version: 66.06
glider: 183
mission: 1
dive: 26
start: 5 27 110 14 39 35
data:
$ID,183
$MISSION,1
$DIVE,26
$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,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,100
$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,580
$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,-5002.5967
$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,2564
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,143355,4807.339,-12223.533,9,2.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.8
$GPS2,143856,4807.330,-12223.562,11,2.0,11,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.152,-0.126
$KALMAN_X,934.3,88.6,-94.2,-1609.1,-127.2
$KALMAN_Y,2258.4,-898.3,401.9,-1024.9,91.2
$MHEAD_RNG_PITCHd_Wd,111.4,925,-16.9,-7.576
$D_GRID,101
$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,11,-0.68,-97.8,0.0,0.0,0,127,0.00,0.00,-112.40,0.000,2,0.000,0.000,128,2299,3411,0,0,0,0,0,0
$GC,128,-0.68,-97.8,5.5,-8.8,27,150,8.73,2.28,-7.85,0.000,4,0.242,0.074,2334,882,3724,0,0,0,0,0,0
$GC,189,-0.68,-97.8,9.6,-5.4,41,194,0.00,2.33,0.00,0.000,6,0.000,0.061,2326,2308,3725,0,0,0,0,0,0
$GC,258,-0.68,-97.8,15.1,-9.1,57,264,0.00,2.42,0.00,0.000,4,0.000,0.073,2315,3715,3725,0,0,0,0,0,0
$GC,385,-0.68,-97.8,30.2,-12.1,86,390,0.00,2.33,0.00,0.000,6,0.000,0.054,2315,2308,3725,0,0,0,0,0,0
$GC,454,-0.68,-97.8,38.3,-12.0,102,460,0.00,2.40,0.00,0.000,4,0.000,0.071,2304,3712,3725,0,0,0,0,0,0
$GC,480,-0.68,-97.8,41.6,-12.3,108,486,0.10,2.35,0.00,0.000,6,0.176,0.057,2333,2298,3725,0,0,0,0,0,0
$GC,615,-0.68,-97.8,57.7,-11.8,139,616,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2297,3725,0,0,0,0,0,0
$GC,746,-0.68,-97.8,73.0,-12.1,169,750,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2297,3725,0,0,0,0,0,0
$GC,880,-0.68,-97.8,88.8,-11.3,200,885,0.00,2.40,0.00,0.000,4,0.000,0.071,2324,3726,3725,0,0,0,0,0,0
$GC,919,-0.68,-97.8,93.8,-12.7,209,924,0.00,2.33,0.00,0.000,6,0.000,0.054,2324,2302,3725,0,0,0,0,0,0
$STATE,979,end dive,TARGET_DEPTH_EXCEEDED
$STATE,979,begin apogee
$GC,982,-0.17,0.0,101.5,11.8,223,1058,0.57,0.00,72.65,0.604,6,0.163,0.000,2503,2181,3324,0,0,0,0,0,0
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1060,0.68,97.8,104.2,0.0,241,1137,0.80,0.00,73.70,0.589,6,0.110,0.000,2774,2181,2925,0,0,0,0,0,0
$GC,1266,0.68,97.8,80.8,13.9,289,1272,0.00,2.47,0.00,0.000,4,0.000,0.063,2774,3618,2923,0,0,0,0,0,0
$GC,1297,0.68,97.8,76.3,14.9,296,1303,0.00,2.33,0.00,0.000,6,0.000,0.046,2785,2215,2923,0,0,0,0,0,0
$GC,1432,0.68,97.8,57.2,13.5,327,1437,0.00,2.30,0.00,0.000,4,0.000,0.055,2795,787,2922,0,0,0,0,0,0
$GC,1449,0.68,97.8,54.8,13.6,331,1455,0.00,2.30,0.00,0.000,6,0.000,0.053,2795,2204,2922,0,0,0,0,0,0
$GC,1584,0.68,97.8,36.3,13.6,362,1585,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2204,2922,0,0,0,0,0,0
$GC,1649,0.68,97.8,27.7,13.3,377,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2204,2922,0,0,0,0,0,0
$GC,1718,0.68,97.8,19.6,12.1,393,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2204,2922,0,0,0,0,0,0
$GC,1787,0.68,97.8,13.0,9.4,409,1792,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2204,2922,0,0,0,0,0,0
$GC,1856,0.68,97.8,6.2,9.4,425,1861,0.00,2.35,0.00,0.000,4,0.000,0.065,2795,3621,2922,0,0,0,0,0,0
$GC,1947,0.88,254.5,5.1,-0.6,446,2051,0.08,2.30,97.88,0.548,2,0.090,0.046,2845,2192,2360,0,0,0,0,0,0
$STATE,2051,end climb,SURFACE_DEPTH_REACHED
$STATE,2051,begin surface coast
$FINISH,2.7,1.018776
$STATE,2223,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2223,begin surface
$SM_CCo,2235,154.80,0.072,0,0,959,580.13
$SM_GC,1.26,0.00,0.00,154.80,0.000,0.000,0.072,134,2320,959,-7.59,0.45,580.13
$IRIDIUM_FIX,4814.30,-12224.78,210899,131352
$TT8_MAMPS,0.055991
$HUMID,41.57
$INTERNAL_PRESSURE,8.9246
$TCM_TEMP,18.90
$XPDR_PINGS,1
$24V_AH,24.4,2.360
$10V_AH,10.5,1.670
$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,17.800,33.250,244.225,154.800,0.000,25.547,27.292,185.009,0.250,0.000,13.112,0.000,1025.289,468.522,900.484,296.776,33.302,907.055,0.000,733.280,0.000,0.539,0.000
$DEVICE_MAMPS,242.372,80.535,604.396,72.098,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,339.501,277.004,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324808
$DATA_FILE_SIZE,19077,510
$CAP_FILE_SIZE,56935,0
$CFSIZE,260165632,256458752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270510,152016,4807.211,-12223.309,13,2.1,32,18.3