version: 66.06
glider: 179
mission: 1
dive: 9
start: 2 2 110 2 35 57
data:
$ID,179
$MISSION,1
$DIVE,9
$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,-7036.4521
$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,45
$R_STBD_OVSHOOT,37
$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,0
$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,3
$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
$GPS1,022928,4806.614,-12222.656,18,3.1,37,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-73.9
$GPS2,023503,4806.651,-12222.693,14,2.4,33,18.3
$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,-620.2,-50.1,21.7,1232.4,-200.7
$KALMAN_Y,235.8,-59.8,-30.6,-1459.0,242.3
$MHEAD_RNG_PITCHd_Wd,124.1,1480,-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,14,-0.69,-107.5,0.0,0.0,0,113,0.00,0.00,-95.70,0.000,2,0.000,0.000,150,2152,2876,0,0,0,0,0,0
$GC,116,-0.69,-107.5,3.5,-5.1,23,169,12.18,2.45,-32.30,0.000,4,0.294,0.065,2624,3662,3892,0,0,0,0,0,0
$GC,234,-0.69,-107.5,8.1,-5.0,49,240,0.00,2.33,0.00,0.000,6,0.000,0.036,2624,2142,3893,0,0,0,0,0,0
$GC,310,-0.69,-107.5,12.2,-5.2,65,315,0.00,2.42,0.00,0.000,4,0.000,0.045,2624,573,3893,0,0,0,0,0,0
$GC,468,-0.69,-107.5,24.3,-8.4,99,474,0.00,2.45,0.00,0.000,6,0.000,0.041,2612,2159,3894,0,0,0,0,0,0
$GC,544,-0.69,-107.5,30.6,-7.9,115,548,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2159,3894,0,0,0,0,0,0
$GC,618,-0.69,-107.5,36.6,-8.2,131,623,0.00,2.40,0.00,0.000,4,0.000,0.054,2601,3681,3894,0,0,0,0,0,0
$GC,642,-0.69,-107.5,38.6,-8.5,136,648,0.15,2.33,0.00,0.000,6,0.193,0.036,2637,2146,3894,0,0,0,0,0,0
$GC,718,-0.69,-107.5,44.4,-7.2,152,724,0.00,2.40,0.00,0.000,4,0.000,0.044,2637,578,3894,0,0,0,0,0,0
$GC,802,-0.69,-107.5,51.1,-8.3,170,808,0.00,2.42,0.00,0.000,6,0.000,0.041,2627,2156,3894,0,0,0,0,0,0
$GC,946,-0.69,-107.5,62.1,-7.3,201,952,0.00,2.38,0.00,0.000,4,0.000,0.054,2615,3681,3894,0,0,0,0,0,0
$GC,1022,-0.69,-107.5,68.2,-8.3,217,1027,0.00,2.33,0.00,0.000,6,0.000,0.036,2615,2143,3894,0,0,0,0,0,0
$GC,1166,-0.69,-107.5,79.5,-7.7,248,1172,0.00,2.40,0.00,0.000,4,0.000,0.045,2615,568,3893,0,0,0,0,0,0
$GC,1195,-0.69,-107.5,81.8,-8.0,254,1201,0.15,2.42,0.00,0.000,6,0.189,0.041,2641,2154,3894,0,0,0,0,0,0
$GC,1341,-0.69,-107.5,91.5,-6.6,285,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2154,3894,0,0,0,0,0,0
$GC,1488,-0.69,-107.5,100.7,-6.3,316,1492,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2154,3894,0,0,0,0,0,0
$STATE,1557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1557,begin apogee
$GC,1560,-0.19,0.0,105.0,6.2,331,1647,0.50,0.00,80.68,0.581,6,0.150,0.000,2797,2154,3453,0,0,0,0,0,0
$STATE,1648,end apogee,CONTROL_FINISHED_OK
$STATE,1648,begin climb
$GC,1649,0.69,107.5,106.4,0.0,351,1739,0.85,0.00,82.80,0.558,6,0.097,0.000,3083,2155,3012,0,0,0,0,0,0
$GC,1878,0.69,107.5,85.4,11.2,402,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2155,3012,0,0,0,0,0,0
$GC,2022,0.69,107.5,69.5,11.3,433,2028,0.00,2.47,0.00,0.000,4,0.000,0.046,3095,578,3012,0,0,0,0,0,0
$GC,2070,0.69,107.5,64.1,11.6,443,2076,0.00,2.45,0.00,0.000,6,0.000,0.041,3095,2147,3012,0,0,0,0,0,0
$GC,2214,0.69,107.5,47.8,11.0,474,2220,0.00,2.42,0.00,0.000,4,0.000,0.053,3095,3674,3011,0,0,0,0,0,0
$GC,2276,0.69,107.5,40.0,12.9,487,2281,0.00,2.33,0.00,0.000,6,0.000,0.035,3107,2156,3012,0,0,0,0,0,0
$GC,2420,0.69,107.5,23.1,11.2,518,2425,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2156,3012,0,0,0,0,0,0
$GC,2495,0.69,107.5,15.4,10.3,534,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,3107,2156,3012,0,0,0,0,0,0
$GC,2569,0.69,107.5,7.4,10.9,550,2574,0.00,2.42,0.00,0.000,4,0.000,0.046,3119,566,3012,0,0,0,0,0,0
$STATE,2611,end climb,SURFACE_DEPTH_REACHED
$STATE,2611,begin surface coast
$FINISH,4.1,1.019257
$STATE,2668,end surface coast,CONTROL_FINISHED_OK
$STATE,2668,begin surface
$SM_CCo,2670,375.92,0.493,0,0,459,734.18
$SM_GC,1.14,8.85,0.00,0.00,0.077,0.000,0.000,153,2156,456,-8.45,0.17,735.16
$IRIDIUM_FIX,4748.51,-12224.57,290499,010159
$TT8_MAMPS,0.026078
$HUMID,32.79
$INTERNAL_PRESSURE,9.16366
$TCM_TEMP,19.50
$XPDR_PINGS,2
$24V_AH,24.4,1.167
$10V_AH,10.5,0.457
$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,22.675,43.425,163.475,375.925,0.000,29.320,27.855,181.956,2.500,0.000,34.171,837.335,850.816,654.841,859.319,301.532,33.354,1141.541,0.000,825.286,0.000,16.552,0.000
$DEVICE_MAMPS,293.761,65.195,581.386,493.181,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,382.180,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,19053,571
$CAP_FILE_SIZE,63906,0
$CFSIZE,260165632,256872448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020210,032914,4806.489,-12222.471,10,1.1,10,18.3