version: 66.08
glider: 185
mission: 2
dive: 21
start: 6 30 111 10 47 37
data:
$ID,185
$MISSION,2
$DIVE,21
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,50
$T_BOOST,0
$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,82
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-346.9682
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,163
$PITCH_MAX,3951
$C_PITCH,1685
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3789
$ROLL_DEG,30
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3317
$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,-48.844349
$PRESSURE_SLOPE,0.0001165586
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,101
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043319771
$SEABIRD_T_H,0.00061972893
$SEABIRD_T_I,2.0391248e-05
$SEABIRD_T_J,1.8214913e-06
$SEABIRD_C_G,-9.9888363
$SEABIRD_C_H,1.1040936
$SEABIRD_C_I,-0.0023403035
$SEABIRD_C_J,0.00025686045
$GPS1,300611,104032,4742.849,-12224.897,11,1.8,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-68.6
$GPS2,300611,104638,4742.850,-12224.895,14,1.6,14,18.2
$SPEED_LIMITS,0.141,0.249
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.155,0.195
$KALMAN_X,2689.1,-434.1,1521.1,-4695.7,808.8
$KALMAN_Y,-8056.1,-6987.1,-961.9,14463.5,-170.9
$MHEAD_RNG_PITCHd_Wd,6.5,1949,-13.7,-8.130
$D_GRID,200
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.58,-156.4,0.0,0.0,0,100,0.00,0.00,-83.05,0.000,2,0.000,0.000,155,2507,3907,0,0,0,0,0,0
$GC,102,-0.58,-156.4,3.2,-4.1,9,114,5.72,1.75,-1.00,0.000,4,0.263,0.076,1483,3584,3956,0,0,0,0,0,0
$GC,409,-0.58,-156.4,66.4,-14.3,55,416,0.00,1.65,0.00,0.000,6,0.000,0.045,1484,2497,3957,0,0,0,0,0,0
$GC,570,-0.58,-156.4,89.6,-13.8,80,580,0.00,1.62,0.00,0.000,4,0.000,0.049,1484,1450,3958,0,0,0,0,0,0
$GC,608,-0.58,-156.4,94.7,-14.9,85,614,0.00,1.67,0.00,0.000,6,0.000,0.063,1476,2512,3958,0,0,0,0,0,0
$GC,768,-0.58,-156.4,116.8,-13.0,110,778,0.00,1.70,0.00,0.000,4,0.000,0.067,1468,3565,3958,0,0,0,0,0,0
$GC,796,-0.58,-156.4,120.0,-14.0,113,802,0.00,1.65,0.00,0.000,6,0.000,0.047,1468,2478,3958,0,0,0,0,0,0
$GC,960,-0.58,-156.4,145.3,-12.9,138,971,0.00,1.75,0.00,0.000,4,0.000,0.067,1459,3559,3958,0,0,0,0,0,0
$GC,999,-0.58,-156.4,149.8,-12.7,143,1006,0.12,1.62,0.00,0.000,6,0.177,0.047,1492,2516,3958,0,0,0,0,0,0
$GC,1161,-0.58,-156.4,171.4,-13.1,168,1171,0.00,1.65,0.00,0.000,4,0.000,0.049,1492,1447,3958,0,0,0,0,0,0
$GC,1215,-0.58,-156.4,179.7,-14.9,176,1225,0.00,1.73,0.00,0.000,6,0.000,0.063,1484,2512,3958,0,0,0,0,0,0
$STATE,1256,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1256,begin apogee
$GC,1260,-0.14,0.0,185.0,12.9,182,1392,0.47,0.00,121.00,1.193,6,0.151,0.000,1633,2594,3319,0,0,0,0,0,0
$STATE,1393,end apogee,CONTROL_FINISHED_OK
$STATE,1393,begin climb
$GC,1394,0.58,156.4,188.8,0.0,199,1536,0.70,1.83,125.50,1.162,4,0.093,0.052,1875,1532,2679,0,0,0,0,0,0
$GC,1542,0.58,156.4,172.1,18.2,218,1551,0.00,1.80,0.00,0.000,6,0.000,0.064,1875,2565,2678,0,0,0,0,0,0
$GC,1706,0.58,156.4,143.5,19.0,243,1712,0.00,1.77,0.00,0.000,4,0.000,0.070,1875,3646,2676,0,0,0,0,0,0
$GC,1813,0.58,156.4,122.9,19.4,259,1819,0.00,1.70,0.00,0.000,6,0.000,0.051,1884,2579,2674,0,0,0,0,0,0
$GC,1974,0.58,156.4,97.0,15.6,284,1986,0.00,1.77,0.00,0.000,4,0.000,0.070,1884,3650,2674,0,0,0,0,0,0
$GC,2039,0.58,156.4,85.9,18.7,293,2046,0.00,1.67,0.00,0.000,6,0.000,0.052,1892,2576,2674,0,0,0,0,0,0
$GC,2200,0.58,156.4,58.8,15.0,318,2210,0.00,1.75,0.00,0.000,4,0.000,0.070,1892,3641,2674,0,0,0,0,0,0
$GC,2306,0.58,156.4,40.8,15.3,334,2316,0.00,1.67,0.00,0.000,6,0.000,0.051,1900,2585,2673,0,0,0,0,0,0
$GC,2480,0.58,156.4,19.6,13.2,359,2490,0.00,1.67,0.00,0.000,4,0.000,0.053,1908,1520,2673,0,0,0,0,0,0
$GC,2621,0.62,183.8,5.3,7.2,379,2640,0.00,1.75,9.55,0.158,6,0.000,0.063,1908,2593,2561,0,0,0,0,0,0
$STATE,2655,end climb,SURFACE_DEPTH_REACHED
$STATE,2655,begin surface coast
$FINISH,-0.3,1.020662
$STATE,2711,end surface coast,CONTROL_FINISHED_OK
$STATE,2711,begin surface
$SM_CCo,2722,61.62,0.140,0,0,1886,350.04
$SM_GC,0.62,0.00,0.00,61.62,0.000,0.000,0.140,149,2495,1886,-4.80,-0.42,350.04
$IRIDIUM_FIX,4722.92,-12226.07,300611,090920
$TT8_MAMPS,0.027713
$HUMID,48.62
$INTERNAL_PRESSURE,9.25155
$TCM_TEMP,16.10
$XPDR_PINGS,24
$ALTIM_BOTTOM_PING,125.2,69.5
$24V_AH,23.8,6.763
$10V_AH,10.2,4.719
$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,11.800,34.475,256.050,61.625,0.000,31.015,34.872,214.448,8.000,0.000,17.436,933.892,233.494,354.676,1567.205,79.130,33.307,821.056,0.000,767.120,0.000,16.353,0.000
$DEVICE_MAMPS,263.160,104.040,1193.400,139.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330,WL_BB2F,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,272.055,178.773,538.870,501.190,1012.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,323520
$DATA_FILE_SIZE,33997,391
$CAP_FILE_SIZE,51765,0
$CFSIZE,260165632,249311232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.063,221.4,1
$GPS,300611,113506,4743.106,-12224.746,11,1.9,27,18.2