version: 66.07
glider: 178
mission: 6
dive: 2
start: 9 30 110 16 43 51
data:
$ID,178
$MISSION,6
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,4
$T_BOOST,0
$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,40
$T_MISSION,50
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51423
$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,-122.4
$TGT_DEFAULT_LON,47.75
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-6968.6948
$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,3253
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2014
$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,-47.94239
$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,90
$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
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,300910,163839,4742.352,-12225.172,10,1.3,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-74.6
$GPS2,300910,164231,4742.291,-12225.169,10,1.1,15,18.2
$SPEED_LIMITS,0.119,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.027,0.259
$KALMAN_X,-26.7,-26.7,-26.7,-6.9,-66.6
$KALMAN_Y,-254.6,-254.6,-254.6,-21.4,-636.1
$MHEAD_RNG_PITCHd_Wd,347.8,2250,-17.5,-10.000
$D_GRID,167
$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,-0.80,-146.6,0.0,0.0,0,112,0.00,0.00,-90.38,0.000,6,0.000,0.000,149,2063,2613,0,0,0,0,0,0
$GC,114,-0.80,-146.6,2.3,-4.7,17,133,12.48,2.55,0.00,0.000,4,0.260,0.052,2995,462,2615,0,0,0,0,0,0
$GC,224,-0.80,-146.6,25.2,-12.9,36,230,0.00,2.53,0.00,0.000,6,0.000,0.050,2986,2050,2617,0,0,0,0,0,0
$GC,332,-0.80,-146.6,37.1,-10.1,55,338,0.00,2.62,0.00,0.000,4,0.000,0.066,2974,3641,2617,0,0,0,0,0,0
$GC,401,-0.80,-146.6,44.7,-12.2,67,407,0.00,2.47,0.00,0.000,6,0.000,0.042,2974,2034,2618,0,0,0,0,0,0
$GC,509,-0.80,-146.6,59.9,-15.0,86,515,0.00,2.62,0.00,0.000,4,0.000,0.064,2962,3649,2618,0,0,0,0,0,0
$GC,538,-0.80,-146.6,64.1,-14.8,91,545,0.12,2.47,0.00,0.000,6,0.181,0.043,2991,2049,2618,0,0,0,0,0,0
$GC,647,-0.80,-146.6,78.7,-13.3,110,653,0.00,2.50,0.00,0.000,4,0.000,0.052,2991,469,2617,0,0,0,0,0,0
$GC,681,-0.80,-146.6,83.8,-14.4,116,688,0.00,2.53,0.00,0.000,6,0.000,0.047,2981,2060,2618,0,0,0,0,0,0
$GC,789,-0.80,-146.6,99.5,-14.1,135,799,0.00,2.53,0.00,0.000,4,0.000,0.062,2969,3636,2618,0,0,0,0,0,0
$GC,850,-0.80,-146.6,108.9,-15.9,145,857,0.00,2.42,0.00,0.000,6,0.000,0.040,2969,2049,2618,0,0,0,0,0,0
$STATE,929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,929,begin apogee
$GC,932,-0.18,0.0,120.5,13.0,159,1057,0.73,0.00,118.55,0.655,6,0.151,0.000,3191,2046,2014,0,0,0,0,0,0
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1059,0.80,146.6,121.7,0.0,181,1191,0.93,2.67,118.72,0.633,4,0.085,0.055,3523,478,1415,0,0,0,0,0,0
$GC,1281,0.80,146.6,87.0,17.9,220,1288,0.00,2.53,0.00,0.000,6,0.000,0.046,3523,2048,1411,0,0,0,0,0,0
$GC,1389,0.80,146.6,69.3,17.1,239,1396,0.00,2.58,0.00,0.000,4,0.000,0.056,3535,474,1409,0,0,0,0,0,0
$GC,1407,0.80,146.6,66.2,17.1,242,1414,0.00,2.53,0.00,0.000,6,0.000,0.045,3535,2056,1409,0,0,0,0,0,0
$GC,1516,0.80,146.6,49.0,15.0,261,1522,0.00,2.58,0.00,0.000,4,0.000,0.057,3548,475,1409,0,0,0,0,0,0
$GC,1556,0.80,146.6,42.8,16.2,268,1563,0.15,2.53,0.00,0.000,6,0.209,0.045,3515,2052,1409,0,0,0,0,0,0
$GC,1665,0.80,146.6,26.3,15.3,287,1671,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,2053,1408,0,0,0,0,0,0
$GC,1772,0.80,146.6,8.7,16.3,306,1779,0.00,2.55,0.00,0.000,4,0.000,0.056,3525,476,1408,0,0,0,0,0,0
$GC,1790,0.80,146.6,5.8,16.8,309,1797,0.00,2.50,0.00,0.000,6,0.000,0.047,3525,2057,1408,0,0,0,0,0,0
$STATE,1807,end climb,SURFACE_DEPTH_REACHED
$STATE,1807,begin surface coast
$FINISH,-0.1,1.022097
$STATE,1825,end surface coast,CONTROL_FINISHED_OK
$STATE,1825,begin surface
$SM_CCo,1840,50.12,0.075,0,0,994,250.21
$SM_GC,0.89,0.00,0.00,50.12,0.000,0.000,0.075,159,2060,994,-9.67,0.28,250.21
$IRIDIUM_FIX,4751.72,-12340.51,250312,101057
$TT8_MAMPS,0.025466
$HUMID,1078925797
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,19.60
$XPDR_PINGS,12
$24V_AH,24.4,13.700
$10V_AH,10.4,14.664
$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,23.425,45.700,237.275,50.125,0.000,0.000,0.000,0.000,4.750,0.000,16.401,657.511,419.652,397.952,474.371,40.818,30.180,709.838,0.000,464.188,0.000,11.902,0.000
$DEVICE_MAMPS,260.100,65.790,654.840,74.970,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,207.679,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323584
$DATA_FILE_SIZE,10148,315
$CAP_FILE_SIZE,68153,0
$CFSIZE,260165632,254464000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,171625,4742.417,-12225.240,14,1.4,31,18.2