version: 66.06
glider: 178
mission: 1
dive: 12
start: 2 3 110 4 41 39
data:
$ID,178
$MISSION,1
$DIVE,12
$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,-2881.9502
$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,44
$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
$GPS1,043201,4806.163,-12222.121,15,1.7,15,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-73.5
$GPS2,044044,4806.159,-12222.089,14,1.2,14,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.130,0.152
$KALMAN_X,-782.9,-187.9,0.1,2270.2,88.8
$KALMAN_Y,501.0,98.6,197.0,-3752.6,-14.6
$MHEAD_RNG_PITCHd_Wd,301.0,4148,-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,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,-75.25,0.000,2,0.000,0.000,167,2295,3068,0,0,0,0,0,0
$GC,95,-0.74,-107.5,3.2,-4.3,18,135,11.77,2.55,-21.55,0.000,4,0.291,0.067,2627,711,3877,0,0,0,0,0,0
$GC,304,-0.74,-107.5,15.2,-6.3,63,310,0.00,2.53,0.00,0.000,6,0.000,0.054,2617,2288,3879,0,0,0,0,0,0
$GC,380,-0.74,-107.5,20.4,-6.8,79,385,0.00,2.40,0.00,0.000,4,0.000,0.067,2606,3776,3879,0,0,0,0,0,0
$GC,422,-0.74,-107.5,23.9,-8.2,88,428,0.00,2.28,0.00,0.000,6,0.000,0.044,2606,2300,3879,0,0,0,0,0,0
$GC,498,-0.74,-107.5,30.3,-8.5,104,503,0.00,2.42,0.00,0.000,4,0.000,0.067,2595,3780,3879,0,0,0,0,0,0
$GC,550,-0.74,-107.5,35.3,-9.7,115,556,0.15,2.33,0.00,0.000,6,0.217,0.049,2628,2281,3879,0,0,0,0,0,0
$GC,626,-0.74,-107.5,41.7,-8.3,131,631,0.00,2.47,0.00,0.000,4,0.000,0.051,2628,705,3879,0,0,0,0,0,0
$GC,659,-0.74,-107.5,44.8,-8.9,138,665,0.00,2.53,0.00,0.000,6,0.000,0.053,2619,2291,3879,0,0,0,0,0,0
$GC,804,-0.74,-107.5,57.4,-9.0,169,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2291,3879,0,0,0,0,0,0
$GC,947,-0.74,-107.5,69.7,-8.3,200,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2291,3879,0,0,0,0,0,0
$GC,1094,-0.74,-107.5,81.5,-7.6,231,1099,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2291,3879,0,0,0,0,0,0
$GC,1242,-0.74,-107.5,92.9,-7.4,262,1247,0.00,2.40,0.00,0.000,4,0.000,0.069,2607,3775,3879,0,0,0,0,0,0
$GC,1280,-0.74,-107.5,95.7,-7.6,270,1286,0.00,2.30,0.00,0.000,6,0.000,0.044,2607,2284,3879,0,0,0,0,0,0
$GC,1427,-0.74,-107.5,107.1,-7.9,301,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2607,2284,3879,0,0,0,0,0,0
$STATE,1440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1440,begin apogee
$GC,1443,-0.21,0.0,108.2,7.9,304,1529,0.65,0.00,81.18,0.666,6,0.183,0.000,2796,2284,3439,0,0,0,0,0,0
$STATE,1530,end apogee,CONTROL_FINISHED_OK
$STATE,1530,begin climb
$GC,1531,0.74,107.5,109.7,0.0,324,1621,0.98,0.00,82.62,0.642,6,0.125,0.000,3105,2284,2999,0,0,0,0,0,0
$GC,1760,0.74,107.5,87.3,11.6,375,1765,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2283,2998,0,0,0,0,0,0
$GC,1904,0.74,107.5,71.0,11.2,406,1910,0.00,2.60,0.00,0.000,4,0.000,0.053,3117,663,2998,0,0,0,0,0,0
$GC,1919,0.74,107.5,69.2,11.3,409,1925,0.00,2.55,0.00,0.000,6,0.000,0.050,3117,2249,2998,0,0,0,0,0,0
$GC,2063,0.74,107.5,52.9,11.3,440,2069,0.00,2.55,0.00,0.000,4,0.000,0.054,3128,658,2998,0,0,0,0,0,0
$GC,2097,0.74,107.5,49.0,11.5,447,2103,0.00,2.53,0.00,0.000,6,0.000,0.049,3128,2241,2998,0,0,0,0,0,0
$GC,2241,0.74,107.5,31.7,12.1,478,2246,0.00,2.53,0.00,0.000,4,0.000,0.053,3140,658,2998,0,0,0,0,0,0
$GC,2251,0.74,107.5,30.6,11.7,480,2257,0.00,2.50,0.00,0.000,6,0.000,0.048,3139,2240,2999,0,0,0,0,0,0
$GC,2326,0.74,107.5,21.5,12.1,496,2332,0.00,2.47,0.00,0.000,4,0.000,0.064,3139,3773,2999,0,0,0,0,0,0
$GC,2351,0.74,107.5,18.2,12.6,501,2357,0.15,2.38,0.00,0.000,6,0.231,0.041,3120,2233,2999,0,0,0,0,0,0
$GC,2427,0.74,107.5,9.5,10.9,517,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,3119,2231,2999,0,0,0,0,0,0
$STATE,2472,end climb,SURFACE_DEPTH_REACHED
$STATE,2472,begin surface coast
$FINISH,4.1,1.020416
$STATE,2539,end surface coast,CONTROL_FINISHED_OK
$STATE,2539,begin surface
$SM_CCo,2554,250.62,0.577,0,0,1194,550.21
$SM_GC,0.99,0.00,0.00,250.62,0.000,0.000,0.577,165,2292,1194,-8.47,0.06,550.21
$IRIDIUM_FIX,4751.72,-12223.57,300499,040400
$TT8_MAMPS,0.028379
$HUMID,32.79
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,18.80
$XPDR_PINGS,20
$ALTIM_BOTTOM_PING,100.1,25.1
$24V_AH,24.5,1.395
$10V_AH,10.5,0.542
$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,22.525,44.400,163.800,250.625,0.000,58.742,61.775,256.413,7.250,0.000,14.567,810.276,778.700,508.679,802.197,445.515,33.334,972.002,0.000,783.573,0.000,20.877,0.000
$DEVICE_MAMPS,291.460,102.011,665.756,576.784,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.031,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,15894,541
$CAP_FILE_SIZE,66203,0
$CFSIZE,260165632,254492672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,030210,052908,4806.355,-12222.217,11,1.7,11,18.3