-10.09016
$SEABIRD_C_H,1.1251791
$SEABIRD_C_I,-0.0014842621
$SEABIRD_C_J,0.00019950744
$GPS1,121738,4807.652,-12223.686,12,1.0,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-78.6
$GPS2,122302,4807.675,-12223.706,13,1.0,13,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,-0.142
$KALMAN_X,-960.3,196.2,0.1,-149.0,-283.7
$KALMAN_Y,368.4,-456.5,18.6,1527.7,257.7
$MHEAD_RNG_PITCHd_Wd,117.8,1525,-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,12,-0.65,-97.8,0.0,0.0,0,105,0.00,0.00,-91.65,0.000,2,0.000,0.000,153,2278,3431,0,0,0,0,0,0
$GC,107,-0.65,-97.8,5.1,-10.5,22,138,10.90,2.28,-13.68,0.000,4,0.258,0.061,2666,846,3889,0,0,0,0,0,0
$GC,280,-0.65,-97.8,16.6,-8.4,62,286,0.00,2.22,0.00,0.000,6,0.000,0.044,2657,2250,3891,0,0,0,0,0,0
$GC,350,-0.65,-97.8,22.3,-8.5,78,356,0.00,2.30,0.00,0.000,4,0.000,0.053,2646,3655,3891,0,0,0,0,0,0
$GC,398,-0.65,-97.8,27.1,-10.4,89,404,0.00,2.22,0.00,0.000,6,0.000,0.038,2646,2241,3891,0,0,0,0,0,0
$GC,468,-0.65,-97.8,34.0,-10.1,105,469,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2241,3891,0,0,0,0,0,0
$GC,533,-0.65,-97.8,40.6,-10.3,120,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2241,3891,0,0,0,0,0,0
$GC,667,-0.65,-97.8,55.1,-10.8,151,672,0.00,2.30,0.00,0.000,4,0.000,0.053,2635,3654,3891,0,0,0,0,0,0
$GC,741,-0.65,-97.8,64.2,-12.5,168,747,0.10,2.20,0.00,0.000,6,0.173,0.038,2664,2249,3891,0,0,0,0,0,0
$GC,876,-0.65,-97.8,78.0,-10.2,199,876,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2249,3891,0,0,0,0,0,0
$GC,1006,-0.65,-97.8,90.5,-8.9,229,1012,0.00,2.30,0.00,0.000,4,0.000,0.055,2655,3684,3892,0,0,0,0,0,0
$GC,1093,-0.65,-97.8,99.3,-10.1,249,1099,0.00,2.25,0.00,0.000,6,0.000,0.038,2655,2249,3891,0,0,0,0,0,0
$STATE,1153,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1153,begin apogee
$GC,1156,-0.16,0.0,105.4,9.9,263,1236,0.55,0.00,74.43,0.681,6,0.158,0.000,2822,2249,3490,0,0,0,0,0,0
$STATE,1237,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1238,0.65,97.8,107.6,0.0,282,1318,0.80,0.00,76.80,0.662,6,0.106,0.000,3085,2249,3090,0,0,0,0,0,0
$GC,1448,0.65,97.8,86.0,11.8,331,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,3085,2249,3088,0,0,0,0,0,0
$GC,1582,0.65,97.8,69.9,12.1,362,1587,0.00,2.38,0.00,0.000,4,0.000,0.053,3085,3694,3087,0,0,0,0,0,0
$GC,1620,0.65,97.8,64.9,13.3,371,1626,0.00,2.25,0.00,0.000,6,0.000,0.038,3096,2288,3086,0,0,0,0,0,0
$GC,1755,0.65,97.8,48.5,11.8,402,1756,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2286,3086,0,0,0,0,0,0
$GC,1886,0.65,97.8,33.6,11.3,432,1891,0.00,2.30,0.00,0.000,4,0.000,0.055,3096,3698,3086,0,0,0,0,0,0
$GC,1946,0.65,97.8,25.7,12.9,446,1952,0.00,2.25,0.00,0.000,6,0.000,0.038,3106,2276,3085,0,0,0,0,0,0
$GC,2016,0.65,97.8,17.9,10.5,462,2021,0.00,2.20,0.00,0.000,4,0.000,0.048,3117,865,3086,0,0,0,0,0,0
$GC,2033,0.65,97.8,16.1,10.1,466,2039,0.00,2.22,0.00,0.000,6,0.000,0.042,3116,2282,3086,0,0,0,0,0,0
$GC,2103,0.65,97.8,8.8,11.0,482,2108,0.00,2.30,0.00,0.000,4,0.000,0.053,3116,3690,3085,0,0,0,0,0,0
$GC,2142,0.65,97.8,4.8,10.5,491,2148,0.10,2.22,0.00,0.000,6,0.159,0.041,3094,2288,3084,0,0,0,0,0,0
$GC,2212,0.85,266.3,5.1,-1.2,507,2341,0.17,2.33,121.38,0.617,4,0.094,0.046,3162,862,2402,0,0,0,0,0,0
$STATE,2347,end climb,SURFACE_DEPTH_REACHED
$STATE,2347,begin surface coast
$FINISH,3.7,1.018046
$STATE,2565,end surface coast,CONTROL_FINISHED_OK
$STATE,2565,begin surface
$SM_CCo,2579,144.18,0.074,0,0,1044,600.00
$SM_GC,1.21,0.00,0.00,144.18,0.000,0.000,0.074,153,2258,1044,-8.53,0.23,600.00
$IRIDIUM_FIX,4751.72,-12223.57,210899,111130
$TT8_MAMPS,0.052156
$HUMID,39.60
$INTERNAL_PRESSURE,9.00416
$TCM_TEMP,19.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.1,43.1
$24V_AH,24.3,2.059
$10V_AH,10.6,1.406
$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,21.125,40.750,272.600,144.175,0.000,24.482,24.357,201.174,1.500,0.000,15.722,0.000,1213.371,479.517,1041.180,304.618,33.304,972.779,0.000,845.023,0.000,5.514,0.000
$DEVICE_MAMPS,257.712,61.360,681.096,74.399,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.651,312.748,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324824
$DATA_FILE_SIZE,22105,589
$CAP_FILE_SIZE,64123,0
$CFSIZE,260165632,257212416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,130952,4807.478,-12223.580,9,3.1,28,18.3