version: 66.06
glider: 178
mission: 1
dive: 5
start: 2 2 110 22 10 21
data:
$ID,178
$MISSION,1
$DIVE,5
$D_SURF,5
$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,72
$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,-2694.1941
$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,2290
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,34
$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,5
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,1
$XPDR_VALID,2
$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
$GPS1,220138,4807.002,-12222.922,12,1.6,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-74.4
$GPS2,220925,4806.917,-12223.000,13,1.6,13,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.133,-0.149
$KALMAN_X,-206.6,-223.5,-151.7,760.2,28.3
$KALMAN_Y,-227.5,-1.6,32.5,-1359.0,-139.6
$MHEAD_RNG_PITCHd_Wd,120.0,2101,-14.6,-6.944
$D_GRID,103
$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,-0.74,-107.5,0.0,0.0,0,91,0.00,0.00,-74.30,0.000,2,0.000,0.000,171,2224,3070,0,0,0,0,0,0
$GC,93,-0.74,-107.5,3.6,-5.9,18,130,11.43,2.42,-18.65,0.000,4,0.283,0.073,2627,713,3877,0,0,0,0,0,0
$GC,278,-0.74,-107.5,20.7,-8.0,58,284,0.00,2.53,0.00,0.000,6,0.000,0.061,2618,2281,3879,0,0,0,0,0,0
$GC,353,-0.74,-107.5,26.3,-7.7,74,359,0.00,2.45,0.00,0.000,4,0.000,0.067,2606,3783,3879,0,0,0,0,0,0
$GC,382,-0.74,-107.5,29.0,-8.6,80,388,0.00,2.33,0.00,0.000,6,0.000,0.044,2606,2289,3879,0,0,0,0,0,0
$GC,458,-0.74,-107.5,35.6,-8.8,96,462,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,2289,3879,0,0,0,0,0,0
$GC,532,-0.74,-107.5,42.6,-9.6,112,537,0.00,2.45,0.00,0.000,4,0.000,0.067,2595,3786,3878,0,0,0,0,0,0
$GC,561,-0.74,-107.5,45.5,-10.1,118,567,0.15,2.33,0.00,0.000,6,0.212,0.044,2628,2289,3879,0,0,0,0,0,0
$GC,706,-0.74,-107.5,58.1,-8.4,149,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2289,3879,0,0,0,0,0,0
$GC,850,-0.74,-107.5,70.2,-8.7,180,854,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2289,3879,0,0,0,0,0,0
$GC,995,-0.74,-107.5,82.3,-7.8,211,1000,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2289,3879,0,0,0,0,0,0
$GC,1139,-0.74,-107.5,93.2,-7.4,242,1144,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2289,3879,0,0,0,0,0,0
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1277,begin apogee
$GC,1281,-0.21,0.0,103.1,7.0,272,1368,0.57,0.00,81.38,0.660,6,0.181,0.000,2798,2244,3438,0,0,0,0,0,0
$STATE,1369,end apogee,CONTROL_FINISHED_OK
$STATE,1369,begin climb
$GC,1370,0.74,107.5,104.8,0.0,292,1460,0.98,0.00,82.82,0.637,6,0.124,0.000,3106,2244,2998,0,0,0,0,0,0
$GC,1599,0.74,107.5,83.3,11.4,343,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2244,2999,0,0,0,0,0,0
$GC,1743,0.74,107.5,67.6,10.6,374,1748,0.00,2.58,0.00,0.000,4,0.000,0.058,3119,655,2998,0,0,0,0,0,0
$GC,1814,0.74,107.5,59.8,11.1,389,1819,0.00,2.58,0.00,0.000,6,0.000,0.053,3118,2253,2998,0,0,0,0,0,0
$GC,1958,0.74,107.5,42.8,11.5,420,1964,0.00,2.45,0.00,0.000,4,0.000,0.067,3119,3772,2998,0,0,0,0,0,0
$GC,2020,0.74,107.5,34.8,13.4,433,2025,0.00,2.40,0.00,0.000,6,0.000,0.044,3130,2227,2998,0,0,0,0,0,0
$GC,2095,0.74,107.5,26.1,11.1,449,2100,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2226,2998,0,0,0,0,0,0
$GC,2169,0.74,107.5,18.2,11.0,465,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,3130,2225,2999,0,0,0,0,0,0
$GC,2243,0.74,107.5,12.0,7.2,481,2249,0.00,2.47,0.00,0.000,4,0.000,0.057,3142,668,2998,0,0,0,0,0,0
$GC,2512,1.02,332.1,9.1,-2.9,539,2667,0.17,2.50,146.52,0.591,2,0.114,0.051,3202,2252,2199,0,0,0,0,0,0
$STATE,2667,end climb,SURFACE_DEPTH_REACHED
$STATE,2667,begin surface coast
$FINISH,4.3,1.018861
$STATE,2682,end surface coast,CONTROL_FINISHED_OK
$STATE,2682,begin surface
$SM_CCo,2697,154.60,0.574,0,0,1194,550.21
$SM_GC,0.85,0.00,0.00,154.60,0.000,0.000,0.574,172,2252,1194,-8.45,-1.07,550.21
$IRIDIUM_FIX,4748.51,-12224.57,290499,222237
$TT8_MAMPS,0.028379
$HUMID,34.01
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.70
$XPDR_PINGS,21
$ALTIM_BOTTOM_PING,80.0,8.0
$24V_AH,24.5,0.761
$10V_AH,10.5,0.324
$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,22.725,29.500,310.725,154.600,0.000,54.081,108.133,171.859,5.750,0.000,13.280,799.877,807.835,493.501,846.781,389.679,33.322,1000.339,0.000,834.748,0.000,5.729,0.000
$DEVICE_MAMPS,283.023,219.362,659.620,573.716,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.236,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324580
$DATA_FILE_SIZE,18999,578
$CAP_FILE_SIZE,60865,0
$CFSIZE,260165632,254738432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,225858,4806.736,-12222.768,12,2.6,31,18.3