version: 66.06
glider: 183
mission: 1
dive: 28
start: 5 27 110 16 12 1
data:
$ID,183
$MISSION,1
$DIVE,28
$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,-5070.0415
$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,22
$R_STBD_OVSHOOT,31
$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
$GPS1,160536,4807.024,-12222.972,31,1.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.5
$GPS2,161122,4806.962,-12222.920,10,2.2,29,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.004,0.197
$KALMAN_X,1106.3,-132.7,-93.8,-769.5,-14.0
$KALMAN_Y,2023.4,-618.0,324.4,-1672.2,-40.8
$MHEAD_RNG_PITCHd_Wd,340.5,1924,-16.9,-7.576
$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,11,-0.68,-97.8,0.0,0.0,0,89,0.00,0.00,-75.80,0.000,2,0.000,0.000,145,2330,2949,0,0,0,0,0,0
$GC,90,-0.68,-97.8,5.7,-12.7,18,125,8.70,2.38,-19.88,0.000,4,0.244,0.074,2335,890,3723,0,0,0,0,0,0
$GC,364,-0.68,-97.8,29.2,-10.4,81,369,0.00,2.28,0.00,0.000,6,0.000,0.058,2327,2290,3724,0,0,0,0,0,0
$GC,433,-0.68,-97.8,37.1,-11.7,97,439,0.00,2.42,0.00,0.000,4,0.000,0.071,2317,3715,3726,0,0,0,0,0,0
$GC,446,-0.68,-97.8,38.7,-11.7,100,452,0.00,2.33,0.00,0.000,6,0.000,0.058,2316,2311,3725,0,0,0,0,0,0
$GC,516,-0.68,-97.8,46.9,-11.8,116,521,0.00,2.38,0.00,0.000,4,0.000,0.073,2305,3708,3725,0,0,0,0,0,0
$GC,564,-0.68,-97.8,53.3,-13.8,127,570,0.10,2.30,0.00,0.000,6,0.172,0.054,2334,2309,3725,0,0,0,0,0,0
$GC,699,-0.68,-97.8,69.5,-12.2,158,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2308,3725,0,0,0,0,0,0
$GC,829,-0.68,-97.8,85.5,-12.3,188,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2308,3726,0,0,0,0,0,0
$GC,963,-0.68,-97.8,101.6,-12.0,219,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2309,3725,0,0,0,0,0,0
$STATE,991,end dive,TARGET_DEPTH_EXCEEDED
$STATE,991,begin apogee
$GC,994,-0.17,0.0,105.1,12.2,226,1070,0.52,0.00,72.68,0.609,6,0.157,0.000,2502,2188,3324,0,0,0,0,0,0
$STATE,1071,end apogee,CONTROL_FINISHED_OK
$STATE,1071,begin climb
$GC,1072,0.68,97.8,108.0,0.0,244,1152,0.82,0.00,73.72,0.593,6,0.110,0.000,2780,2188,2926,0,0,0,0,0,0
$GC,1282,0.68,97.8,85.3,12.2,293,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2188,2925,0,0,0,0,0,0
$GC,1415,0.68,97.8,68.4,12.7,324,1421,0.00,2.25,0.00,0.000,4,0.000,0.054,2791,790,2925,0,0,0,0,0,0
$GC,1429,0.68,97.8,66.6,12.5,327,1434,0.00,2.30,0.00,0.000,6,0.000,0.052,2790,2206,2924,0,0,0,0,0,0
$GC,1563,0.68,97.8,49.0,12.5,358,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2206,2924,0,0,0,0,0,0
$GC,1694,0.68,97.8,32.3,12.2,388,1700,0.00,2.35,0.00,0.000,4,0.000,0.063,2790,3621,2924,0,0,0,0,0,0
$GC,1712,0.68,97.8,30.0,12.6,392,1717,0.00,2.30,0.00,0.000,6,0.000,0.048,2801,2209,2924,0,0,0,0,0,0
$GC,1781,0.68,97.8,22.0,11.3,408,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2209,2924,0,0,0,0,0,0
$GC,1850,0.68,97.8,13.4,12.5,424,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2209,2924,0,0,0,0,0,0
$GC,1918,0.74,143.0,8.2,5.2,440,1958,0.00,2.28,34.15,0.554,4,0.000,0.054,2811,775,2739,0,0,0,0,0,0
$GC,2048,0.93,298.1,7.4,-0.5,470,2172,0.12,2.30,115.28,0.546,6,0.075,0.051,2868,2201,2108,0,0,0,0,0,0
$GC,2236,1.10,436.0,4.8,0.4,514,2314,0.15,0.00,75.25,0.533,2,0.100,0.000,2926,2201,1710,0,0,0,0,0,0
$STATE,2315,end climb,SURFACE_DEPTH_REACHED
$STATE,2315,begin surface coast
$FINISH,3.1,1.015162
$STATE,2495,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2495,begin surface
$SM_CCo,2507,100.78,0.492,1,0,958,580.13
$SM_GC,1.48,0.00,0.00,100.78,0.000,0.000,0.492,139,2318,958,-7.58,0.37,580.13
$IRIDIUM_FIX,4748.51,-12207.50,210899,151524
$TT8_MAMPS,0.054457
$HUMID,44.64
$INTERNAL_PRESSURE,8.98319
$TCM_TEMP,19.10
$XPDR_PINGS,1
$24V_AH,24.4,2.510
$10V_AH,10.6,1.727
$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,18.075,28.200,371.075,100.775,0.000,23.380,25.516,213.992,0.250,0.000,32.444,0.000,1131.071,486.310,1023.131,317.972,33.301,986.438,0.000,823.698,0.000,0.540,0.000
$DEVICE_MAMPS,243.906,80.535,608.998,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,380.668,312.141,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325016
$DATA_FILE_SIZE,22195,574
$CAP_FILE_SIZE,61309,0
$CFSIZE,260165632,256385024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270510,165622,4807.013,-12222.838,10,99.0,29,18.3