version: 66.06
glider: 178
mission: 1
dive: 11
start: 2 3 110 3 44 31
data:
$ID,178
$MISSION,1
$DIVE,11
$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,-2866.7546
$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,6
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$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
$GPS1,033753,4805.971,-12222.000,14,2.1,33,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-73.2
$GPS2,034336,4805.964,-12221.969,15,1.1,31,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.156
$KALMAN_X,-1019.9,-211.4,29.3,2653.9,-40.9
$KALMAN_Y,704.7,56.4,151.2,-4233.3,159.2
$MHEAD_RNG_PITCHd_Wd,303.0,4530,-14.6,-6.944
$D_GRID,108
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.74,-107.5,0.0,0.0,0,91,0.00,0.00,-74.68,0.000,2,0.000,0.000,171,2281,3087,0,0,0,0,0,0
$GC,94,-0.74,-107.5,3.5,-5.2,18,130,11.80,2.53,-19.08,0.000,4,0.294,0.071,2627,712,3877,0,0,0,0,0,0
$GC,339,-0.74,-107.5,19.6,-6.6,71,344,0.00,2.53,0.00,0.000,6,0.000,0.052,2618,2287,3879,0,0,0,0,0,0
$GC,414,-0.74,-107.5,24.7,-6.7,87,420,0.00,2.42,0.00,0.000,4,0.000,0.067,2606,3777,3879,0,0,0,0,0,0
$GC,457,-0.74,-107.5,28.2,-8.1,96,463,0.00,2.30,0.00,0.000,6,0.000,0.050,2606,2290,3879,0,0,0,0,0,0
$GC,532,-0.74,-107.5,34.5,-8.4,112,538,0.00,2.50,0.00,0.000,4,0.000,0.058,2606,705,3879,0,0,0,0,0,0
$GC,561,-0.74,-107.5,37.2,-9.0,118,567,0.15,2.55,0.00,0.000,6,0.216,0.053,2628,2297,3879,0,0,0,0,0,0
$GC,637,-0.74,-107.5,43.6,-8.2,134,643,0.00,2.40,0.00,0.000,4,0.000,0.067,2619,3777,3879,0,0,0,0,0,0
$GC,686,-0.74,-107.5,47.8,-9.0,144,692,0.00,2.30,0.00,0.000,6,0.000,0.042,2618,2285,3879,0,0,0,0,0,0
$GC,831,-0.74,-107.5,60.7,-8.8,175,835,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2285,3879,0,0,0,0,0,0
$GC,974,-0.74,-107.5,73.1,-8.4,206,980,0.00,2.47,0.00,0.000,4,0.000,0.051,2618,707,3879,0,0,0,0,0,0
$GC,1008,-0.74,-107.5,76.2,-9.0,213,1013,0.00,2.53,0.00,0.000,6,0.000,0.052,2607,2293,3879,0,0,0,0,0,0
$GC,1153,-0.74,-107.5,88.9,-8.6,244,1158,0.00,2.40,0.00,0.000,4,0.000,0.067,2595,3783,3879,0,0,0,0,0,0
$GC,1189,-0.74,-107.5,92.4,-9.2,251,1195,0.15,2.30,0.00,0.000,6,0.211,0.042,2629,2286,3879,0,0,0,0,0,0
$GC,1333,-0.74,-107.5,103.5,-7.5,282,1339,0.00,2.42,0.00,0.000,4,0.000,0.067,2621,3783,3879,0,0,0,0,0,0
$GC,1362,-0.74,-107.5,105.7,-7.6,288,1368,0.00,2.30,0.00,0.000,6,0.000,0.042,2620,2285,3879,0,0,0,0,0,0
$STATE,1390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1390,begin apogee
$GC,1393,-0.21,0.0,108.0,7.9,294,1479,0.60,0.00,81.12,0.660,6,0.179,0.000,2796,2285,3438,0,0,0,0,0,0
$STATE,1480,end apogee,CONTROL_FINISHED_OK
$STATE,1480,begin climb
$GC,1482,0.74,107.5,109.6,0.0,314,1573,0.98,2.70,82.70,0.637,4,0.127,0.051,3115,662,2998,0,0,0,0,0,0
$GC,1587,0.74,107.5,101.7,9.9,338,1593,0.00,2.65,0.00,0.000,6,0.000,0.050,3115,2251,2998,0,0,0,0,0,0
$GC,1732,0.74,107.5,84.2,12.1,369,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2252,2998,0,0,0,0,0,0
$GC,1876,0.74,107.5,67.9,11.4,400,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,3116,2251,2997,0,0,0,0,0,0
$GC,2020,0.74,107.5,51.8,11.1,431,2025,0.00,2.55,0.00,0.000,4,0.000,0.054,3128,663,2997,0,0,0,0,0,0
$GC,2035,0.74,107.5,50.1,10.8,434,2041,0.00,2.53,0.00,0.000,6,0.000,0.049,3127,2246,2998,0,0,0,0,0,0
$GC,2179,0.74,107.5,33.9,11.3,465,2185,0.00,2.53,0.00,0.000,4,0.000,0.054,3138,665,2998,0,0,0,0,0,0
$GC,2208,0.74,107.5,30.6,11.3,471,2214,0.00,2.50,0.00,0.000,6,0.000,0.048,3139,2241,2998,0,0,0,0,0,0
$GC,2284,0.74,107.5,22.1,11.0,487,2289,0.00,2.47,0.00,0.000,4,0.000,0.064,3139,3775,2998,0,0,0,0,0,0
$GC,2340,0.74,107.5,14.6,13.6,499,2346,0.15,2.38,0.00,0.000,6,0.222,0.041,3118,2237,2998,0,0,0,0,0,0
$GC,2416,0.74,107.5,6.4,10.3,515,2422,0.00,2.47,0.00,0.000,4,0.000,0.054,3128,667,2998,0,0,0,0,0,0
$STATE,2444,end climb,SURFACE_DEPTH_REACHED
$STATE,2444,begin surface coast
$FINISH,4.4,1.020884
$STATE,2533,end surface coast,CONTROL_FINISHED_OK
$STATE,2533,begin surface
$SM_CCo,2550,251.02,0.574,0,0,1194,550.21
$SM_GC,0.89,0.00,0.00,251.02,0.000,0.000,0.574,167,2295,1194,-8.46,0.14,550.21
$IRIDIUM_FIX,4751.72,-12223.57,300499,030342
$TT8_MAMPS,0.027612
$HUMID,33.06
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.80
$XPDR_PINGS,17
$ALTIM_BOTTOM_PING,90.2,34.3
$24V_AH,24.4,1.302
$10V_AH,10.6,0.510
$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,22.725,59.325,163.825,251.025,0.000,29.941,30.351,190.580,5.500,0.000,32.192,810.572,718.183,512.313,811.535,311.437,33.337,976.692,0.000,782.565,0.000,11.786,0.000
$DEVICE_MAMPS,293.761,71.331,660.387,574.483,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,362.475,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324580
$DATA_FILE_SIZE,15827,540
$CAP_FILE_SIZE,63638,0
$CFSIZE,260165632,254529536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,043201,4806.163,-12222.121,15,1.7,15,18.3