version: 66.08
glider: 186
mission: 3
dive: 28
start: 7 1 111 14 31 54
data:
$ID,186
$MISSION,3
$DIVE,28
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,100
$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,83
$T_MISSION,90
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51653
$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,28
$TGT_DEFAULT_LON,126
$TGT_AUTO_DEFAULT,0
$SM_CC,320
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,10
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32589.539
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,150
$PITCH_MAX,3947
$C_PITCH,1658
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,221
$ROLL_MAX,3777
$ROLL_DEG,35
$C_ROLL_DIVE,2390
$C_ROLL_CLIMB,2390
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3179
$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,-36.048885
$PRESSURE_SLOPE,0.0001164618
$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,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.72000003
$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,0.0043074116
$SEABIRD_T_H,0.00062210945
$SEABIRD_T_I,2.2491413e-05
$SEABIRD_T_J,2.3191396e-06
$SEABIRD_C_G,-10.148055
$SEABIRD_C_H,1.1401927
$SEABIRD_C_I,-0.0018988725
$SEABIRD_C_J,0.00022551473
$GPS1,010711,142450,4742.893,-12224.636,11,1.3,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.1
$GPS2,010711,143056,4742.931,-12224.630,14,1.5,14,18.2
$SPEED_LIMITS,0.139,0.241
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.231,0.066
$KALMAN_X,7778.0,-806.1,-1952.5,-5628.9,2398.3
$KALMAN_Y,-7123.9,-6949.1,-162.4,12645.0,-1166.4
$MHEAD_RNG_PITCHd_Wd,192.7,477,-14.1,-8.032
$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,-0.65,-146.0,0.0,0.0,0,101,0.00,0.00,-82.20,0.000,6,0.000,0.000,124,2390,3775,0,0,0,0,0,0
$GC,103,-0.65,-146.0,2.7,-2.6,10,113,5.47,0.00,0.00,0.000,6,0.261,0.000,1440,2391,3776,0,0,0,0,0,0
$GC,164,-0.65,-146.0,20.1,-22.7,19,172,0.00,2.08,0.00,0.000,4,0.000,0.072,1432,3633,3776,0,0,0,0,0,0
$GC,193,-0.65,-146.0,26.1,-20.8,23,202,0.00,2.03,0.00,0.000,6,0.000,0.055,1432,2389,3776,0,0,0,0,0,0
$GC,253,-0.65,-146.0,36.0,-15.6,32,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,2388,3777,0,0,0,0,0,0
$GC,310,-0.65,-146.0,45.0,-15.8,41,317,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,2389,3776,0,0,0,0,0,0
$GC,456,-0.65,-146.0,65.8,-12.2,66,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1433,2388,3777,0,0,0,0,0,0
$GC,604,-0.65,-146.0,84.3,-13.8,91,610,0.00,0.00,0.00,0.000,6,0.000,0.000,1432,2388,3776,0,0,0,0,0,0
$GC,749,-0.65,-146.0,103.7,-13.5,116,757,0.00,2.05,0.00,0.000,4,0.000,0.073,1422,3627,3776,0,0,0,0,0,0
$GC,805,-0.65,-146.0,111.2,-13.9,125,812,0.00,1.98,0.00,0.000,6,0.000,0.055,1422,2382,3776,0,0,0,0,0,0
$GC,954,-0.65,-146.0,130.1,-12.6,150,962,0.00,2.08,0.00,0.000,4,0.000,0.077,1412,3625,3776,0,0,0,0,0,0
