version: 66.06
glider: 179
mission: 1
dive: 25
start: 2 2 110 17 29 46
data:
$ID,179
$MISSION,1
$DIVE,25
$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,-7394.3506
$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,44
$R_STBD_OVSHOOT,35
$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
$GPS1,172038,4808.168,-12223.629,9,1.1,9,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-72.7
$GPS2,172852,4808.292,-12223.735,12,2.4,31,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.102,-0.172
$KALMAN_X,-1153.5,122.4,-134.8,461.1,-99.5
$KALMAN_Y,1512.4,-118.1,401.9,-70.0,381.5
$MHEAD_RNG_PITCHd_Wd,130.9,1058,-14.6,-6.944
$D_GRID,101
$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,-107.5,0.0,0.0,0,126,0.00,0.00,-107.53,0.000,2,0.000,0.000,148,2154,3100,0,0,0,0,0,0
$GC,128,-0.69,-107.5,3.6,-4.9,26,169,12.43,2.45,-22.02,0.000,4,0.300,0.054,2632,572,3891,0,0,0,0,0,0
$GC,193,-0.69,-107.5,7.3,-3.3,40,199,0.00,2.42,0.00,0.000,6,0.000,0.036,2621,2155,3891,0,0,0,0,0,0
$GC,269,-0.69,-107.5,11.8,-6.3,56,274,0.00,2.40,0.00,0.000,4,0.000,0.051,2610,3668,3891,0,0,0,0,0,0
$GC,298,-0.69,-107.5,14.0,-7.2,62,304,0.12,2.33,0.00,0.000,6,0.196,0.034,2639,2141,3891,0,0,0,0,0,0
$GC,375,-0.69,-107.5,19.6,-6.9,78,379,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2141,3891,0,0,0,0,0,0
$GC,449,-0.69,-107.5,24.5,-6.7,94,455,0.00,2.42,0.00,0.000,4,0.000,0.044,2639,570,3892,0,0,0,0,0,0
$GC,525,-0.69,-107.5,29.8,-7.2,110,530,0.00,2.42,0.00,0.000,6,0.000,0.038,2628,2154,3892,0,0,0,0,0,0
$GC,600,-0.69,-107.5,35.3,-7.4,126,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2154,3891,0,0,0,0,0,0
$GC,674,-0.69,-107.5,40.8,-7.5,142,679,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2154,3891,0,0,0,0,0,0
$GC,819,-0.69,-107.5,51.3,-6.8,173,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2629,2154,3891,0,0,0,0,0,0
$GC,962,-0.69,-107.5,62.1,-7.4,204,967,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,2154,3891,0,0,0,0,0,0
$GC,1107,-0.69,-107.5,72.6,-7.2,235,1112,0.00,2.38,0.00,0.000,4,0.000,0.052,2617,3671,3891,0,0,0,0,0,0
$GC,1149,-0.69,-107.5,75.8,-7.6,244,1155,0.00,2.30,0.00,0.000,6,0.000,0.033,2617,2141,3891,0,0,0,0,0,0
$GC,1294,-0.69,-107.5,86.2,-6.8,275,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2140,3891,0,0,0,0,0,0
$GC,1439,-0.69,-107.5,96.7,-7.4,306,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2617,2140,3891,0,0,0,0,0,0
$STATE,1499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1499,begin apogee
$GC,1502,-0.19,0.0,101.0,7.2,319,1588,0.57,0.00,80.28,0.578,6,0.156,0.000,2793,2140,3453,0,0,0,0,0,0
$STATE,1589,end apogee,CONTROL_FINISHED_OK
$STATE,1589,begin climb
$GC,1590,0.69,107.5,102.3,0.0,339,1680,0.88,0.00,82.97,0.556,6,0.104,0.000,3081,2140,3013,0,0,0,0,0,0
$GC,1820,0.69,107.5,80.1,12.2,390,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2140,3012,0,0,0,0,0,0
$GC,1965,0.69,107.5,63.3,11.3,421,1971,0.00,2.45,0.00,0.000,4,0.000,0.051,3082,3667,3012,0,0,0,0,0,0
$GC,1996,0.69,107.5,59.4,12.2,427,2001,0.00,2.35,0.00,0.000,6,0.000,0.035,3094,2147,3012,0,0,0,0,0,0
$GC,2140,0.69,107.5,42.1,12.0,458,2146,0.00,2.42,0.00,0.000,4,0.000,0.051,3094,3670,3013,0,0,0,0,0,0
$GC,2169,0.69,107.5,38.5,12.4,464,2175,0.00,2.33,0.00,0.000,6,0.000,0.035,3105,2148,3013,0,0,0,0,0,0
$GC,2244,0.69,107.5,29.3,11.9,480,2250,0.00,2.42,0.00,0.000,4,0.000,0.045,3118,569,3013,0,0,0,0,0,0
$GC,2298,0.69,107.5,23.2,11.9,491,2304,0.00,2.42,0.00,0.000,6,0.000,0.038,3118,2149,3012,0,0,0,0,0,0
$GC,2373,0.69,107.5,13.9,11.9,507,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3118,2149,3013,0,0,0,0,0,0
$GC,2449,0.69,107.5,6.7,9.7,523,2455,0.00,2.45,0.00,0.000,4,0.000,0.045,3129,565,3013,0,0,0,0,0,0
$STATE,2681,end climb,NO_VERTICAL_VELOCITY
$STATE,2681,begin surface
$SM_CCo,2683,398.48,0.495,0,0,459,734.18
$SM_GC,1.15,8.88,0.00,0.00,0.074,0.000,0.000,151,2144,458,-8.45,-0.17,734.92
$IRIDIUM_FIX,4751.72,-12230.75,290499,171740
$TT8_MAMPS,0.026078
$HUMID,32.00
$INTERNAL_PRESSURE,9.16366
$TCM_TEMP,19.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,95.1,13.2
$24V_AH,24.3,2.578
$10V_AH,10.5,0.948
$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,22.875,38.550,163.250,398.475,0.000,50.616,108.667,180.602,2.000,0.000,32.144,841.506,915.801,678.834,857.192,406.001,33.338,1167.967,0.000,828.377,0.000,10.546,0.000
$DEVICE_MAMPS,299.897,54.457,577.551,495.482,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,383.354,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,19010,573
$CAP_FILE_SIZE,64310,0
$CFSIZE,260165632,256331776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,182407,4808.195,-12223.627,38,0.9,38,18.3