version: 66.06
glider: 178
mission: 1
dive: 8
start: 2 3 110 1 3 51
data:
$ID,178
$MISSION,1
$DIVE,8
$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,-2786.5615
$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,41
$R_STBD_OVSHOOT,35
$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
$GPS1,005738,4806.472,-12222.440,9,1.8,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-75.7
$GPS2,010256,4806.468,-12222.442,12,1.7,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.172
$KALMAN_X,-761.9,-276.6,9.3,1897.4,-92.6
$KALMAN_Y,265.9,19.3,-12.6,-2665.4,176.6
$MHEAD_RNG_PITCHd_Wd,130.9,1025,-14.6,-6.944
$D_GRID,107
$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,15,-0.74,-107.5,0.0,0.0,0,92,0.00,0.00,-74.82,0.000,2,0.000,0.000,164,2250,3057,0,0,0,0,0,0
$GC,95,-0.74,-107.5,3.1,-4.1,18,131,11.75,2.55,-16.55,0.000,4,0.291,0.087,2618,3762,3879,0,0,0,0,0,0
$GC,288,-0.74,-107.5,23.1,-7.2,60,294,0.00,2.30,0.00,0.000,6,0.000,0.050,2618,2289,3881,0,0,0,0,0,0
$GC,365,-0.74,-107.5,28.6,-7.2,76,370,0.00,2.50,0.00,0.000,4,0.000,0.054,2618,713,3881,0,0,0,0,0,0
$GC,403,-0.74,-107.5,31.7,-7.9,84,408,0.00,2.53,0.00,0.000,6,0.000,0.062,2606,2281,3881,0,0,0,0,0,0
$GC,478,-0.74,-107.5,38.4,-9.2,100,483,0.00,2.45,0.00,0.000,4,0.000,0.068,2595,3780,3881,0,0,0,0,0,0
$GC,502,-0.74,-107.5,40.8,-9.8,105,508,0.15,2.33,0.00,0.000,6,0.212,0.044,2628,2286,3881,0,0,0,0,0,0
$GC,647,-0.74,-107.5,53.3,-8.3,136,653,0.00,2.45,0.00,0.000,4,0.000,0.070,2619,3778,3881,0,0,0,0,0,0
$GC,699,-0.74,-107.5,58.0,-9.2,147,705,0.00,2.33,0.00,0.000,6,0.000,0.044,2619,2281,3881,0,0,0,0,0,0
$GC,844,-0.74,-107.5,70.4,-8.5,178,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2280,3881,0,0,0,0,0,0
$GC,988,-0.74,-107.5,82.2,-7.9,209,994,0.00,2.45,0.00,0.000,4,0.000,0.070,2608,3779,3881,0,0,0,0,0,0
$GC,1025,-0.74,-107.5,85.1,-8.3,216,1030,0.00,2.30,0.00,0.000,6,0.000,0.044,2607,2287,3881,0,0,0,0,0,0
$GC,1169,-0.74,-107.5,97.1,-8.1,247,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2287,3881,0,0,0,0,0,0
$STATE,1293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1294,begin apogee
$GC,1297,-0.21,0.0,107.2,8.2,274,1383,0.65,0.00,81.75,0.664,6,0.179,0.000,2797,2287,3438,0,0,0,0,0,0
$STATE,1384,end apogee,CONTROL_FINISHED_OK
$STATE,1384,begin climb
$GC,1385,0.74,107.5,108.9,0.0,294,1475,0.98,0.00,82.82,0.640,6,0.123,0.000,3106,2287,2999,0,0,0,0,0,0
$GC,1614,0.74,107.5,86.8,11.6,345,1620,0.00,2.62,0.00,0.000,4,0.000,0.054,3119,669,2998,0,0,0,0,0,0
$GC,1652,0.74,107.5,82.3,11.8,353,1658,0.00,2.58,0.00,0.000,6,0.000,0.052,3120,2249,2997,0,0,0,0,0,0
$GC,1796,0.74,107.5,64.8,12.2,384,1802,0.00,2.50,0.00,0.000,4,0.000,0.067,3119,3771,2998,0,0,0,0,0,0
$GC,1844,0.74,107.5,58.5,13.6,394,1849,0.00,2.40,0.00,0.000,6,0.000,0.044,3131,2237,2998,0,0,0,0,0,0
$GC,1988,0.74,107.5,40.8,11.5,425,1994,0.00,2.53,0.00,0.000,4,0.000,0.066,3131,3781,2998,0,0,0,0,0,0
$GC,2026,0.74,107.5,36.0,12.4,433,2032,0.00,2.40,0.00,0.000,6,0.000,0.043,3142,2236,2998,0,0,0,0,0,0
$GC,2102,0.74,107.5,26.8,12.1,449,2107,0.00,0.00,0.00,0.000,6,0.000,0.000,3142,2235,2998,0,0,0,0,0,0
$GC,2176,0.74,107.5,17.8,12.1,465,2182,0.00,2.50,0.00,0.000,4,0.000,0.056,3154,665,2998,0,0,0,0,0,0
$GC,2446,0.88,219.4,7.1,2.1,523,2536,0.00,1.90,82.78,0.597,6,0.000,0.048,3154,1884,2543,0,0,0,0,0,0
$GC,2605,1.07,373.1,6.2,0.2,559,2683,0.20,0.00,74.15,0.583,2,0.105,0.000,3222,1883,2151,0,0,0,0,0,0
$STATE,2684,end climb,SURFACE_DEPTH_REACHED
$STATE,2684,begin surface coast
$FINISH,1.0,1.017648
$STATE,2897,end surface coast,CONTROL_FINISHED_OK
$STATE,2897,begin surface
$SM_CCo,2912,130.80,0.545,1,0,1194,550.21
$SM_GC,0.82,0.00,0.00,130.80,0.000,0.000,0.545,166,2288,1194,-8.46,-0.06,550.21
$IRIDIUM_FIX,4751.72,-12223.57,300499,000041
$TT8_MAMPS,0.027612
$HUMID,34.48
$INTERNAL_PRESSURE,8.88706
$TCM_TEMP,18.70
$XPDR_PINGS,22
$ALTIM_BOTTOM_PING,85.1,7.5
$24V_AH,24.4,1.039
$10V_AH,10.6,0.423
$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,22.950,44.250,321.500,130.800,0.000,29.500,24.526,190.878,6.500,0.000,12.798,868.909,811.560,486.908,910.891,304.557,33.340,1026.467,0.000,898.869,0.000,10.096,0.000
$DEVICE_MAMPS,290.693,86.671,664.222,545.337,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.103,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,18953,623
$CAP_FILE_SIZE,65493,0
$CFSIZE,260165632,254627840
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,015526,4806.328,-12222.290,13,1.9,13,18.3