version: 66.06
glider: 179
mission: 1
dive: 7
start: 2 2 110 0 33 21
data:
$ID,179
$MISSION,1
$DIVE,7
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,200
$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,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,600
$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,-6985.5308
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,2865
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,3453
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-38.539211
$PRESSURE_SLOPE,0.0001164844
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$GPS1,002704,4806.850,-12222.871,11,3.9,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-75.6
$GPS2,003226,4806.873,-12222.883,12,1.0,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.122,-0.158
$KALMAN_X,-121.3,-55.6,13.0,518.4,-1.9
$KALMAN_Y,-280.5,-56.9,-47.5,-525.3,-64.8
$MHEAD_RNG_PITCHd_Wd,124.1,1951,-14.6,-6.944
$D_GRID,105
$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,-107.5,0.0,0.0,0,105,0.00,0.00,-87.60,0.000,2,0.000,0.000,148,2150,2696,0,0,0,0,0,0
$GC,108,-0.69,-107.5,3.2,-3.9,21,161,12.25,2.42,-34.70,0.000,4,0.295,0.062,2621,3679,3891,0,0,0,0,0,0
$GC,176,-0.69,-107.5,7.1,-5.3,36,182,0.00,2.35,0.00,0.000,6,0.000,0.035,2622,2148,3892,0,0,0,0,0,0
$GC,252,-0.69,-107.5,12.4,-6.3,52,257,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2147,3892,0,0,0,0,0,0
$GC,326,-0.69,-107.5,17.7,-6.4,68,331,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2147,3893,0,0,0,0,0,0
$GC,401,-0.69,-107.5,22.2,-6.1,84,406,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2147,3893,0,0,0,0,0,0
$GC,476,-0.69,-107.5,27.7,-7.2,100,480,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2147,3893,0,0,0,0,0,0
$GC,550,-0.69,-107.5,33.7,-8.1,116,555,0.00,2.42,0.00,0.000,4,0.000,0.046,2621,572,3893,0,0,0,0,0,0
$GC,583,-0.69,-107.5,36.4,-8.1,123,589,0.12,2.45,0.00,0.000,6,0.194,0.041,2638,2158,3893,0,0,0,0,0,0
$GC,659,-0.69,-107.5,42.2,-7.2,139,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2158,3893,0,0,0,0,0,0
$GC,803,-0.69,-107.5,52.6,-7.6,170,808,0.00,2.38,0.00,0.000,4,0.000,0.054,2628,3670,3893,0,0,0,0,0,0
$GC,869,-0.69,-107.5,57.8,-8.0,184,875,0.00,2.30,0.00,0.000,6,0.000,0.037,2628,2149,3893,0,0,0,0,0,0
$GC,1014,-0.69,-107.5,69.0,-7.5,215,1019,0.00,2.40,0.00,0.000,4,0.000,0.046,2628,575,3893,0,0,0,0,0,0
$GC,1048,-0.69,-107.5,71.6,-8.0,222,1053,0.00,2.42,0.00,0.000,6,0.000,0.042,2617,2156,3893,0,0,0,0,0,0
$GC,1193,-0.69,-107.5,83.2,-8.2,253,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2156,3893,0,0,0,0,0,0
$GC,1338,-0.69,-107.5,94.5,-7.8,284,1343,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2156,3893,0,0,0,0,0,0
$STATE,1351,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1351,begin apogee
$GC,1354,-0.19,0.0,95.1,7.8,286,1440,0.57,0.00,80.50,0.576,6,0.161,0.000,2791,2157,3453,0,0,0,0,0,0
$STATE,1441,end apogee,CONTROL_FINISHED_OK
$STATE,1441,begin climb
$GC,1442,0.69,107.5,97.6,0.0,306,1532,0.88,0.00,82.70,0.553,6,0.101,0.000,3082,2157,3013,0,0,0,0,0,0
$GC,1671,0.69,107.5,77.3,10.9,357,1677,0.00,2.53,0.00,0.000,4,0.000,0.048,3094,571,3013,0,0,0,0,0,0
$GC,1705,0.69,107.5,73.5,11.4,364,1711,0.00,2.50,0.00,0.000,6,0.000,0.041,3094,2155,3013,0,0,0,0,0,0
$GC,1849,0.69,107.5,56.9,11.6,395,1854,0.00,2.42,0.00,0.000,4,0.000,0.054,3094,3672,3013,0,0,0,0,0,0
$GC,1906,0.69,107.5,49.6,13.1,407,1911,0.00,2.35,0.00,0.000,6,0.000,0.036,3106,2144,3013,0,0,0,0,0,0
$GC,2050,0.69,107.5,32.8,11.6,438,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,3105,2143,3013,0,0,0,0,0,0
$GC,2124,0.69,107.5,24.2,11.4,454,2130,0.00,2.42,0.00,0.000,4,0.000,0.047,3118,562,3013,0,0,0,0,0,0
$GC,2153,0.69,107.5,21.1,10.9,460,2159,0.00,2.45,0.00,0.000,6,0.000,0.041,3118,2151,3013,0,0,0,0,0,0
$GC,2229,0.69,107.5,13.1,10.7,476,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2152,3013,0,0,0,0,0,0
$GC,2303,0.69,107.5,6.9,8.1,492,2308,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2152,3012,0,0,0,0,0,0
$GC,2378,0.92,294.1,6.1,-1.2,508,2523,0.12,2.53,137.10,0.507,4,0.117,0.052,3162,3678,2253,0,0,0,0,0,0
$STATE,2527,end climb,SURFACE_DEPTH_REACHED
$STATE,2527,begin surface coast
$FINISH,4.1,1.018830
$STATE,2694,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2694,begin surface
$SM_CCo,2696,303.40,0.492,0,0,460,734.18
$SM_GC,1.25,9.02,0.00,0.00,0.079,0.000,0.000,149,2148,456,-8.46,-0.06,735.16
$IRIDIUM_FIX,4748.51,-12226.29,280499,232337
$TT8_MAMPS,0.026078
$HUMID,32.75
$INTERNAL_PRESSURE,9.16366
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,95.1,8.7
$24V_AH,24.4,0.974
$10V_AH,10.5,0.391
$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,22.975,38.825,300.300,303.400,0.000,30.030,23.539,195.119,2.250,0.000,12.562,803.401,806.687,670.740,851.242,313.520,33.330,1193.597,0.000,837.016,0.000,18.612,0.000
$DEVICE_MAMPS,295.295,62.127,576.017,492.414,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,384.332,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324816
$DATA_FILE_SIZE,19014,579
$CAP_FILE_SIZE,66020,0
$CFSIZE,260165632,256942080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,012601,4806.754,-12222.764,15,1.8,20,18.3