$GC,1011,-0.65,-146.0,137.6,-14.0,159,1018,0.12,1.98,0.00,0.000,6,0.190,0.057,1442,2386,3776,0,0,0,0,0,0
$GC,1157,-0.65,-146.0,153.8,-10.5,184,1166,0.00,2.08,0.00,0.000,4,0.000,0.079,1435,3627,3776,0,0,0,0,0,0
$GC,1259,-0.65,-146.0,166.4,-13.1,201,1267,0.00,1.98,0.00,0.000,6,0.000,0.058,1435,2387,3776,0,0,0,0,0,0
$STATE,1369,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1369,begin apogee
$GC,1373,-0.17,0.0,179.4,11.2,220,1495,0.50,0.00,116.20,1.281,6,0.157,0.000,1591,2387,3180,0,0,0,0,0,0
$STATE,1497,end apogee,CONTROL_FINISHED_OK
$STATE,1497,begin climb
$GC,1498,0.65,146.0,181.7,0.0,237,1627,0.82,0.00,120.82,1.252,6,0.113,0.000,1855,2387,2582,0,0,0,0,0,0
$GC,1768,0.65,146.0,139.7,19.3,279,1775,0.00,2.10,0.00,0.000,4,0.000,0.069,1855,3631,2580,0,0,0,0,0,0
$GC,1844,0.65,146.0,122.5,22.4,292,1853,0.00,2.05,0.00,0.000,6,0.000,0.054,1864,2396,2580,0,0,0,0,0,0
$GC,1992,0.65,146.0,96.0,17.3,317,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,1864,2394,2579,0,0,0,0,0,0
$GC,2138,0.65,146.0,69.8,17.4,342,2147,0.00,2.03,0.00,0.000,4,0.000,0.060,1873,1155,2578,0,0,0,0,0,0
$GC,2165,0.65,146.0,65.1,17.7,346,2173,0.00,2.08,0.00,0.000,6,0.000,0.066,1874,2391,2577,0,0,0,0,0,0
$GC,2313,0.65,146.0,38.9,18.0,371,2322,0.00,2.05,0.00,0.000,4,0.000,0.071,1873,3626,2577,0,0,0,0,0,0
$GC,2336,0.65,146.0,34.8,18.5,374,2345,0.00,2.03,0.00,0.000,6,0.000,0.057,1883,2390,2577,0,0,0,0,0,0
$GC,2396,0.65,146.0,23.7,19.0,383,2404,0.00,2.03,0.00,0.000,4,0.000,0.064,1892,1150,2577,0,0,0,0,0,0
$GC,2450,0.65,146.0,17.2,11.1,391,2458,0.00,2.08,0.00,0.000,6,0.000,0.067,1892,2392,2577,0,0,0,0,0,0
$GC,2510,0.65,146.0,9.5,13.0,400,2518,0.00,2.05,0.00,0.000,4,0.000,0.073,1892,3628,2577,0,0,0,0,0,0
$STATE,2562,end climb,SURFACE_DEPTH_REACHED
$STATE,2562,begin surface coast
$FINISH,0.1,1.012137
$STATE,2576,end surface coast,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$SM_CCo,2589,62.25,0.140,0,0,1871,320.12
$SM_GC,1.22,0.00,0.00,62.25,0.000,0.000,0.140,124,2380,1871,-4.79,-0.31,320.12
$IRIDIUM_FIX,4719.74,-12235.86,010711,131354
$TT8_MAMPS,0.026215
$HUMID,46.73
$INTERNAL_PRESSURE,9.20665
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,125.8,63.3
$24V_AH,23.6,3.062
$10V_AH,10.3,2.743
$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,11.575,36.750,237.025,62.250,0.000,24.613,29.830,215.103,2.250,0.000,17.099,974.944,214.739,371.271,1381.649,94.499,33.313,826.813,0.000,804.205,0.000,16.510,0.000
$DEVICE_MAMPS,260.865,78.795,1280.610,139.995,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330,WL_BB2F,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,285.650,170.655,556.747,513.914,849.120,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,323516
$DATA_FILE_SIZE,37173,410
$CAP_FILE_SIZE,54421,0
$CFSIZE,260165632,250441728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.201, 34.3,1
$GPS,010711,151710,4742.886,-12224.675,7,2.4,26,18.2