version: 66.06
glider: 178
mission: 1
dive: 22
start: 2 3 110 14 46 57
data:
$ID,178
$MISSION,1
$DIVE,22
$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,-3083.4575
$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
$GPS1,144022,4808.036,-12223.967,10,3.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.5
$GPS2,144604,4808.055,-12223.959,15,4.6,34,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.172,-0.038
$KALMAN_X,2061.1,508.2,-95.4,-3481.2,440.6
$KALMAN_Y,-732.4,-425.9,159.0,1548.2,64.6
$MHEAD_RNG_PITCHd_Wd,84.2,1190,-17.2,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.82,-81.2,0.0,0.0,0,97,0.00,0.00,-78.68,0.000,2,0.000,0.000,167,2283,3369,0,0,0,0,0,0
$GC,99,-0.85,-107.5,3.0,-4.0,19,131,11.52,2.45,-14.23,0.000,4,0.291,0.077,2581,3776,3877,0,0,0,0,0,0
$GC,395,-0.85,-107.5,27.5,-9.2,83,400,0.00,2.30,0.00,0.000,6,0.000,0.042,2584,2294,3878,0,0,0,0,0,0
$GC,470,-0.85,-107.5,34.3,-8.8,99,475,0.00,2.42,0.00,0.000,4,0.000,0.067,2575,3779,3878,0,0,0,0,0,0
$GC,490,-0.85,-107.5,36.0,-8.8,103,495,0.00,2.28,0.00,0.000,6,0.000,0.041,2575,2288,3878,0,0,0,0,0,0
$GC,565,-0.85,-107.5,43.6,-10.0,119,570,0.00,2.47,0.00,0.000,4,0.000,0.058,2575,713,3878,0,0,0,0,0,0
$GC,585,-0.85,-107.5,45.6,-10.2,123,591,0.15,2.50,0.00,0.000,6,0.226,0.051,2595,2285,3878,0,0,0,0,0,0
$GC,729,-0.85,-107.5,59.6,-9.4,154,735,0.00,2.42,0.00,0.000,4,0.000,0.066,2586,3784,3878,0,0,0,0,0,0
$GC,841,-0.85,-107.5,70.9,-10.2,178,847,0.00,2.30,0.00,0.000,6,0.000,0.043,2586,2285,3878,0,0,0,0,0,0
$GC,985,-0.85,-107.5,84.7,-9.0,209,990,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2285,3878,0,0,0,0,0,0
$GC,1128,-0.85,-107.5,97.6,-8.8,240,1134,0.00,2.42,0.00,0.000,4,0.000,0.067,2574,3781,3878,0,0,0,0,0,0
$GC,1200,-0.85,-107.5,104.7,-10.1,255,1210,0.00,2.30,0.00,0.000,6,0.000,0.042,2575,2284,3877,0,0,0,0,0,0
$STATE,1251,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1251,begin apogee
$GC,1255,-0.21,0.0,109.9,9.7,265,1341,0.77,0.00,81.35,0.659,6,0.193,0.000,2794,2283,3437,0,0,0,0,0,0
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1342,begin climb
$GC,1343,0.85,107.5,111.7,0.0,285,1433,1.10,0.00,82.82,0.637,6,0.127,0.000,3141,2283,2998,0,0,0,0,0,0
$GC,1572,0.85,107.5,85.2,13.5,336,1578,0.00,2.50,0.00,0.000,4,0.000,0.066,3141,3781,2997,0,0,0,0,0,0
$GC,1615,0.85,107.5,79.0,14.8,345,1621,0.00,2.45,0.00,0.000,6,0.000,0.042,3153,2231,2997,0,0,0,0,0,0
$GC,1760,0.85,107.5,59.9,13.0,376,1766,0.00,2.55,0.00,0.000,4,0.000,0.064,3153,3780,2997,0,0,0,0,0,0
$GC,1803,0.85,107.5,53.5,15.0,385,1808,0.00,2.40,0.00,0.000,6,0.000,0.041,3164,2238,2997,0,0,0,0,0,0
$GC,1947,0.85,107.5,33.8,13.5,416,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2237,2997,0,0,0,0,0,0
$GC,2022,0.85,107.5,23.7,13.4,432,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,3164,2237,2997,0,0,0,0,0,0
$GC,2096,0.85,107.5,14.2,12.2,448,2102,0.00,2.50,0.00,0.000,4,0.000,0.054,3176,659,2997,0,0,0,0,0,0
$GC,2162,0.85,107.5,6.1,12.2,462,2168,0.00,2.53,0.00,0.000,6,0.000,0.050,3176,2247,2997,0,0,0,0,0,0
$STATE,2171,end climb,SURFACE_DEPTH_REACHED
$STATE,2171,begin surface coast
$FINISH,3.7,1.019640
$STATE,2223,end surface coast,CONTROL_FINISHED_OK
$STATE,2223,begin surface
$SM_CCo,2239,222.00,0.555,1,0,1399,500.17
$SM_GC,1.30,0.00,0.00,222.00,0.000,0.000,0.555,167,2283,1399,-8.46,-0.23,500.17
$IRIDIUM_FIX,4751.72,-12220.85,300499,131346
$TT8_MAMPS,0.028379
$HUMID,32.04
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,18.90
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,105.2,11.5
$24V_AH,24.5,2.221
$10V_AH,10.6,0.870
$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,22.650,38.850,164.175,222.000,0.000,29.578,24.154,189.224,4.000,0.000,35.639,699.747,628.425,471.034,724.620,298.072,33.311,886.665,0.000,689.015,0.000,16.322,0.000
$DEVICE_MAMPS,290.693,157.235,658.853,555.308,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,15845,475
$CAP_FILE_SIZE,55232,0
$CFSIZE,260165632,254136320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,152849,4808.095,-12223.614,12,1.2,12,18.3