version: 66.06
glider: 182
mission: 1
dive: 23
start: 2 11 110 16 42 50
data:
$ID,182
$MISSION,1
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,145
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,8
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,69
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,8
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-5150.2847
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3959
$C_PITCH,2615
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,31
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3750
$ROLL_DEG,44
$C_ROLL_DIVE,2280
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,435
$VBD_MAX,3960
$C_VBD,3482
$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,-44.785374
$PRESSURE_SLOPE,0.0001160742
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043355622
$SEABIRD_T_H,0.00062702101
$SEABIRD_T_I,2.4802104e-05
$SEABIRD_T_J,2.7976582e-06
$SEABIRD_C_G,-10.048581
$SEABIRD_C_H,1.1192983
$SEABIRD_C_I,-0.00090017414
$SEABIRD_C_J,0.0001699446
$GPS1,163737,4808.188,-12223.980,38,1.1,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-67.4
$GPS2,164155,4808.211,-12223.992,12,1.6,12,18.3
$SPEED_LIMITS,0.121,0.192
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.137,-0.135
$KALMAN_X,-8452.8,-233.7,96.0,8084.2,-569.7
$KALMAN_Y,11900.9,289.9,-174.4,-10910.8,566.6
$MHEAD_RNG_PITCHd_Wd,116.4,4780,-15.6,-7.005
$D_GRID,145
$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,-0.62,-97.8,0.0,0.0,0,82,0.00,0.00,-65.12,0.000,2,0.000,0.000,147,2266,3022,0,0,0,0,0,0
$GC,84,-0.62,-97.8,3.1,-3.0,10,119,11.32,0.00,-19.48,0.000,6,0.304,0.000,2403,2265,3883,0,0,0,0,0,0
$GC,199,-0.62,-97.8,18.8,-10.2,30,206,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2266,3885,0,0,0,0,0,0
$GC,286,-0.62,-97.8,26.6,-9.1,46,293,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2266,3884,0,0,0,0,0,0
$GC,373,-0.62,-97.8,34.7,-8.9,62,380,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2266,3884,0,0,0,0,0,0
$GC,457,-0.62,-97.8,43.0,-9.4,78,464,0.00,2.40,0.00,0.000,4,0.000,0.059,2394,3749,3885,0,0,0,0,0,0
$GC,479,-0.62,-97.8,45.3,-9.6,82,487,0.00,2.30,0.00,0.000,6,0.000,0.041,2394,2274,3884,0,0,0,0,0,0
$GC,636,-0.62,-97.8,60.9,-10.5,113,641,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2274,3884,0,0,0,0,0,0
$GC,789,-0.62,-97.8,76.8,-10.3,144,796,0.00,2.45,0.00,0.000,4,0.000,0.050,2394,736,3884,0,0,0,0,0,0
$GC,808,-0.62,-97.8,78.5,-10.5,147,814,0.12,2.45,0.00,0.000,6,0.228,0.051,2408,2280,3884,0,0,0,0,0,0
$GC,966,-0.62,-97.8,92.9,-9.1,178,973,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2280,3884,0,0,0,0,0,0
$GC,1130,-0.62,-97.8,106.1,-7.9,209,1136,0.00,2.35,0.00,0.000,4,0.000,0.060,2399,3753,3884,0,0,0,0,0,0
$GC,1153,-0.62,-97.8,108.0,-8.0,213,1159,0.00,2.28,0.00,0.000,6,0.000,0.042,2399,2264,3884,0,0,0,0,0,0
$STATE,1250,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1250,begin apogee
$GC,1253,-0.16,0.0,115.9,7.9,231,1330,0.57,0.00,72.32,0.696,6,0.203,0.000,2554,2262,3482,0,0,0,0,0,0
$STATE,1331,end apogee,CONTROL_FINISHED_OK
$STATE,1331,begin climb
$GC,1333,0.62,97.8,117.9,0.0,245,1414,0.82,0.00,73.62,0.675,6,0.141,0.000,2805,2263,3082,0,0,0,0,0,0
$GC,1561,0.62,97.8,97.5,10.9,290,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2263,3081,0,0,0,0,0,0
$GC,1719,0.62,97.8,82.3,9.5,321,1724,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2262,3082,0,0,0,0,0,0
$GC,1872,0.62,97.8,67.7,9.1,352,1879,0.00,2.42,0.00,0.000,4,0.000,0.062,2805,3747,3082,0,0,0,0,0,0
$GC,1904,0.62,97.8,64.2,10.1,358,1912,0.00,2.30,0.00,0.000,6,0.000,0.046,2816,2295,3081,0,0,0,0,0,0
$GC,2063,0.62,97.8,48.8,9.7,389,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2295,3081,0,0,0,0,0,0
$GC,2221,0.62,97.8,33.3,9.5,420,2228,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2295,3081,0,0,0,0,0,0
$GC,2308,0.62,97.8,25.7,8.3,436,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2295,3081,0,0,0,0,0,0
$GC,2396,0.62,97.8,18.1,8.7,452,2404,0.00,2.47,0.00,0.000,4,0.000,0.053,2828,734,3082,0,0,0,0,0,0
$GC,2442,0.62,97.8,14.1,8.8,460,2450,0.00,2.47,0.00,0.000,6,0.000,0.051,2828,2278,3081,0,0,0,0,0,0
$GC,2530,0.75,204.1,9.9,1.8,476,2616,0.00,2.45,76.97,0.608,4,0.000,0.061,2828,3741,2648,0,0,0,0,0,0
$STATE,2753,end climb,NO_VERTICAL_VELOCITY
$STATE,2753,begin surface
$SM_CCo,2755,333.12,0.588,4,0,434,747.43
$SM_GC,1.06,7.93,0.00,0.00,0.073,0.000,0.000,151,2276,428,-7.66,-0.11,748.90
$IRIDIUM_FIX,4754.94,-12225.30,080599,151521
$TT8_MAMPS,0.026078
$HUMID,31.33
$INTERNAL_PRESSURE,8.86875
$TCM_TEMP,13.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.4,7.4
$24V_AH,24.2,2.617
$10V_AH,10.3,3.385
$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,20.775,28.775,222.925,333.125,0.000,23.143,27.211,123.796,3.000,0.000,12.366,800.885,325.536,577.998,1517.567,263.578,33.338,1134.465,0.000,1507.284,0.000,27.072,0.000
$DEVICE_MAMPS,304.499,62.127,695.669,587.522,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.439,1261.466,1173.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,34950,515
$CAP_FILE_SIZE,57008,0
$CFSIZE,260165632,254369792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,110210,173710,4808.016,-12223.855,10,1.8,12,18.3