version: 66.06
glider: 179
mission: 1
dive: 22
start: 2 2 110 14 38 31
data:
$ID,179
$MISSION,1
$DIVE,22
$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,-7311.3452
$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,29
$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
$GPS1,143228,4808.018,-12223.970,12,3.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-75.0
$GPS2,143736,4808.096,-12224.007,17,1.6,27,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.150,-0.132
$KALMAN_X,-725.7,106.4,-43.6,-382.5,-57.0
$KALMAN_Y,174.0,-178.8,-61.2,1428.0,337.0
$MHEAD_RNG_PITCHd_Wd,113.0,1257,-14.6,-6.944
$D_GRID,103
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.69,-107.5,0.0,0.0,0,121,0.00,0.00,-103.55,0.000,2,0.000,0.000,150,2152,3018,0,0,0,0,0,0
$GC,123,-0.69,-107.5,3.6,-4.7,25,172,12.57,2.47,-28.38,0.000,4,0.301,0.064,2626,3677,3893,0,0,0,0,0,0
$GC,210,-0.69,-107.5,7.0,-6.2,44,215,0.00,2.35,0.00,0.000,6,0.000,0.033,2626,2141,3893,0,0,0,0,0,0
$GC,287,-0.69,-107.5,11.7,-6.9,60,292,0.00,2.42,0.00,0.000,4,0.000,0.044,2626,575,3893,0,0,0,0,0,0
$GC,335,-0.69,-107.5,15.2,-6.7,70,340,0.00,2.45,0.00,0.000,6,0.000,0.038,2614,2162,3894,0,0,0,0,0,0
$GC,410,-0.69,-107.5,20.7,-7.3,86,416,0.00,2.42,0.00,0.000,4,0.000,0.043,2614,585,3894,0,0,0,0,0,0
$GC,490,-0.69,-107.5,27.6,-8.5,103,496,0.15,2.42,0.00,0.000,6,0.201,0.038,2638,2160,3893,0,0,0,0,0,0
$GC,567,-0.69,-107.5,32.9,-6.9,119,572,0.00,2.38,0.00,0.000,4,0.000,0.052,2627,3670,3893,0,0,0,0,0,0
$GC,595,-0.69,-107.5,35.0,-7.1,125,601,0.00,2.30,0.00,0.000,6,0.000,0.034,2627,2146,3893,0,0,0,0,0,0
$GC,671,-0.69,-107.5,40.7,-7.3,141,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2627,2145,3894,0,0,0,0,0,0
$GC,814,-0.69,-107.5,51.3,-7.3,172,820,0.00,2.40,0.00,0.000,4,0.000,0.051,2616,3671,3894,0,0,0,0,0,0
$GC,871,-0.69,-107.5,55.9,-8.2,184,877,0.00,2.28,0.00,0.000,6,0.000,0.034,2616,2149,3893,0,0,0,0,0,0
$GC,1016,-0.69,-107.5,67.4,-7.9,215,1021,0.00,2.40,0.00,0.000,4,0.000,0.052,2604,3675,3893,0,0,0,0,0,0
$GC,1045,-0.69,-107.5,69.9,-8.4,221,1051,0.15,2.30,0.00,0.000,6,0.193,0.034,2641,2143,3893,0,0,0,0,0,0
$GC,1190,-0.69,-107.5,79.5,-6.3,252,1196,0.00,2.40,0.00,0.000,4,0.000,0.052,2630,3673,3893,0,0,0,0,0,0
$STATE,1204,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1204,begin apogee
$GC,1211,-0.19,0.0,80.3,6.4,254,1297,0.55,0.00,80.80,0.565,6,0.160,0.000,2796,2151,3453,0,0,0,0,0,0
$STATE,1298,end apogee,CONTROL_FINISHED_OK
$STATE,1298,begin climb
$GC,1299,0.69,107.5,82.3,0.0,274,1389,0.85,0.00,82.68,0.543,6,0.104,0.000,3079,2151,3015,0,0,0,0,0,0
$GC,1529,0.69,107.5,61.3,10.8,325,1534,0.00,2.45,0.00,0.000,4,0.000,0.051,3078,3673,3013,0,0,0,0,0,0
$GC,1599,0.69,107.5,52.5,12.8,340,1605,0.00,2.35,0.00,0.000,6,0.000,0.035,3090,2157,3013,0,0,0,0,0,0
$GC,1743,0.69,107.5,36.2,11.4,371,1749,0.00,2.42,0.00,0.000,4,0.000,0.051,3090,3673,3013,0,0,0,0,0,0
$GC,1795,0.69,107.5,29.6,12.4,382,1801,0.00,2.35,0.00,0.000,6,0.000,0.035,3102,2144,3013,0,0,0,0,0,0
$GC,1871,0.69,107.5,21.0,11.5,398,1876,0.00,2.45,0.00,0.000,4,0.000,0.046,3114,567,3013,0,0,0,0,0,0
$GC,1955,0.69,107.5,11.8,11.0,416,1961,0.00,2.45,0.00,0.000,6,0.000,0.038,3114,2160,3013,0,0,0,0,0,0
$GC,2032,0.69,107.5,4.5,9.0,432,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,3114,2159,3013,0,0,0,0,0,0
$STATE,2040,end climb,SURFACE_DEPTH_REACHED
$STATE,2040,begin surface coast
$FINISH,3.5,1.018403
$STATE,2097,end surface coast,CONTROL_FINISHED_OK
$STATE,2097,begin surface
$SM_CCo,2112,262.77,0.482,1,0,1006,600.00
$SM_GC,1.13,0.00,0.00,262.77,0.000,0.000,0.482,149,2159,1006,-8.49,0.25,600.00
$IRIDIUM_FIX,4751.72,-12219.12,290499,131315
$TT8_MAMPS,0.026078
$HUMID,32.28
$INTERNAL_PRESSURE,9.22226
$TCM_TEMP,19.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.3,8.7
$24V_AH,24.3,2.296
$10V_AH,10.5,0.848
$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,23.300,47.800,163.475,262.775,0.000,30.570,28.663,158.738,1.250,0.000,28.024,654.726,561.603,543.900,669.750,276.614,33.335,952.448,0.000,649.340,0.000,5.435,0.000
$DEVICE_MAMPS,301.431,64.428,565.279,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,296.196,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,12768,446
$CAP_FILE_SIZE,55657,0
$CFSIZE,260165632,256446464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,151916,4808.110,-12223.761,12,2.1,31,18.3