version: 66.06
glider: 178
mission: 1
dive: 21
start: 2 3 110 13 44 20
data:
$ID,178
$MISSION,1
$DIVE,21
$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,-3047.1885
$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,23
$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
$GPS1,133755,4807.773,-12223.629,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-75.8
$GPS2,134326,4807.783,-12223.624,15,1.7,15,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.182,0.083
$KALMAN_X,1625.1,549.0,-67.9,-2699.4,403.2
$KALMAN_Y,-815.9,-348.5,7.3,1201.4,-29.0
$MHEAD_RNG_PITCHd_Wd,276.4,615,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.74,-107.5,0.0,0.0,0,97,0.00,0.00,-79.00,0.000,2,0.000,0.000,168,2283,3411,0,0,0,0,0,0
$GC,99,-0.74,-107.5,3.5,-4.8,19,127,11.68,2.53,-11.15,0.000,4,0.290,0.068,2626,712,3876,0,0,0,0,0,0
$GC,202,-0.74,-107.5,12.3,-6.8,41,207,0.00,2.55,0.00,0.000,6,0.000,0.052,2616,2294,3877,0,0,0,0,0,0
$GC,277,-0.74,-107.5,16.9,-5.7,57,283,0.00,2.42,0.00,0.000,4,0.000,0.065,2605,3780,3877,0,0,0,0,0,0
$GC,302,-0.74,-107.5,18.4,-5.6,62,308,0.12,2.33,0.00,0.000,6,0.219,0.041,2631,2285,3877,0,0,0,0,0,0
$GC,379,-0.74,-107.5,23.4,-6.9,78,383,0.00,0.00,0.00,0.000,6,0.000,0.000,2630,2285,3877,0,0,0,0,0,0
$GC,452,-0.74,-107.5,28.9,-7.4,94,457,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,2285,3877,0,0,0,0,0,0
$GC,526,-0.74,-107.5,34.7,-7.8,110,532,0.00,2.45,0.00,0.000,4,0.000,0.066,2622,3785,3877,0,0,0,0,0,0
$GC,565,-0.74,-107.5,37.8,-8.3,118,570,0.00,2.33,0.00,0.000,6,0.000,0.041,2622,2281,3877,0,0,0,0,0,0
$GC,640,-0.74,-107.5,44.0,-7.9,134,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2281,3876,0,0,0,0,0,0
$GC,784,-0.74,-107.5,55.7,-7.8,165,789,0.00,2.47,0.00,0.000,4,0.000,0.051,2622,705,3877,0,0,0,0,0,0
$GC,817,-0.74,-107.5,58.5,-8.3,172,822,0.00,2.50,0.00,0.000,6,0.000,0.052,2611,2297,3877,0,0,0,0,0,0
$GC,961,-0.74,-107.5,70.9,-8.9,203,966,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2298,3877,0,0,0,0,0,0
$GC,1106,-0.74,-107.5,82.8,-8.3,234,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2297,3877,0,0,0,0,0,0
$GC,1250,-0.74,-107.5,94.8,-8.0,265,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2297,3877,0,0,0,0,0,0
$GC,1395,-0.74,-107.5,106.3,-7.8,296,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2298,3877,0,0,0,0,0,0
$GC,1539,-0.74,-107.5,116.8,-7.3,327,1544,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2298,3877,0,0,0,0,0,0
$GC,1683,-0.74,-107.5,119.8,0.2,358,1689,0.00,2.38,0.00,0.000,4,0.000,0.067,2601,3777,3877,0,0,0,0,0,0
$STATE,1914,end dive,NO_VERTICAL_VELOCITY
$STATE,1914,begin apogee
$GC,1920,-0.21,0.0,119.8,0.0,408,2006,0.60,0.00,80.88,0.663,6,0.135,0.000,2797,2227,3438,0,0,0,0,0,0
$STATE,2007,end apogee,CONTROL_FINISHED_OK
$STATE,2007,begin climb
$GC,2008,0.74,107.5,119.8,0.0,428,2099,0.93,2.58,82.80,0.639,4,0.110,0.051,3114,674,2998,0,0,0,0,0,0
$GC,2146,0.74,107.5,108.8,11.6,459,2152,0.00,2.58,0.00,0.000,6,0.000,0.048,3114,2246,2997,0,0,0,0,0,0
$GC,2291,0.74,107.5,91.2,11.9,490,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2246,2998,0,0,0,0,0,0
$GC,2435,0.74,107.5,74.6,11.3,521,2439,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2246,2998,0,0,0,0,0,0
$GC,2579,0.74,107.5,58.3,11.1,552,2584,0.00,2.53,0.00,0.000,4,0.000,0.053,3126,666,2998,0,0,0,0,0,0
$GC,2617,0.74,107.5,53.9,11.4,560,2623,0.00,2.50,0.00,0.000,6,0.000,0.048,3126,2240,2998,0,0,0,0,0,0
$GC,2761,0.74,107.5,37.0,11.6,591,2766,0.00,2.53,0.00,0.000,4,0.000,0.053,3138,666,2998,0,0,0,0,0,0
$GC,2785,0.74,107.5,34.2,11.5,596,2791,0.00,2.50,0.00,0.000,6,0.000,0.048,3138,2247,2998,0,0,0,0,0,0
$GC,2860,0.74,107.5,25.5,11.3,612,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2247,2998,0,0,0,0,0,0
$GC,2935,0.74,107.5,16.9,11.6,628,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2248,2998,0,0,0,0,0,0
$GC,3009,0.74,107.5,8.6,11.0,644,3015,0.00,2.45,0.00,0.000,4,0.000,0.064,3138,3771,2998,0,0,0,0,0,0
$STATE,3046,end climb,SURFACE_DEPTH_REACHED
$STATE,3046,begin surface coast
$FINISH,3.3,1.021190
$STATE,3074,end surface coast,CONTROL_FINISHED_OK
$STATE,3074,begin surface
$SM_CCo,3092,201.35,0.551,1,0,1398,500.17
$SM_GC,1.11,0.00,0.00,201.35,0.000,0.000,0.551,168,2282,1398,-8.46,-0.20,500.17
$IRIDIUM_FIX,4748.51,-12221.84,300499,121225
$TT8_MAMPS,0.027612
$HUMID,32.71
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,19.00
$XPDR_PINGS,12
$24V_AH,24.5,2.142
$10V_AH,10.6,0.842
$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,22.300,44.325,163.675,201.350,0.000,22.839,26.498,203.492,5.750,0.000,15.655,980.510,907.223,470.854,969.023,316.977,33.313,1010.016,0.000,949.188,0.000,22.180,0.000
$DEVICE_MAMPS,289.926,68.263,662.688,550.706,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.677,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,22151,658
$CAP_FILE_SIZE,70047,0
$CFSIZE,260165632,254148608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,144022,4808.036,-12223.967,10,3.9,29,18.3