version: 66.07
glider: 178
mission: 6
dive: 5
start: 9 30 110 19 20 48
data:
$ID,178
$MISSION,6
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,62
$T_MISSION,70
$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,-7000.0557
$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,3220
$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,2150
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2280
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$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
$GPS1,300910,191350,4742.632,-12225.370,18,1.3,18,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-78.3
$GPS2,300910,191926,4742.609,-12225.396,12,2.0,12,18.2
$SPEED_LIMITS,0.096,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.111,0.214
$KALMAN_X,-522.6,-206.3,-84.1,442.5,-254.7
$KALMAN_Y,-901.1,-951.2,-709.0,2336.6,-261.9
$MHEAD_RNG_PITCHd_Wd,9.2,1722,-14.1,-8.065
$D_GRID,189
$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,-0.69,-146.6,0.0,0.0,0,80,0.00,0.00,-63.12,0.000,2,0.000,0.000,155,2091,2843,0,0,0,0,0,0
$GC,82,-0.69,-146.6,3.2,-6.1,11,101,12.50,0.00,-0.62,0.000,6,0.259,0.000,2988,2089,2879,0,0,0,0,0,0
$GC,202,-0.69,-146.6,31.4,-15.3,32,209,0.00,2.70,0.00,0.000,4,0.000,0.062,2978,3742,2882,0,0,0,0,0,0
$GC,294,-0.69,-146.6,46.1,-16.6,48,300,0.00,2.47,0.00,0.000,6,0.000,0.041,2978,2144,2882,0,0,0,0,0,0
$GC,402,-0.69,-146.6,62.9,-15.1,67,408,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2141,2882,0,0,0,0,0,0
$GC,509,-0.69,-146.6,79.1,-15.6,86,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2141,2882,0,0,0,0,0,0
$GC,616,-0.69,-146.6,95.2,-14.2,105,622,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2141,2882,0,0,0,0,0,0
$GC,723,-0.69,-146.6,110.1,-12.8,124,730,0.00,2.60,0.00,0.000,4,0.000,0.061,2966,3740,2882,0,0,0,0,0,0
$GC,764,-0.69,-146.6,116.0,-15.1,131,771,0.12,2.47,0.00,0.000,6,0.171,0.040,2996,2140,2882,0,0,0,0,0,0
$GC,873,-0.69,-146.6,129.6,-11.9,150,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2138,2882,0,0,0,0,0,0
$GC,983,-0.69,-146.6,142.2,-11.3,169,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2138,2882,0,0,0,0,0,0
$STATE,1060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1060,begin apogee
$GC,1064,-0.18,0.0,150.5,10.9,182,1190,0.50,0.00,116.18,0.672,6,0.138,0.000,3157,2076,2278,0,0,0,0,0,0
$STATE,1190,end apogee,CONTROL_FINISHED_OK
$STATE,1190,begin climb
$GC,1192,0.69,146.6,153.0,0.0,204,1323,0.80,2.70,119.28,0.651,4,0.083,0.053,3446,503,1680,0,0,0,0,0,0
$GC,1402,0.69,146.6,132.8,13.3,241,1409,0.00,2.58,0.00,0.000,6,0.000,0.044,3446,2082,1676,0,0,0,0,0,0
$GC,1510,0.69,146.6,119.2,12.4,260,1517,0.00,2.58,0.00,0.000,4,0.000,0.054,3458,507,1675,0,0,0,0,0,0
$GC,1534,0.69,146.6,116.0,13.1,264,1541,0.00,2.55,0.00,0.000,6,0.000,0.043,3458,2092,1675,0,0,0,0,0,0
$GC,1642,0.69,146.6,102.3,11.6,283,1649,0.00,2.58,0.00,0.000,4,0.000,0.051,3470,504,1674,0,0,0,0,0,0
$GC,1666,0.69,146.6,99.5,11.5,287,1673,0.00,2.50,0.00,0.000,6,0.000,0.044,3470,2082,1674,0,0,0,0,0,0
$GC,1774,0.69,146.6,87.0,11.2,306,1781,0.00,2.58,0.00,0.000,4,0.000,0.053,3482,495,1673,0,0,0,0,0,0
$GC,1792,0.69,146.6,84.9,11.8,309,1799,0.17,2.50,0.00,0.000,6,0.209,0.041,3443,2088,1673,0,0,0,0,0,0
$GC,1901,0.69,146.6,73.1,10.6,328,1907,0.00,2.53,0.00,0.000,4,0.000,0.052,3453,504,1673,0,0,0,0,0,0
$GC,1919,0.69,146.6,71.2,10.3,331,1925,0.00,2.47,0.00,0.000,6,0.000,0.042,3452,2084,1673,0,0,0,0,0,0
$GC,2027,0.69,146.6,61.2,9.6,350,2034,0.00,2.55,0.00,0.000,4,0.000,0.053,3465,503,1673,0,0,0,0,0,0
$GC,2129,0.69,146.6,50.7,9.9,368,2136,0.00,2.47,0.00,0.000,6,0.000,0.044,3465,2085,1673,0,0,0,0,0,0
$GC,2237,0.69,146.6,40.1,9.7,387,2244,0.00,2.53,0.00,0.000,4,0.000,0.060,3465,3666,1673,0,0,0,0,0,0
$GC,2278,0.69,146.6,35.5,11.2,394,2286,0.15,2.45,0.00,0.000,6,0.221,0.038,3444,2083,1672,0,0,0,0,0,0
$GC,2387,0.69,146.6,25.1,9.9,413,2394,0.00,2.53,0.00,0.000,4,0.000,0.053,3454,500,1671,0,0,0,0,0,0
$GC,2416,0.69,146.6,22.1,10.0,418,2423,0.00,2.47,0.00,0.000,6,0.000,0.042,3454,2086,1671,0,0,0,0,0,0
$GC,2524,0.69,146.6,10.9,10.7,437,2531,0.00,2.53,0.00,0.000,4,0.000,0.058,3454,3663,1671,0,0,0,0,0,0
$STATE,2592,end climb,SURFACE_DEPTH_REACHED
$STATE,2592,begin surface coast
$FINISH,-0.3,1.013567
$STATE,2616,end surface coast,CONTROL_FINISHED_OK
$STATE,2616,begin surface
$SM_CCo,2634,57.92,0.076,0,0,1260,250.21
$SM_GC,0.56,0.00,0.00,57.92,0.000,0.000,0.076,160,2140,1260,-9.56,-0.28,250.21
$IRIDIUM_FIX,4751.72,-12340.51,250312,121229
$TT8_MAMPS,0.026964
$HUMID,1078960635
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,19.60
$XPDR_PINGS,27
$ALTIM_BOTTOM_PING,150.5,52.4
$24V_AH,24.4,13.904
$10V_AH,10.4,14.756
$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,23.050,55.775,235.450,57.925,0.000,29.663,27.121,200.600,9.250,0.000,13.741,980.157,670.894,414.362,935.479,69.550,33.354,822.128,0.000,658.573,0.000,20.896,0.000
$DEVICE_MAMPS,258.570,109.395,672.435,76.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,302.523,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323568
$DATA_FILE_SIZE,13422,453
$CAP_FILE_SIZE,59741,0
$CFSIZE,260165632,254365696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,200651,4742.937,-12225.271,18,4.3,37,18.2