version: 66.06
glider: 184
mission: 1
dive: 26
start: 5 27 110 16 47 59
data:
$ID,184
$MISSION,1
$DIVE,26
$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,0
$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,-32780.652
$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,28
$R_STBD_OVSHOOT,34
$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,10
$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
$GPS1,163906,4806.996,-12222.688,36,0.8,41,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-75.7
$GPS2,164720,4806.875,-12222.590,12,1.3,12,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.008,0.197
$KALMAN_X,-1420.4,-275.0,-446.0,2602.9,-53.3
$KALMAN_Y,-1612.8,139.1,235.2,1220.2,-692.9
$MHEAD_RNG_PITCHd_Wd,344.0,2144,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.65,-97.8,0.0,0.0,0,93,0.00,0.00,-79.35,0.000,2,0.000,0.000,146,2285,3098,0,0,0,0,0,0
$GC,94,-0.65,-97.8,5.6,-11.3,19,129,10.23,2.28,-19.23,0.000,4,0.238,0.061,2660,834,3892,0,0,0,0,0,0
$GC,346,-0.65,-97.8,22.4,-7.0,77,351,0.00,2.22,0.00,0.000,6,0.000,0.043,2650,2249,3892,0,0,0,0,0,0
$GC,415,-0.65,-97.8,28.0,-8.3,93,421,0.00,2.25,0.00,0.000,4,0.000,0.051,2639,3651,3892,0,0,0,0,0,0
$GC,489,-0.65,-97.8,35.7,-10.9,110,495,0.08,2.20,0.00,0.000,6,0.178,0.037,2662,2241,3892,0,0,0,0,0,0
$GC,559,-0.65,-97.8,42.3,-9.1,126,564,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2240,3892,0,0,0,0,0,0
$GC,693,-0.65,-97.8,54.9,-9.9,157,699,0.00,2.33,0.00,0.000,4,0.000,0.054,2652,3659,3893,0,0,0,0,0,0
$GC,750,-0.65,-97.8,60.8,-10.6,170,755,0.00,2.20,0.00,0.000,6,0.000,0.037,2652,2245,3893,0,0,0,0,0,0
$GC,885,-0.65,-97.8,75.0,-10.8,201,889,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2245,3893,0,0,0,0,0,0
$GC,1019,-0.65,-97.8,89.3,-10.8,232,1024,0.00,2.28,0.00,0.000,4,0.000,0.053,2641,3660,3893,0,0,0,0,0,0
$GC,1057,-0.65,-97.8,93.9,-12.0,241,1063,0.08,2.20,0.00,0.000,6,0.170,0.037,2664,2248,3892,0,0,0,0,0,0
$GC,1192,-0.65,-97.8,107.8,-9.5,272,1198,0.00,2.28,0.00,0.000,4,0.000,0.054,2655,3661,3893,0,0,0,0,0,0
$STATE,1244,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1244,begin apogee
$GC,1248,-0.16,0.0,112.8,9.8,284,1329,0.55,0.00,74.53,0.682,6,0.155,0.000,2823,2273,3489,0,0,0,0,0,0
$STATE,1329,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1330,0.65,97.8,115.3,0.0,303,1415,0.80,2.33,76.45,0.665,4,0.103,0.048,3098,877,3091,0,0,0,0,0,0
$GC,1444,0.65,97.8,104.8,13.1,330,1450,0.00,2.28,0.00,0.000,6,0.000,0.041,3098,2272,3090,0,0,0,0,0,0
$GC,1579,0.65,97.8,87.7,12.6,361,1584,0.00,2.35,0.00,0.000,4,0.000,0.051,3098,3687,3088,0,0,0,0,0,0
$GC,1609,0.65,97.8,83.2,14.1,368,1615,0.00,2.25,0.00,0.000,6,0.000,0.039,3107,2291,3087,0,0,0,0,0,0
$GC,1744,0.65,97.8,65.1,12.9,399,1745,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2289,3087,0,0,0,0,0,0
$GC,1875,0.65,97.8,48.5,12.5,429,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2289,3087,0,0,0,0,0,0
$GC,2008,0.65,97.8,31.5,12.6,460,2013,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2289,3087,0,0,0,0,0,0
$GC,2077,0.65,97.8,23.6,11.2,476,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2289,3086,0,0,0,0,0,0
$GC,2142,0.65,97.8,16.5,11.0,491,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2289,3086,0,0,0,0,0,0
$GC,2210,0.65,97.8,10.1,8.1,507,2216,0.00,2.22,0.00,0.000,4,0.000,0.048,3118,866,3086,0,0,0,0,0,0
$GC,2462,0.82,236.2,8.2,0.3,565,2574,0.00,2.20,104.82,0.624,6,0.000,0.041,3118,2281,2526,0,0,0,0,0,0
$GC,2638,1.01,391.4,6.2,-0.5,606,2766,0.25,2.35,120.53,0.601,4,0.066,0.047,3222,863,1892,0,0,0,0,0,0
$STATE,2772,end climb,SURFACE_DEPTH_REACHED
$STATE,2772,begin surface coast
$FINISH,1.4,1.015653
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2922,96.62,0.076,0,0,1043,600.00
$SM_GC,1.43,0.00,0.00,96.62,0.000,0.000,0.076,143,2267,1043,-8.56,0.48,600.00
$IRIDIUM_FIX,4748.51,-12226.29,210899,161607
$TT8_MAMPS,0.052156
$HUMID,39.32
$INTERNAL_PRESSURE,9.01392
$TCM_TEMP,19.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,32.4
$24V_AH,24.3,2.518
$10V_AH,10.5,1.561
$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,20.550,40.625,376.325,96.625,0.000,50.195,106.575,201.361,1.500,0.000,14.089,0.000,1416.893,497.972,1166.881,418.566,33.297,1061.776,0.000,958.001,0.000,9.888,0.000
$DEVICE_MAMPS,237.770,60.593,681.863,75.933,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.480,360.720,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324796
$DATA_FILE_SIZE,25327,669
$CAP_FILE_SIZE,70028,0
$CFSIZE,260165632,257024000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,173849,4806.956,-12222.486,8,1.1,13,18.3