version: 66.06
glider: 179
mission: 1
dive: 13
start: 2 2 110 6 14 40
data:
$ID,179
$MISSION,1
$DIVE,13
$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,0
$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,-7118.5322
$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,42
$R_STBD_OVSHOOT,38
$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,7
$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
$GPS1,060850,4805.959,-12221.942,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.5
$GPS2,061346,4805.970,-12221.972,13,2.2,32,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,0.166
$KALMAN_X,-869.1,-69.5,-52.1,2464.7,-62.0
$KALMAN_Y,549.1,60.9,115.2,-3298.7,100.7
$MHEAD_RNG_PITCHd_Wd,307.7,4519,-14.6,-6.944
$D_GRID,150
$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,-107.5,0.0,0.0,0,101,0.00,0.00,-83.30,0.000,2,0.000,0.000,147,2148,3067,0,0,0,0,0,0
$GC,103,-0.69,-107.5,3.4,-4.9,20,148,12.43,2.47,-26.77,0.000,4,0.298,0.054,2635,565,3891,0,0,0,0,0,0
$GC,411,-0.69,-107.5,21.2,-7.5,87,417,0.00,2.45,0.00,0.000,6,0.000,0.038,2625,2156,3892,0,0,0,0,0,0
$GC,486,-0.69,-107.5,26.7,-7.2,103,492,0.00,2.45,0.00,0.000,4,0.000,0.044,2625,569,3892,0,0,0,0,0,0
$GC,603,-0.69,-107.5,36.4,-8.3,128,609,0.00,2.42,0.00,0.000,6,0.000,0.038,2613,2155,3892,0,0,0,0,0,0
$GC,678,-0.69,-107.5,42.5,-8.1,144,684,0.00,2.38,0.00,0.000,4,0.000,0.052,2602,3669,3892,0,0,0,0,0,0
$GC,707,-0.69,-107.5,44.9,-8.2,150,714,0.15,2.33,0.00,0.000,6,0.182,0.035,2639,2132,3892,0,0,0,0,0,0
$GC,852,-0.69,-107.5,55.2,-7.2,181,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2133,3892,0,0,0,0,0,0
$GC,998,-0.69,-107.5,65.0,-6.7,212,1003,0.00,2.35,0.00,0.000,4,0.000,0.045,2639,579,3891,0,0,0,0,0,0
$GC,1036,-0.69,-107.5,67.9,-7.2,220,1042,0.00,2.40,0.00,0.000,6,0.000,0.039,2629,2155,3892,0,0,0,0,0,0
$GC,1181,-0.69,-107.5,78.2,-6.7,251,1186,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2155,3892,0,0,0,0,0,0
$GC,1325,-0.69,-107.5,87.9,-6.5,282,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2155,3892,0,0,0,0,0,0
$GC,1470,-0.69,-107.5,97.8,-6.8,313,1475,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2155,3892,0,0,0,0,0,0
$GC,1613,-0.69,-107.5,106.9,-6.8,344,1618,0.00,2.35,0.00,0.000,4,0.000,0.052,2618,3669,3892,0,0,0,0,0,0
$GC,1666,-0.69,-107.5,110.8,-7.4,355,1671,0.00,2.28,0.00,0.000,6,0.000,0.035,2618,2151,3892,0,0,0,0,0,0
$GC,1811,-0.69,-107.5,119.8,-5.8,386,1819,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2151,3892,0,0,0,0,0,0
$GC,1958,-0.69,-107.5,122.4,-0.1,417,1963,0.00,0.00,0.00,0.000,6,0.000,0.000,2618,2151,3892,0,0,0,0,0,0
$STATE,2008,end dive,NO_VERTICAL_VELOCITY
$STATE,2008,begin apogee
$GC,2012,-0.19,0.0,122.3,0.0,428,2098,0.50,0.00,80.45,0.591,6,0.100,0.000,2798,2151,3452,0,0,0,0,0,0
$STATE,2098,end apogee,CONTROL_FINISHED_OK
$STATE,2099,begin climb
$GC,2100,0.69,107.5,122.4,0.0,448,2190,0.82,0.00,82.32,0.568,6,0.090,0.000,3082,2151,3015,0,0,0,0,0,0
$GC,2329,0.69,107.5,98.3,12.2,499,2334,0.00,2.45,0.00,0.000,4,0.000,0.052,3082,3667,3014,0,0,0,0,0,0
$GC,2358,0.69,107.5,94.5,12.7,505,2364,0.00,2.35,0.00,0.000,6,0.000,0.035,3094,2157,3015,0,0,0,0,0,0
$GC,2502,0.69,107.5,76.6,11.8,536,2507,0.00,2.47,0.00,0.000,4,0.000,0.046,3106,572,3014,0,0,0,0,0,0
$GC,2526,0.69,107.5,73.8,12.0,541,2532,0.00,2.45,0.00,0.000,6,0.000,0.039,3106,2149,3015,0,0,0,0,0,0
$GC,2670,0.69,107.5,56.8,12.1,572,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,3106,2148,3015,0,0,0,0,0,0
$GC,2814,0.69,107.5,39.7,12.0,603,2820,0.00,2.40,0.00,0.000,4,0.000,0.052,3106,3675,3015,0,0,0,0,0,0
$GC,2839,0.69,107.5,36.4,12.0,608,2844,0.00,2.33,0.00,0.000,6,0.000,0.035,3118,2147,3015,0,0,0,0,0,0
$GC,2914,0.69,107.5,27.4,11.8,624,2919,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2147,3015,0,0,0,0,0,0
$GC,2989,0.69,107.5,19.0,11.6,640,2994,0.00,2.42,0.00,0.000,4,0.000,0.045,3130,570,3015,0,0,0,0,0,0
$GC,3014,0.69,107.5,16.1,11.4,645,3021,0.15,2.42,0.00,0.000,6,0.193,0.039,3093,2155,3015,0,0,0,0,0,0
$GC,3091,0.69,107.5,7.9,10.6,661,3096,0.00,2.38,0.00,0.000,4,0.000,0.051,3092,3670,3015,0,0,0,0,0,0
$GC,3124,0.69,107.5,4.7,9.9,668,3129,0.00,2.30,0.00,0.000,6,0.000,0.034,3104,2148,3015,0,0,0,0,0,0
$STATE,3152,end climb,SURFACE_DEPTH_REACHED
$STATE,3152,begin surface coast
$FINISH,4.2,1.020839
$STATE,3268,end surface coast,CONTROL_FINISHED_OK
$STATE,3268,begin surface
$SM_CCo,3270,361.10,0.490,0,0,459,734.18
$SM_GC,1.12,8.82,0.00,0.00,0.077,0.000,0.000,154,2146,456,-8.45,-0.08,735.16
$IRIDIUM_FIX,4748.51,-12219.12,290499,050523
$TT8_MAMPS,0.026078
$HUMID,32.31
$INTERNAL_PRESSURE,9.16366
$TCM_TEMP,19.70
$XPDR_PINGS,3
$24V_AH,24.4,1.492
$10V_AH,10.6,0.582
$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,22.875,47.850,162.775,361.100,0.000,31.263,25.794,147.756,3.500,0.000,33.699,1040.593,1052.797,637.636,1043.811,274.958,33.350,1209.695,0.000,1006.424,0.000,20.583,0.000
$DEVICE_MAMPS,297.596,54.457,591.357,490.113,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,470.007,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,22145,699
$CAP_FILE_SIZE,73539,0
$CFSIZE,260165632,256720896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,071806,4806.208,-12222.233,21,1.1,37,18.3