version: 66.06
glider: 183
mission: 1
dive: 2
start: 5 26 110 19 27 38
data:
$ID,183
$MISSION,1
$DIVE,2
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51282
$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,560
$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,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4365.8628
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,144
$PITCH_MAX,3955
$C_PITCH,2610
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,241
$ROLL_MAX,3798
$ROLL_DEG,40
$C_ROLL_DIVE,2305
$C_ROLL_CLIMB,2305
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3324
$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,-63.280094
$PRESSURE_SLOPE,0.00012025224
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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,-0.89999998
$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,0.0043469137
$SEABIRD_T_H,0.00062159239
$SEABIRD_T_I,2.0014088e-05
$SEABIRD_T_J,1.6690842e-06
$SEABIRD_C_G,-9.9685602
$SEABIRD_C_H,1.1354375
$SEABIRD_C_I,-0.0013495153
$SEABIRD_C_J,0.00019269099
$GPS1,192336,4806.776,-12222.848,13,1.5,23,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-76.5
$GPS2,192702,4806.756,-12222.810,13,1.6,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.148,-0.213
$KALMAN_X,27.3,27.3,27.3,164.5,70.3
$KALMAN_Y,-33.4,-33.4,-33.4,-222.9,-86.0
$MHEAD_RNG_PITCHd_Wd,126.9,1721,-17.5,-10.000
$D_GRID,105
$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,-0.76,-146.6,0.0,0.0,0,105,0.00,0.00,-91.32,0.000,2,0.000,0.000,133,2305,2819,0,0,0,0,0,0
$GC,107,-0.76,-146.6,5.2,-13.4,22,154,8.68,2.38,-32.10,0.000,4,0.242,0.087,2348,3710,3922,0,0,0,0,0,0
$GC,401,-0.76,-146.6,33.7,-12.5,90,406,0.00,2.30,0.00,0.000,6,0.000,0.054,2347,2303,3924,0,0,0,0,0,0
$GC,471,-0.76,-146.6,42.6,-12.6,106,476,0.00,2.40,0.00,0.000,4,0.000,0.073,2336,3717,3924,0,0,0,0,0,0
$GC,710,-0.76,-146.6,74.8,-13.1,161,715,0.00,2.30,0.00,0.000,6,0.000,0.054,2336,2304,3924,0,0,0,0,0,0
$GC,845,-0.76,-146.6,92.9,-13.8,192,845,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2303,3924,0,0,0,0,0,0
$STATE,935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,935,begin apogee
$GC,937,-0.17,0.0,105.1,13.5,213,1051,0.65,0.00,107.32,0.597,6,0.146,0.000,2547,2303,3323,0,0,0,0,0,0
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1052,0.76,146.6,107.3,0.0,240,1171,0.85,2.47,108.80,0.581,4,0.081,0.063,2854,3715,2725,0,0,0,0,0,0
$GC,1213,0.76,146.6,83.3,23.2,278,1218,0.00,2.38,0.00,0.000,6,0.000,0.049,2865,2303,2724,0,0,0,0,0,0
$GC,1347,0.76,146.6,53.4,21.9,309,1353,0.00,2.30,0.00,0.000,4,0.000,0.060,2876,884,2723,0,0,0,0,0,0
$GC,1382,0.76,146.6,45.8,21.3,317,1388,0.00,2.33,0.00,0.000,6,0.000,0.054,2876,2310,2723,0,0,0,0,0,0
$GC,1517,0.76,146.6,17.7,18.7,348,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2311,2723,0,0,0,0,0,0
$GC,1582,0.76,146.6,6.1,16.9,363,1588,0.00,2.30,0.00,0.000,4,0.000,0.060,2886,886,2723,0,0,0,0,0,0
$STATE,1799,end climb,NO_VERTICAL_VELOCITY
$STATE,1799,begin surface
$SM_CCo,1800,373.20,0.517,5,0,439,707.45
$SM_GC,1.14,7.35,0.00,0.00,0.044,0.000,0.000,136,2302,436,-7.67,-0.08,708.43
$IRIDIUM_FIX,4745.30,-12218.40,200899,191900
$TT8_MAMPS,0.054457
$HUMID,40.47
$INTERNAL_PRESSURE,8.91483
$TCM_TEMP,19.10
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,80.5,5.8
$24V_AH,24.5,0.442
$10V_AH,10.6,1.001
$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,17.525,23.550,216.125,373.200,0.000,0.000,0.000,0.000,1.500,0.000,15.470,0.000,912.587,673.400,737.307,23.142,30.169,1033.131,0.000,596.107,0.000,5.423,0.000
$DEVICE_MAMPS,242.372,86.671,597.493,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,273.951,216.499,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,15900,413
$CAP_FILE_SIZE,54100,0
$CFSIZE,260165632,257241088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,260510,200646,4806.619,-12222.699,9,99.0,28,18.3