version: 66.06
glider: 179
mission: 1
dive: 17
start: 2 2 110 10 19 39
data:
$ID,179
$MISSION,1
$DIVE,17
$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,-7202.4561
$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,46
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,2
$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
$GPS1,101338,4806.632,-12222.670,14,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-75.1
$GPS2,101844,4806.625,-12222.695,16,1.9,16,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.091,0.178
$KALMAN_X,-484.8,9.5,60.3,994.1,143.0
$KALMAN_Y,-583.6,102.5,-122.7,-756.6,-331.9
$MHEAD_RNG_PITCHd_Wd,314.7,3014,-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,-107.5,0.0,0.0,0,84,0.00,0.00,-66.82,0.000,2,0.000,0.000,152,2162,2681,0,0,0,0,0,0
$GC,86,-0.69,-107.5,3.4,-4.0,16,135,12.82,2.42,-29.55,0.000,4,0.306,0.063,2621,3669,3892,0,0,0,0,0,0
$GC,340,-0.69,-107.5,23.1,-6.5,71,346,0.00,2.33,0.00,0.000,6,0.000,0.035,2621,2147,3893,0,0,0,0,0,0
$GC,416,-0.69,-107.5,28.5,-7.0,87,421,0.00,2.42,0.00,0.000,4,0.000,0.044,2621,576,3893,0,0,0,0,0,0
$GC,445,-0.69,-107.5,30.7,-7.7,93,452,0.12,2.42,0.00,0.000,6,0.196,0.038,2637,2152,3892,0,0,0,0,0,0
$GC,521,-0.69,-107.5,36.5,-7.4,109,526,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2152,3892,0,0,0,0,0,0
$GC,596,-0.69,-107.5,42.3,-7.9,125,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2152,3892,0,0,0,0,0,0
$GC,740,-0.69,-107.5,53.3,-7.4,156,745,0.00,2.42,0.00,0.000,4,0.000,0.044,2637,577,3893,0,0,0,0,0,0
$GC,759,-0.69,-107.5,55.0,-7.8,160,765,0.00,2.42,0.00,0.000,6,0.000,0.038,2627,2159,3892,0,0,0,0,0,0
$GC,904,-0.69,-107.5,66.3,-7.8,191,909,0.00,2.38,0.00,0.000,4,0.000,0.052,2616,3672,3892,0,0,0,0,0,0
$GC,937,-0.69,-107.5,69.1,-8.3,198,942,0.00,2.30,0.00,0.000,6,0.000,0.034,2616,2146,3892,0,0,0,0,0,0
$STATE,1080,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1080,begin apogee
$GC,1084,-0.19,0.0,80.4,8.1,228,1170,0.57,0.00,80.70,0.568,6,0.157,0.000,2790,2144,3453,0,0,0,0,0,0
$STATE,1171,end apogee,CONTROL_FINISHED_OK
$STATE,1171,begin climb
$GC,1172,0.69,107.5,82.8,0.0,248,1263,0.88,2.55,82.60,0.546,4,0.104,0.044,3091,579,3014,0,0,0,0,0,0
$GC,1282,0.69,107.5,75.5,9.2,273,1288,0.00,2.53,0.00,0.000,6,0.000,0.038,3091,2146,3013,0,0,0,0,0,0
$GC,1427,0.69,107.5,59.8,10.9,304,1432,0.00,2.47,0.00,0.000,4,0.000,0.052,3091,3677,3014,0,0,0,0,0,0
$GC,1479,0.69,107.5,53.4,12.6,315,1484,0.00,2.38,0.00,0.000,6,0.000,0.035,3103,2147,3013,0,0,0,0,0,0
$GC,1623,0.69,107.5,36.9,11.1,346,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2145,3013,0,0,0,0,0,0
$GC,1698,0.69,107.5,28.7,11.1,362,1703,0.00,2.45,0.00,0.000,4,0.000,0.046,3115,570,3013,0,0,0,0,0,0
$GC,1735,0.69,107.5,24.3,11.6,370,1741,0.00,2.45,0.00,0.000,6,0.000,0.039,3115,2156,3014,0,0,0,0,0,0
$GC,1811,0.69,107.5,15.6,11.6,386,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2156,3013,0,0,0,0,0,0
$GC,1885,0.69,107.5,7.7,10.0,402,1891,0.00,2.40,0.00,0.000,4,0.000,0.053,3115,3673,3014,0,0,0,0,0,0
$GC,1939,0.86,243.2,6.4,1.0,413,2050,0.00,2.33,102.25,0.511,6,0.000,0.034,3127,2144,2460,0,0,0,0,0,0
$GC,2120,1.04,389.0,5.1,0.6,454,2224,0.22,0.00,98.90,0.499,2,0.088,0.000,3204,2143,1936,0,0,0,0,0,0
$STATE,2224,end climb,SURFACE_DEPTH_REACHED
$STATE,2225,begin surface coast
$FINISH,1.7,1.015712
$STATE,2455,end surface coast,CONTROL_FINISHED_OK
$STATE,2455,begin surface
$SM_CCo,2471,142.48,0.068,0,0,1007,600.00
$SM_GC,1.29,0.00,0.00,142.48,0.000,0.000,0.068,149,2144,1007,-8.49,-0.17,600.00
$IRIDIUM_FIX,4748.51,-12224.57,290499,090904
$TT8_MAMPS,0.026078
$HUMID,32.63
$INTERNAL_PRESSURE,9.22226
$TCM_TEMP,19.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.4,8.7
$24V_AH,24.4,1.848
$10V_AH,10.6,0.708
$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,23.900,38.675,364.450,142.475,0.000,25.772,28.294,174.351,1.000,0.000,16.755,713.315,636.867,520.571,778.484,287.342,33.334,1010.537,0.000,764.909,0.000,5.435,0.000
$DEVICE_MAMPS,306.033,62.894,568.347,68.263,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,348.876,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,15896,528
$CAP_FILE_SIZE,59094,0
$CFSIZE,260165632,256606208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,110416,4806.780,-12222.821,10,2.3,29,18.3