version: 66.06
glider: 184
mission: 1
dive: 27
start: 5 27 110 17 53 47
data:
$ID,184
$MISSION,1
$DIVE,27
$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,740.80597
$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,-32796.672
$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,30
$R_STBD_OVSHOOT,30
$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
$GPS1,173849,4806.956,-12222.486,8,1.1,13,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-76.3
$GPS2,175308,4806.730,-12222.393,15,2.0,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.065,0.187
$KALMAN_X,-1062.1,-445.6,-415.0,2630.9,346.9
$KALMAN_Y,-2714.6,262.9,157.1,2007.1,-1021.9
$MHEAD_RNG_PITCHd_Wd,322.5,2468,-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,-79.03,0.000,2,0.000,0.000,143,2268,3096,0,0,0,0,0,0
$GC,94,-0.65,-97.8,5.0,-9.5,19,125,10.30,0.00,-18.75,0.000,6,0.242,0.000,2662,2267,3891,0,0,0,0,0,0
$GC,190,-0.65,-97.8,10.9,-6.4,41,194,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2266,3892,0,0,0,0,0,0
$GC,258,-0.65,-97.8,15.2,-6.2,57,263,0.00,2.28,0.00,0.000,4,0.000,0.053,2653,3659,3892,0,0,0,0,0,0
$GC,306,-0.65,-97.8,18.5,-7.1,68,311,0.00,2.22,0.00,0.000,6,0.000,0.035,2653,2235,3892,0,0,0,0,0,0
$GC,376,-0.65,-97.8,23.9,-7.9,84,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2235,3892,0,0,0,0,0,0
$GC,444,-0.65,-97.8,29.6,-8.3,100,450,0.00,2.30,0.00,0.000,4,0.000,0.051,2642,3652,3892,0,0,0,0,0,0
$GC,466,-0.65,-97.8,31.9,-9.3,105,471,0.00,2.17,0.00,0.000,6,0.000,0.037,2642,2252,3892,0,0,0,0,0,0
$GC,536,-0.65,-97.8,38.5,-10.1,121,540,0.12,0.00,0.00,0.000,6,0.193,0.000,2672,2251,3892,0,0,0,0,0,0
$GC,604,-0.65,-97.8,44.8,-8.9,137,610,0.00,2.25,0.00,0.000,4,0.000,0.053,2663,3654,3892,0,0,0,0,0,0
$GC,674,-0.65,-97.8,51.6,-10.2,153,680,0.00,2.17,0.00,0.000,6,0.000,0.037,2662,2253,3892,0,0,0,0,0,0
$GC,809,-0.65,-97.8,65.0,-10.2,184,813,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2252,3892,0,0,0,0,0,0
$GC,943,-0.65,-97.8,78.4,-10.0,215,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2252,3892,0,0,0,0,0,0
$GC,1077,-0.65,-97.8,91.0,-9.3,246,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2252,3893,0,0,0,0,0,0
$GC,1207,-0.65,-97.8,103.5,-9.8,276,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2252,3892,0,0,0,0,0,0
$GC,1341,-0.65,-97.8,115.8,-9.1,307,1347,0.00,2.28,0.00,0.000,4,0.000,0.055,2652,3655,3892,0,0,0,0,0,0
$GC,1593,-0.65,-97.8,119.1,0.1,365,1599,0.00,2.17,0.00,0.000,6,0.000,0.038,2651,2247,3892,0,0,0,0,0,0
$STATE,1706,end dive,NO_VERTICAL_VELOCITY
$STATE,1706,begin apogee
$GC,1708,-0.16,0.0,119.1,0.0,391,1789,0.50,0.00,74.03,0.694,6,0.115,0.000,2824,2246,3489,0,0,0,0,0,0
$STATE,1789,end apogee,CONTROL_FINISHED_OK
