version: 66.06
glider: 178
mission: 1
dive: 23
start: 2 3 110 15 35 21
data:
$ID,178
$MISSION,1
$DIVE,23
$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,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,-3094.9392
$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,0
$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
$GPS1,152849,4808.095,-12223.614,12,1.2,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-74.3
$GPS2,153426,4808.105,-12223.611,10,1.9,10,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.181,-0.084
$KALMAN_X,1341.4,703.7,70.5,-2685.1,92.3
$KALMAN_Y,-538.0,-458.1,267.5,1370.3,86.7
$MHEAD_RNG_PITCHd_Wd,96.6,781,-14.6,-6.944
$D_GRID,103
$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,-79.05,0.000,2,0.000,0.000,167,2283,3420,0,0,0,0,0,0
$GC,99,-0.74,-107.5,3.5,-4.4,19,131,11.55,2.58,-11.48,0.000,4,0.287,0.071,2627,717,3878,0,0,0,0,0,0
$GC,395,-0.74,-107.5,23.5,-7.9,83,401,0.00,2.50,0.00,0.000,6,0.000,0.052,2618,2293,3878,0,0,0,0,0,0
$GC,470,-0.74,-107.5,29.6,-7.9,99,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2293,3878,0,0,0,0,0,0
$GC,545,-0.74,-107.5,35.6,-8.2,115,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2293,3878,0,0,0,0,0,0
$GC,619,-0.74,-107.5,42.0,-8.4,131,625,0.00,2.40,0.00,0.000,4,0.000,0.067,2606,3783,3879,0,0,0,0,0,0
$GC,648,-0.74,-107.5,44.6,-9.0,137,653,0.00,2.30,0.00,0.000,6,0.000,0.042,2606,2290,3878,0,0,0,0,0,0
$GC,794,-0.74,-107.5,58.0,-9.3,168,800,0.12,0.00,0.00,0.000,6,0.215,0.000,2633,2290,3878,0,0,0,0,0,0
$GC,938,-0.74,-107.5,69.4,-7.9,199,944,0.00,2.42,0.00,0.000,4,0.000,0.068,2624,3774,3878,0,0,0,0,0,0
$GC,1037,-0.74,-107.5,77.8,-8.6,220,1042,0.00,2.30,0.00,0.000,6,0.000,0.042,2624,2282,3878,0,0,0,0,0,0
$GC,1181,-0.74,-107.5,89.1,-7.8,251,1186,0.00,2.42,0.00,0.000,4,0.000,0.067,2613,3779,3878,0,0,0,0,0,0
$GC,1224,-0.74,-107.5,92.6,-8.3,260,1230,0.00,2.30,0.00,0.000,6,0.000,0.042,2613,2279,3878,0,0,0,0,0,0
$STATE,1355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1355,begin apogee
$GC,1358,-0.21,0.0,103.1,8.0,288,1444,0.65,0.00,81.28,0.658,6,0.186,0.000,2800,2279,3437,0,0,0,0,0,0
$STATE,1445,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1447,0.74,107.5,104.9,0.0,308,1538,0.95,2.70,82.68,0.637,4,0.127,0.051,3113,666,2998,0,0,0,0,0,0
$GC,1552,0.74,107.5,97.5,9.5,332,1558,0.00,2.62,0.00,0.000,6,0.000,0.048,3113,2249,2998,0,0,0,0,0,0
$GC,1696,0.74,107.5,80.7,11.5,363,1702,0.00,2.53,0.00,0.000,4,0.000,0.064,3113,3775,2997,0,0,0,0,0,0
$GC,1753,0.74,107.5,73.5,13.0,375,1759,0.00,2.42,0.00,0.000,6,0.000,0.041,3124,2234,2997,0,0,0,0,0,0
$GC,1898,0.74,107.5,56.2,12.0,406,1904,0.00,2.50,0.00,0.000,4,0.000,0.064,3124,3771,2998,0,0,0,0,0,0
$GC,1941,0.74,107.5,50.6,13.0,415,1947,0.00,2.40,0.00,0.000,6,0.000,0.041,3136,2230,2997,0,0,0,0,0,0
$GC,2086,0.74,107.5,33.5,12.1,446,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2229,2998,0,0,0,0,0,0
$GC,2160,0.74,107.5,24.7,11.9,462,2165,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2229,2998,0,0,0,0,0,0
$GC,2234,0.74,107.5,16.3,11.2,478,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2228,2998,0,0,0,0,0,0
$GC,2309,0.74,107.5,7.9,11.1,494,2314,0.00,2.50,0.00,0.000,4,0.000,0.065,3136,3771,2998,0,0,0,0,0,0
$STATE,2332,end climb,SURFACE_DEPTH_REACHED
$STATE,2332,begin surface coast
$FINISH,4.5,1.022098
$STATE,2338,end surface coast,CONTROL_FINISHED_OK
$STATE,2338,begin surface
$SM_CCo,2355,200.15,0.554,1,0,1398,500.17
$SM_GC,1.20,0.00,0.00,200.15,0.000,0.000,0.554,165,2287,1398,-8.47,-0.08,500.17
$IRIDIUM_FIX,4751.72,-12221.84,300499,141420
$TT8_MAMPS,0.027612
$HUMID,32.59
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,18.90
$XPDR_PINGS,7
$24V_AH,24.5,2.299
$10V_AH,10.6,0.897
$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,22.250,39.225,163.950,200.150,0.000,29.799,34.495,200.424,3.250,0.000,10.852,742.082,666.637,451.962,731.749,323.260,33.318,880.591,0.000,725.154,0.000,11.874,0.000
$DEVICE_MAMPS,286.858,71.331,658.086,553.774,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.654,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324560
$DATA_FILE_SIZE,15879,500
$CAP_FILE_SIZE,56007,0
$CFSIZE,260165632,254103552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,161844,4808.107,-12223.240,10,1.1,10,18.3