version: 66.06
glider: 178
mission: 1
dive: 2
start: 2 2 110 19 9 23
data:
$ID,178
$MISSION,1
$DIVE,2
$D_SURF,4
$D_FLARE,3
$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,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$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,550
$N_FILEKB,8
$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,-2641.0457
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2874
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2230
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3438
$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,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.376595
$PRESSURE_SLOPE,0.0001161899
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$GPS1,190207,4807.787,-12223.365,13,1.7,13,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-74.3
$GPS2,190832,4807.825,-12223.458,16,1.6,16,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.142,-0.175
$KALMAN_X,-101.0,-101.0,-101.0,-75.5,-230.0
$KALMAN_Y,79.6,79.6,79.6,-121.8,181.3
$MHEAD_RNG_PITCHd_Wd,122.7,1630,-20.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.99,-107.5,0.0,0.0,0,121,0.00,0.00,-103.50,0.000,2,0.000,0.000,166,2260,3033,0,0,0,0,0,0
$GC,123,-0.99,-107.5,3.2,-7.4,25,164,10.40,2.50,-22.12,0.000,4,0.269,0.090,2538,3771,3878,0,0,0,0,0,0
$GC,174,-0.99,-107.5,6.1,-0.9,36,179,0.00,2.40,0.00,0.000,6,0.000,0.048,2546,2232,3879,0,0,0,0,0,0
$GC,249,-0.99,-107.5,11.7,-7.8,52,254,0.00,2.50,0.00,0.000,4,0.000,0.058,2546,659,3880,0,0,0,0,0,0
$GC,352,-0.99,-107.5,20.9,-8.3,74,358,0.00,2.53,0.00,0.000,6,0.000,0.061,2537,2220,3881,0,0,0,0,0,0
$GC,428,-0.99,-107.5,27.5,-8.9,90,434,0.00,2.50,0.00,0.000,4,0.000,0.065,2537,653,3881,0,0,0,0,0,0
$GC,453,-0.99,-107.5,30.0,-9.7,95,459,0.00,2.55,0.00,0.000,6,0.000,0.066,2525,2244,3880,0,0,0,0,0,0
$GC,528,-0.99,-107.5,38.1,-10.9,111,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2244,3881,0,0,0,0,0,0
$GC,602,-0.99,-107.5,46.9,-12.1,127,607,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2244,3881,0,0,0,0,0,0
$GC,746,-0.99,-107.5,64.9,-12.3,158,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2244,3880,0,0,0,0,0,0
$GC,889,-0.99,-107.5,83.0,-12.9,189,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2525,2244,3881,0,0,0,0,0,0
$GC,1025,-0.99,-107.5,98.9,-11.6,220,1031,0.00,2.47,0.00,0.000,4,0.000,0.071,2514,3771,3880,0,0,0,0,0,0
$STATE,1075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1075,begin apogee
$GC,1081,-0.21,0.0,105.3,11.8,231,1170,1.00,0.00,81.70,0.663,6,0.196,0.000,2796,2224,3438,0,0,0,0,0,0
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1171,begin climb
$GC,1172,0.99,107.5,107.6,0.0,252,1263,1.20,2.65,82.25,0.644,4,0.115,0.068,3177,3768,3000,0,0,0,0,0,0
$GC,1296,0.99,107.5,93.5,16.6,280,1301,0.00,2.47,0.00,0.000,6,0.000,0.046,3186,2233,3000,0,0,0,0,0,0
$GC,1440,0.99,107.5,71.9,14.7,311,1446,0.00,2.55,0.00,0.000,4,0.000,0.068,3177,3770,3000,0,0,0,0,0,0
$GC,1488,0.99,107.5,64.5,16.0,321,1493,0.00,2.42,0.00,0.000,6,0.000,0.046,3186,2228,3000,0,0,0,0,0,0
$GC,1632,0.99,107.5,43.1,14.7,352,1638,0.00,2.53,0.00,0.000,4,0.000,0.067,3177,3769,3000,0,0,0,0,0,0
$GC,1680,0.99,107.5,35.8,15.7,362,1685,0.00,2.40,0.00,0.000,6,0.000,0.045,3187,2228,3000,0,0,0,0,0,0
$GC,1755,0.99,107.5,24.8,14.3,378,1760,0.00,2.53,0.00,0.000,4,0.000,0.059,3198,650,3000,0,0,0,0,0,0
$GC,1788,0.99,107.5,20.0,14.4,385,1794,0.00,2.53,0.00,0.000,6,0.000,0.053,3189,2237,2999,0,0,0,0,0,0
$GC,1863,0.99,107.5,9.7,13.2,401,1868,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2237,3000,0,0,0,0,0,0
$GC,1938,1.21,286.7,4.7,-1.2,417,2082,0.22,2.70,134.15,0.588,4,0.110,0.058,3277,665,2267,0,0,0,0,0,0
$STATE,2086,end climb,SURFACE_DEPTH_REACHED
$STATE,2087,begin surface coast
$FINISH,7.7,1.017662
$STATE,2318,end surface coast,CONTROL_FINISHED_OK
$STATE,2318,begin surface
$SM_CCo,2320,283.12,0.551,9,0,425,739.09
$SM_GC,0.93,9.07,0.00,0.00,0.078,0.000,0.000,168,2238,418,-8.42,0.23,740.56
$IRIDIUM_FIX,4748.51,-12226.29,290499,191929
$TT8_MAMPS,0.027612
$HUMID,33.85
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,18.80
$XPDR_PINGS,14
$24V_AH,24.5,0.463
$10V_AH,10.6,0.224
$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,21.900,45.300,298.100,283.125,0.000,0.000,0.000,0.000,15.750,0.000,16.940,695.934,642.490,687.378,768.514,35.562,30.182,1157.195,0.000,729.195,0.000,78.745,0.000
$DEVICE_MAMPS,269.217,89.739,663.455,551.473,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,331.607,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324620
$DATA_FILE_SIZE,15873,502
$CAP_FILE_SIZE,73980,0
$CFSIZE,260165632,254832640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,020210,195631,4807.644,-12223.244,39,1.4,39,18.3