version: 66.08
glider: 185
mission: 2
dive: 17
start: 6 30 111 7 31 25
data:
$ID,185
$MISSION,2
$DIVE,17
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,50
$T_BOOST,0
$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,82
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,160
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$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,350
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-341.92917
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,163
$PITCH_MAX,3951
$C_PITCH,1685
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3789
$ROLL_DEG,30
$C_ROLL_DIVE,2510
$C_ROLL_CLIMB,2580
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3317
$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,-48.844349
$PRESSURE_SLOPE,0.0001165586
$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,100
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,101
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043319771
$SEABIRD_T_H,0.00061972893
$SEABIRD_T_I,2.0391248e-05
$SEABIRD_T_J,1.8214913e-06
$SEABIRD_C_G,-9.9888363
$SEABIRD_C_H,1.1040936
$SEABIRD_C_I,-0.0023403035
$SEABIRD_C_J,0.00025686045
$GPS1,300611,071914,4743.399,-12223.829,11,1.8,11,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-70.7
$GPS2,300611,073025,4743.384,-12223.949,10,1.8,10,18.2
$SPEED_LIMITS,0.141,0.249
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.241,0.063
$KALMAN_X,4886.3,-2760.8,-818.2,-1052.6,1573.7
$KALMAN_Y,-8854.4,-3811.3,-253.1,12365.6,-1942.9
$MHEAD_RNG_PITCHd_Wd,202.1,1651,-13.7,-8.130
$D_GRID,200
$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,14,-0.58,-156.4,0.0,0.0,0,104,0.00,0.00,-82.82,0.000,6,0.000,0.000,159,2498,3955,0,0,0,0,0,0
$GC,106,-0.58,-156.4,5.3,-7.7,10,116,5.60,1.75,0.00,0.000,4,0.256,0.056,1484,3572,3956,0,0,0,0,0,0
$GC,247,-0.58,-156.4,39.4,-15.6,30,257,0.00,1.67,0.00,0.000,6,0.000,0.046,1484,2505,3956,0,0,0,0,0,0
$GC,309,-0.58,-156.4,48.3,-14.3,39,317,0.00,1.65,0.00,0.000,4,0.000,0.050,1484,1432,3956,0,0,0,0,0,0
$GC,343,-0.58,-156.4,53.7,-14.6,44,353,0.00,1.75,0.00,0.000,6,0.000,0.063,1476,2503,3956,0,0,0,0,0,0
$GC,505,-0.58,-156.4,76.7,-14.8,69,511,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,2503,3956,0,0,0,0,0,0
$GC,663,-0.58,-156.4,100.7,-15.2,94,672,0.00,0.00,0.00,0.000,6,0.000,0.000,1476,2503,3956,0,0,0,0,0,0
$GC,823,-0.58,-156.4,123.0,-13.6,119,831,0.00,1.62,0.00,0.000,4,0.000,0.048,1476,1425,3956,0,0,0,0,0,0
$GC,880,-0.58,-156.4,130.7,-12.6,128,890,0.00,1.75,0.00,0.000,6,0.000,0.063,1468,2505,3956,0,0,0,0,0,0
$GC,1038,-0.58,-156.4,153.6,-14.8,153,1045,0.00,1.70,0.00,0.000,4,0.000,0.069,1459,3577,3956,0,0,0,0,0,0
$GC,1092,-0.58,-156.4,162.2,-16.1,161,1099,0.12,1.65,0.00,0.000,6,0.183,0.047,1491,2485,3956,0,0,0,0,0,0
$STATE,1174,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1174,begin apogee
$GC,1178,-0.14,0.0,173.7,12.3,174,1303,0.43,0.00,120.80,1.185,6,0.149,0.000,1626,2585,3316,0,0,0,0,0,0
$STATE,1304,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1305,0.58,156.4,178.2,0.0,190,1438,0.73,0.00,125.18,1.154,6,0.100,0.000,1863,2585,2679,0,0,0,0,0,0
$GC,1590,0.58,156.4,150.4,14.5,231,1598,0.00,1.70,0.00,0.000,4,0.000,0.066,1863,3636,2675,0,0,0,0,0,0
$GC,1644,0.58,156.4,141.3,16.3,239,1652,0.00,1.67,0.00,0.000,6,0.000,0.051,1871,2587,2674,0,0,0,0,0,0
$GC,1803,0.58,156.4,115.8,16.2,264,1813,0.00,1.73,0.00,0.000,4,0.000,0.070,1871,3626,2675,0,0,0,0,0,0
$GC,1840,0.58,156.4,110.0,16.7,269,1846,0.00,1.67,0.00,0.000,6,0.000,0.053,1879,2569,2674,0,0,0,0,0,0
$GC,1997,0.58,156.4,83.8,15.1,294,2006,0.00,0.00,0.00,0.000,6,0.000,0.000,1879,2568,2674,0,0,0,0,0,0
$GC,2159,0.58,156.4,59.8,15.8,319,2166,0.00,1.73,0.00,0.000,4,0.000,0.070,1879,3636,2673,0,0,0,0,0,0
$GC,2264,0.58,156.4,42.6,15.8,335,2271,0.00,1.67,0.00,0.000,6,0.000,0.051,1888,2564,2673,0,0,0,0,0,0
$GC,2436,0.58,156.4,20.8,12.8,360,2445,0.00,1.75,0.00,0.000,4,0.000,0.070,1888,3635,2673,0,0,0,0,0,0
$STATE,2555,end climb,SURFACE_DEPTH_REACHED
$STATE,2555,begin surface coast
$FINISH,2.4,1.020777
$STATE,2563,end surface coast,CONTROL_FINISHED_OK
$STATE,2563,begin surface
$SM_CCo,2576,70.82,0.138,0,0,1886,350.04
$SM_GC,0.78,0.00,0.00,70.82,0.000,0.000,0.138,149,2501,1886,-4.80,-0.28,350.04
$IRIDIUM_FIX,4722.92,-12226.07,300611,070713
$TT8_MAMPS,0.027713
$HUMID,48.07
$INTERNAL_PRESSURE,9.24179
$TCM_TEMP,16.10
$XPDR_PINGS,26
$ALTIM_BOTTOM_PING,110.2,73.0
$24V_AH,23.8,6.410
$10V_AH,10.3,4.406
$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,12.075,27.425,245.975,70.825,0.000,84.167,168.787,215.175,7.500,0.000,13.025,905.543,315.059,350.182,1692.375,77.023,33.305,789.158,0.000,739.253,0.000,8.749,0.000
$DEVICE_MAMPS,256.275,93.330,1184.985,137.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA4330,WL_BB2F,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,259.853,172.029,510.833,473.485,956.876,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,323516
$DATA_FILE_SIZE,33936,378
$CAP_FILE_SIZE,50147,0
$CFSIZE,260165632,249446400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,223.7,1
$GPS,300611,081637,4742.949,-12224.437,28,1.4,28,18.2