version: 66.06
glider: 178
mission: 1
dive: 20
start: 2 3 110 12 41 38
data:
$ID,178
$MISSION,1
$DIVE,20
$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,0
$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,500
$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,-3030.9028
$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,31
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$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
$GPS1,123536,4807.499,-12223.337,30,1.8,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-77.0
$GPS2,124043,4807.487,-12223.332,11,1.4,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.161,0.118
$KALMAN_X,1246.4,545.1,-20.0,-2005.3,372.2
$KALMAN_Y,-838.5,-241.5,-127.1,705.6,-135.5
$MHEAD_RNG_PITCHd_Wd,287.9,1258,-14.6,-6.944
$D_GRID,150
$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,13,begin dive
$GC,14,-0.74,-107.5,0.0,0.0,0,75,0.00,0.00,-57.97,0.000,2,0.000,0.000,170,2286,2910,0,0,0,0,0,0
$GC,77,-0.74,-107.5,3.5,-5.2,14,122,11.62,2.55,-24.10,0.000,4,0.288,0.071,2626,717,3878,0,0,0,0,0,0
$GC,321,-0.74,-107.5,21.2,-6.8,67,326,0.00,2.53,0.00,0.000,6,0.000,0.051,2617,2291,3879,0,0,0,0,0,0
$GC,397,-0.74,-107.5,27.0,-7.5,83,402,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2291,3879,0,0,0,0,0,0
$GC,473,-0.74,-107.5,32.9,-8.2,99,478,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2291,3879,0,0,0,0,0,0
$GC,549,-0.74,-107.5,39.4,-8.4,115,554,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2291,3879,0,0,0,0,0,0
$GC,625,-0.74,-107.5,46.2,-9.5,131,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2291,3879,0,0,0,0,0,0
$GC,768,-0.74,-107.5,59.8,-9.3,162,773,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2291,3879,0,0,0,0,0,0
$GC,911,-0.74,-107.5,72.3,-8.2,193,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2291,3879,0,0,0,0,0,0
$GC,1055,-0.74,-107.5,84.3,-8.2,224,1060,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2291,3879,0,0,0,0,0,0
$GC,1199,-0.74,-107.5,96.0,-8.2,255,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2291,3879,0,0,0,0,0,0
$GC,1342,-0.74,-107.5,107.4,-7.7,286,1348,0.00,2.40,0.00,0.000,4,0.000,0.067,2606,3781,3879,0,0,0,0,0,0
$GC,1385,-0.74,-107.5,110.6,-7.8,295,1391,0.12,2.30,0.00,0.000,6,0.209,0.044,2633,2286,3879,0,0,0,0,0,0
$GC,1530,-0.74,-107.5,119.9,-6.0,326,1536,0.00,2.45,0.00,0.000,4,0.000,0.051,2633,715,3879,0,0,0,0,0,0
$GC,1546,-0.74,-107.5,120.1,-4.8,329,1552,0.00,2.50,0.00,0.000,6,0.000,0.052,2627,2296,3879,0,0,0,0,0,0
$GC,1691,-0.74,-107.5,120.2,-0.0,360,1696,0.00,2.35,0.00,0.000,4,0.000,0.067,2616,3777,3879,0,0,0,0,0,0
$STATE,1871,end dive,NO_VERTICAL_VELOCITY
$STATE,1872,begin apogee
$GC,1878,-0.21,0.0,120.2,0.0,399,1963,0.57,0.00,81.38,0.662,6,0.138,0.000,2801,2230,3437,0,0,0,0,0,0
$STATE,1964,end apogee,CONTROL_FINISHED_OK
$STATE,1964,begin climb
$GC,1965,0.74,107.5,120.1,0.0,419,2056,0.95,2.60,82.25,0.638,4,0.128,0.051,3114,666,2999,0,0,0,0,0,0
$GC,2172,0.74,107.5,99.6,12.1,465,2178,0.00,2.58,0.00,0.000,6,0.000,0.049,3114,2247,2998,0,0,0,0,0,0
$GC,2316,0.74,107.5,82.5,11.8,496,2321,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2247,2999,0,0,0,0,0,0
$GC,2461,0.74,107.5,66.4,11.1,527,2467,0.00,2.53,0.00,0.000,4,0.000,0.053,3125,671,2999,0,0,0,0,0,0
$GC,2486,0.74,107.5,63.3,11.5,532,2492,0.00,2.47,0.00,0.000,6,0.000,0.048,3125,2243,2999,0,0,0,0,0,0
$GC,2630,0.74,107.5,46.8,10.9,563,2636,0.00,2.53,0.00,0.000,4,0.000,0.053,3137,659,2999,0,0,0,0,0,0
$GC,2678,0.74,107.5,41.3,11.7,573,2683,0.00,2.50,0.00,0.000,6,0.000,0.049,3137,2247,2999,0,0,0,0,0,0
$GC,2822,0.74,107.5,24.4,11.5,604,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2247,2999,0,0,0,0,0,0
$GC,2896,0.74,107.5,15.8,11.8,620,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2247,2999,0,0,0,0,0,0
$GC,2970,0.74,107.5,7.9,9.7,636,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2247,2999,0,0,0,0,0,0
$STATE,3015,end climb,SURFACE_DEPTH_REACHED
$STATE,3015,begin surface coast
$FINISH,4.4,1.020667
$STATE,3108,end surface coast,CONTROL_FINISHED_OK
$STATE,3108,begin surface
$SM_CCo,3124,207.40,0.573,0,0,1398,500.17
$SM_GC,1.21,0.00,0.00,207.40,0.000,0.000,0.573,168,2283,1398,-8.46,-0.23,500.17
$IRIDIUM_FIX,4748.51,-12221.84,300499,111131
$TT8_MAMPS,0.028379
$HUMID,32.63
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,19.10
$XPDR_PINGS,8
$24V_AH,24.5,2.064
$10V_AH,10.6,0.808
$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,22.175,34.725,163.625,207.400,0.000,22.672,26.394,184.880,4.500,0.000,11.350,993.211,931.208,457.785,972.154,301.597,33.317,992.938,0.000,959.060,0.000,18.005,0.000
$DEVICE_MAMPS,287.625,155.701,661.921,572.949,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,448.681,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,22145,666
$CAP_FILE_SIZE,67653,0
$CFSIZE,260165632,254189568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,133755,4807.773,-12223.629,12,1.9,12,18.3