$STATE,1789,begin climb
$GC,1790,0.65,97.8,119.3,0.0,410,1876,0.82,2.28,76.47,0.674,4,0.123,0.047,3094,877,3091,0,0,0,0,0,0
$GC,1922,0.65,97.8,111.7,9.8,441,1928,0.00,2.28,0.00,0.000,6,0.000,0.041,3094,2279,3088,0,0,0,0,0,0
$GC,2057,0.65,97.8,96.0,11.2,472,2063,0.00,2.33,0.00,0.000,4,0.000,0.052,3094,3681,3087,0,0,0,0,0,0
$GC,2096,0.65,97.8,91.2,12.9,481,2102,0.00,2.25,0.00,0.000,6,0.000,0.041,3104,2286,3086,0,0,0,0,0,0
$GC,2231,0.65,97.8,75.0,11.8,512,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2284,3086,0,0,0,0,0,0
$GC,2362,0.65,97.8,59.9,11.5,542,2367,0.00,2.22,0.00,0.000,4,0.000,0.048,3114,873,3086,0,0,0,0,0,0
$GC,2383,0.65,97.8,57.2,11.9,547,2389,0.00,2.22,0.00,0.000,6,0.000,0.041,3115,2284,3086,0,0,0,0,0,0
$GC,2518,0.65,97.8,41.7,10.9,578,2523,0.00,2.28,0.00,0.000,4,0.000,0.053,3115,3681,3085,0,0,0,0,0,0
$GC,2553,0.65,97.8,37.5,12.5,586,2559,0.10,2.22,0.00,0.000,6,0.179,0.038,3095,2275,3084,0,0,0,0,0,0
$GC,2622,0.65,97.8,30.4,9.6,602,2623,0.00,0.00,0.00,0.000,6,0.000,0.000,3096,2272,3085,0,0,0,0,0,0
$GC,2687,0.65,97.8,24.7,9.0,617,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,3095,2272,3084,0,0,0,0,0,0
$GC,2756,0.65,97.8,18.5,9.2,633,2761,0.00,2.17,0.00,0.000,4,0.000,0.046,3105,876,3085,0,0,0,0,0,0
$GC,2778,0.65,97.8,16.5,9.4,638,2783,0.00,2.20,0.00,0.000,6,0.000,0.041,3105,2283,3085,0,0,0,0,0,0
$GC,2848,0.65,97.8,10.6,8.3,654,2853,0.00,2.28,0.00,0.000,4,0.000,0.054,3105,3682,3085,0,0,0,0,0,0
$GC,3100,0.82,234.2,8.0,0.4,712,3211,0.08,2.20,102.93,0.628,6,0.078,0.038,3145,2270,2535,0,0,0,0,0,0
$GC,3275,0.99,376.6,5.8,0.1,753,3392,0.15,2.30,110.32,0.602,4,0.081,0.045,3213,870,1953,0,0,0,0,0,0
$STATE,3429,end climb,SURFACE_DEPTH_REACHED
$STATE,3429,begin surface coast
$FINISH,3.3,1.015642
$STATE,3647,end surface coast,CONTROL_FINISHED_OK
$STATE,3647,begin surface
$SM_CCo,3661,190.90,0.564,1,0,469,740.81
$SM_GC,1.23,0.00,0.00,190.90,0.000,0.000,0.564,141,2252,469,-8.57,0.06,740.81
$IRIDIUM_FIX,4751.72,-12223.57,210899,171721
$TT8_MAMPS,0.052156
$HUMID,38.02
$INTERNAL_PRESSURE,8.97486
$TCM_TEMP,19.20
$XPDR_PINGS,0
$24V_AH,24.3,2.636
$10V_AH,10.5,1.605
$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,20.475,49.275,363.750,190.900,0.000,138.333,400.468,0.000,2.000,0.000,15.389,0.000,2014.044,610.903,1463.450,614.780,33.301,1289.566,0.000,1198.579,0.000,18.783,0.000
$DEVICE_MAMPS,242.372,55.224,694.135,563.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,561.174,442.169,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324940
$DATA_FILE_SIZE,31586,839
$CAP_FILE_SIZE,81613,0
$CFSIZE,260165632,256933888
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,185832,4806.841,-12222.483,10,1.8,10,18.3