version: 66.06
glider: 178
mission: 1
dive: 6
start: 2 2 110 23 5 16
data:
$ID,178
$MISSION,1
$DIVE,6
$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,-2729.4854
$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,32
$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
$GPS1,225858,4806.736,-12222.768,12,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.87
$_SM_ANGLEo,-74.2
$GPS2,230422,4806.686,-12222.784,14,3.6,33,18.3
$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,-352.5,-255.5,-84.0,1138.9,-18.9
$KALMAN_Y,-191.6,2.7,-13.3,-1786.0,-52.9
$MHEAD_RNG_PITCHd_Wd,119.9,1598,-14.6,-6.944
$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,-0.74,-107.5,0.0,0.0,0,100,0.00,0.00,-83.38,0.000,2,0.000,0.000,171,2253,3244,0,0,0,0,0,0
$GC,103,-0.74,-107.5,3.3,-4.4,20,135,11.48,2.53,-12.80,0.000,4,0.285,0.071,2626,720,3878,0,0,0,0,0,0
$GC,398,-0.74,-107.5,32.2,-8.1,84,404,0.00,2.53,0.00,0.000,6,0.000,0.054,2616,2291,3881,0,0,0,0,0,0
$GC,474,-0.74,-107.5,38.1,-7.5,100,479,0.00,2.55,0.00,0.000,4,0.000,0.055,2617,711,3880,0,0,0,0,0,0
$GC,517,-0.74,-107.5,41.8,-8.5,109,523,0.12,2.55,0.00,0.000,6,0.211,0.061,2632,2299,3881,0,0,0,0,0,0
$GC,662,-0.74,-107.5,53.4,-7.8,140,667,0.00,2.40,0.00,0.000,4,0.000,0.067,2623,3777,3880,0,0,0,0,0,0
$GC,728,-0.74,-107.5,58.8,-8.4,154,733,0.00,2.30,0.00,0.000,6,0.000,0.044,2623,2287,3880,0,0,0,0,0,0
$GC,872,-0.74,-107.5,70.4,-7.8,185,877,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2288,3881,0,0,0,0,0,0
$GC,1017,-0.74,-107.5,81.8,-8.2,216,1021,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2288,3880,0,0,0,0,0,0
$GC,1161,-0.74,-107.5,93.1,-8.0,247,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2288,3880,0,0,0,0,0,0
$GC,1305,-0.74,-107.5,104.4,-8.2,278,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,2288,3880,0,0,0,0,0,0
$STATE,1313,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1313,begin apogee
$GC,1316,-0.21,0.0,105.2,8.0,280,1403,0.60,0.00,81.45,0.665,6,0.173,0.000,2801,2288,3438,0,0,0,0,0,0
$STATE,1403,end apogee,CONTROL_FINISHED_OK
$STATE,1403,begin climb
$GC,1405,0.74,107.5,107.2,0.0,300,1495,0.95,2.72,82.78,0.638,4,0.120,0.054,3117,671,2999,0,0,0,0,0,0
$GC,1519,0.74,107.5,98.9,9.8,326,1525,0.00,2.62,0.00,0.000,6,0.000,0.051,3116,2253,2999,0,0,0,0,0,0
$GC,1663,0.74,107.5,81.9,11.8,357,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,3117,2253,2998,0,0,0,0,0,0
$GC,1808,0.74,107.5,65.1,11.7,388,1814,0.00,2.58,0.00,0.000,4,0.000,0.057,3129,665,2999,0,0,0,0,0,0
$GC,1907,0.74,107.5,52.9,12.1,409,1912,0.00,2.55,0.00,0.000,6,0.000,0.052,3129,2251,2998,0,0,0,0,0,0
$GC,2052,0.74,107.5,36.5,11.1,440,2057,0.00,2.47,0.00,0.000,4,0.000,0.067,3129,3774,2999,0,0,0,0,0,0
$GC,2104,0.74,107.5,29.8,13.0,451,2109,0.00,2.40,0.00,0.000,6,0.000,0.050,3141,2234,2999,0,0,0,0,0,0
$GC,2180,0.74,107.5,20.8,11.8,467,2185,0.00,2.50,0.00,0.000,4,0.000,0.057,3153,662,2999,0,0,0,0,0,0
$GC,2241,0.74,107.5,14.3,9.8,480,2248,0.15,2.53,0.00,0.000,6,0.218,0.050,3119,2254,2998,0,0,0,0,0,0
$GC,2318,0.77,129.2,9.2,6.0,496,2341,0.00,2.55,17.42,0.586,4,0.000,0.054,3129,664,2910,0,0,0,0,0,0
$GC,2604,1.00,318.0,9.6,-1.3,558,2754,0.20,2.50,142.18,0.597,6,0.107,0.050,3198,2241,2141,0,0,0,0,0,0
$STATE,2791,end climb,SURFACE_DEPTH_REACHED
$STATE,2791,begin surface coast
$FINISH,0.2,1.017024
$STATE,2925,end surface coast,CONTROL_FINISHED_OK
$STATE,2925,begin surface
$SM_CCo,2940,140.85,0.551,1,0,1194,550.21
$SM_GC,0.85,0.00,0.00,140.85,0.000,0.000,0.551,163,2290,1194,-8.47,-0.03,550.21
$IRIDIUM_FIX,4751.72,-12223.57,290499,222222
$TT8_MAMPS,0.027612
$HUMID,33.97
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.60
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,85.2,7.2
$24V_AH,24.5,0.854
$10V_AH,10.6,0.357
$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,22.550,40.350,323.825,140.850,0.000,22.065,25.962,182.066,6.500,0.000,34.661,872.534,824.789,496.421,945.595,287.519,33.332,1037.491,0.000,908.384,0.000,10.026,0.000
$DEVICE_MAMPS,284.557,125.788,664.989,551.473,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,420.893,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,19013,630
$CAP_FILE_SIZE,64336,0
$CFSIZE,260165632,254701568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,235746,4806.594,-12222.614,10,2.9,29,18.3