version: 66.06
glider: 184
mission: 1
dive: 23
start: 5 27 110 14 2 41
data:
$ID,184
$MISSION,1
$DIVE,23
$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,720
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,300
$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,51224
$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,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4708
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,50000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32734.262
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3934
$C_PITCH,2882
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,223
$ROLL_MAX,3813
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3490
$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,-53.093147
$PRESSURE_SLOPE,0.0001157311
$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,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5
$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,0.0043635513
$SEABIRD_T_H,0.0006292222
$SEABIRD_T_I,2.4569574e-05
$SEABIRD_T_J,2.6955906e-06
$SEABIRD_C_G,-10.09016
$SEABIRD_C_H,1.1251791
$SEABIRD_C_I,-0.0014842621
$SEABIRD_C_J,0.00019950744
$GPS1,135643,4807.271,-12223.472,8,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-78.2
$GPS2,140201,4807.272,-12223.534,10,1.3,15,18.3
$SPEED_LIMITS,0.131,0.198
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.186,-0.066
$KALMAN_X,-1286.2,148.4,-205.2,644.0,-326.0
$KALMAN_Y,-161.7,-216.5,283.2,809.1,-53.4
$MHEAD_RNG_PITCHd_Wd,91.3,831,-16.9,-7.576
$D_GRID,150
$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,-0.65,-97.8,0.0,0.0,0,114,0.00,0.00,-100.55,0.000,2,0.000,0.000,147,2235,3651,0,0,0,0,0,0
$GC,115,-0.65,-97.8,5.5,-9.8,24,138,10.60,2.20,-6.10,0.000,4,0.249,0.062,2663,835,3890,0,0,0,0,0,0
$GC,171,-0.65,-97.8,8.5,-4.4,37,177,0.00,2.25,0.00,0.000,6,0.000,0.044,2654,2251,3891,0,0,0,0,0,0
$GC,241,-0.65,-97.8,13.1,-7.2,53,247,0.00,2.30,0.00,0.000,4,0.000,0.054,2643,3662,3891,0,0,0,0,0,0
$GC,307,-0.65,-97.8,18.9,-9.8,68,312,0.00,2.20,0.00,0.000,6,0.000,0.038,2643,2240,3891,0,0,0,0,0,0
$GC,376,-0.65,-97.8,25.9,-9.2,84,382,0.00,2.17,0.00,0.000,4,0.000,0.044,2643,847,3891,0,0,0,0,0,0
$GC,393,-0.65,-97.8,27.6,-9.5,88,399,0.10,2.20,0.00,0.000,6,0.181,0.042,2661,2249,3891,0,0,0,0,0,0
$GC,463,-0.65,-97.8,33.9,-8.9,104,469,0.00,2.30,0.00,0.000,4,0.000,0.053,2653,3655,3891,0,0,0,0,0,0
$GC,507,-0.65,-97.8,38.1,-9.9,114,512,0.00,2.20,0.00,0.000,6,0.000,0.038,2653,2253,3891,0,0,0,0,0,0
$GC,576,-0.65,-97.8,45.1,-10.4,130,582,0.00,2.20,0.00,0.000,4,0.000,0.046,2653,842,3891,0,0,0,0,0,0
$GC,616,-0.65,-97.8,49.4,-10.8,139,621,0.00,2.20,0.00,0.000,6,0.000,0.042,2642,2247,3891,0,0,0,0,0,0
$GC,751,-0.65,-97.8,64.6,-11.5,170,757,0.12,2.28,0.00,0.000,4,0.197,0.052,2662,3655,3891,0,0,0,0,0,0
$GC,812,-0.65,-97.8,71.1,-10.6,184,818,0.00,2.20,0.00,0.000,6,0.000,0.038,2662,2249,3891,0,0,0,0,0,0
$GC,947,-0.65,-97.8,85.0,-9.6,215,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2249,3891,0,0,0,0,0,0
$GC,1077,-0.65,-97.8,98.0,-9.6,245,1083,0.00,2.30,0.00,0.000,4,0.000,0.054,2651,3658,3891,0,0,0,0,0,0
$GC,1120,-0.65,-97.8,102.5,-10.5,255,1126,0.00,2.20,0.00,0.000,6,0.000,0.038,2651,2247,3891,0,0,0,0,0,0
$STATE,1172,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1172,begin apogee
$GC,1175,-0.16,0.0,107.7,10.1,267,1255,0.57,0.00,74.53,0.680,6,0.160,0.000,2824,2246,3489,0,0,0,0,0,0
$STATE,1256,end apogee,CONTROL_FINISHED_OK
$STATE,1256,begin climb
$GC,1257,0.65,97.8,109.9,0.0,286,1337,0.77,0.00,76.38,0.660,6,0.104,0.000,3083,2245,3090,0,0,0,0,0,0
$GC,1466,0.65,97.8,88.2,12.3,335,1467,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2246,3088,0,0,0,0,0,0
$GC,1597,0.65,97.8,72.4,11.7,365,1602,0.00,2.38,0.00,0.000,4,0.000,0.052,3083,3690,3088,0,0,0,0,0,0
$GC,1640,0.65,97.8,66.7,13.3,375,1646,0.00,2.25,0.00,0.000,6,0.000,0.039,3093,2289,3087,0,0,0,0,0,0
$GC,1775,0.65,97.8,49.8,12.0,406,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2286,3087,0,0,0,0,0,0
$GC,1905,0.65,97.8,34.6,11.7,436,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2286,3086,0,0,0,0,0,0
$GC,1974,0.65,97.8,26.6,11.1,452,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,3093,2286,3087,0,0,0,0,0,0
$GC,2039,0.65,97.8,19.8,10.4,467,2044,0.00,2.30,0.00,0.000,4,0.000,0.054,3093,3686,3086,0,0,0,0,0,0
$GC,2056,0.65,97.8,17.7,10.8,471,2062,0.00,2.22,0.00,0.000,6,0.000,0.039,3103,2282,3086,0,0,0,0,0,0
$GC,2126,0.65,97.8,10.9,9.6,487,2130,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2281,3086,0,0,0,0,0,0
$GC,2194,0.65,97.8,4.4,9.3,503,2200,0.00,2.33,0.00,0.000,4,0.000,0.054,3103,3692,3085,0,0,0,0,0,0
$STATE,2206,end climb,SURFACE_DEPTH_REACHED
$STATE,2206,begin surface coast
$FINISH,5.6,1.020233
$STATE,2276,end surface coast,CONTROL_FINISHED_OK
$STATE,2276,begin surface
$SM_CCo,2277,343.95,0.585,4,0,469,740.81
$SM_GC,1.11,8.27,0.00,0.00,0.045,0.000,0.000,143,2242,463,-8.50,-0.23,742.28
$IRIDIUM_FIX,4748.51,-12147.00,210899,131358
$TT8_MAMPS,0.052156
$HUMID,39.17
$INTERNAL_PRESSURE,8.96509
$TCM_TEMP,19.00
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,90.2,27.2
$24V_AH,24.3,2.246
$10V_AH,10.5,1.464
$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,20.450,45.075,150.900,343.950,0.000,24.789,25.315,192.646,3.000,0.000,17.585,0.000,1183.723,629.331,947.297,295.631,33.305,1061.025,0.000,750.004,0.000,9.855,0.000
$DEVICE_MAMPS,248.508,62.127,679.562,585.221,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,349.698,265.057,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324848
$DATA_FILE_SIZE,19023,522
$CAP_FILE_SIZE,63273,0
$CFSIZE,260165632,257146880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,270510,144901,4807.107,-12223.300,8,1.3,13,18.3