version: 66.07
glider: 179
mission: 2
dive: 4
start: 9 30 110 18 22 20
data:
$ID,179
$MISSION,2
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,62
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51749
$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,24.688
$TGT_DEFAULT_LON,-77.613998
$TGT_AUTO_DEFAULT,0
$SM_CC,250
$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,-13064.288
$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,2937
$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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$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,2312
$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,-38.225636
$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,110
$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
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,300910,181437,4742.541,-12225.364,20,1.8,31,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-76.1
$GPS2,300910,182124,4742.474,-12225.396,42,1.1,42,18.2
$SPEED_LIMITS,0.140,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.079,0.227
$KALMAN_X,-273.2,-207.8,-145.5,261.0,-212.6
$KALMAN_Y,-674.4,-717.5,-658.0,1491.9,-524.4
$MHEAD_RNG_PITCHd_Wd,1.1,1963,-14.2,-8.065
$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,14,-0.72,-146.0,0.0,0.0,0,84,0.00,0.00,-67.07,0.000,6,0.000,0.000,140,2015,2908,0,0,0,0,0,0
$GC,86,-0.72,-146.0,3.0,-4.1,12,99,11.43,0.00,0.00,0.000,6,0.260,0.000,2695,2015,2909,0,0,0,0,0,0
$GC,200,-0.72,-146.0,21.4,-11.0,32,207,0.00,2.50,0.00,0.000,4,0.000,0.057,2685,3579,2912,0,0,0,0,0,0
$GC,230,-0.72,-146.0,24.8,-11.3,37,236,0.00,2.40,0.00,0.000,6,0.000,0.038,2686,1992,2912,0,0,0,0,0,0
$GC,338,-0.72,-146.0,37.8,-12.1,56,344,0.00,2.53,0.00,0.000,4,0.000,0.056,2673,3588,2912,0,0,0,0,0,0
$GC,412,-0.72,-146.0,47.4,-12.8,69,419,0.10,2.40,0.00,0.000,6,0.165,0.038,2698,1999,2912,0,0,0,0,0,0
$GC,521,-0.72,-146.0,60.6,-11.5,88,527,0.00,2.50,0.00,0.000,4,0.000,0.057,2688,3582,2912,0,0,0,0,0,0
$GC,550,-0.72,-146.0,63.9,-11.1,93,557,0.00,2.40,0.00,0.000,6,0.000,0.038,2688,1993,2912,0,0,0,0,0,0
$GC,658,-0.72,-146.0,76.4,-11.9,112,665,0.00,2.42,0.00,0.000,4,0.000,0.046,2688,422,2912,0,0,0,0,0,0
$GC,687,-0.72,-146.0,80.0,-12.2,117,694,0.00,2.42,0.00,0.000,6,0.000,0.041,2677,1992,2912,0,0,0,0,0,0
$GC,795,-0.72,-146.0,91.0,-9.6,136,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1992,2912,0,0,0,0,0,0
$GC,902,-0.72,-146.0,103.2,-11.6,155,909,0.00,2.40,0.00,0.000,4,0.000,0.046,2677,424,2912,0,0,0,0,0,0
$GC,949,-0.72,-146.0,108.8,-11.9,163,956,0.12,2.42,0.00,0.000,6,0.158,0.040,2699,2002,2912,0,0,0,0,0,0
$GC,1059,-0.72,-146.0,120.2,-11.1,182,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2002,2912,0,0,0,0,0,0
$GC,1169,-0.72,-146.0,131.7,-9.6,201,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2002,2912,0,0,0,0,0,0
$GC,1279,-0.72,-146.0,143.7,-11.7,220,1286,0.00,2.47,0.00,0.000,4,0.000,0.055,2689,3589,2912,0,0,0,0,0,0
$GC,1337,-0.72,-146.0,149.7,-10.6,230,1344,0.00,2.42,0.00,0.000,6,0.000,0.037,2689,1984,2912,0,0,0,0,0,0
$STATE,1348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1348,begin apogee
$GC,1352,-0.19,0.0,150.9,10.2,232,1477,0.55,0.00,116.75,0.600,6,0.123,0.000,2867,1981,2311,0,0,0,0,0,0
$STATE,1477,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,0.72,146.0,155.8,0.0,254,1604,0.88,0.00,119.00,0.581,6,0.080,0.000,3168,1981,1716,0,0,0,0,0,0
$GC,1705,0.72,146.0,132.4,14.9,294,1712,0.00,2.45,0.00,0.000,4,0.000,0.047,3179,429,1712,0,0,0,0,0,0
$GC,1729,0.72,146.0,128.9,14.5,298,1736,0.00,2.45,0.00,0.000,6,0.000,0.037,3179,2012,1711,0,0,0,0,0,0
$GC,1837,0.72,146.0,112.7,15.1,317,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2013,1711,0,0,0,0,0,0
$GC,1944,0.72,146.0,96.2,14.7,336,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2012,1710,0,0,0,0,0,0
$GC,2051,0.72,146.0,80.8,13.9,355,2058,0.00,2.45,0.00,0.000,4,0.000,0.046,3191,430,1710,0,0,0,0,0,0
$GC,2086,0.72,146.0,75.8,14.3,361,2093,0.00,2.40,0.00,0.000,6,0.000,0.037,3191,2003,1709,0,0,0,0,0,0
$GC,2194,0.72,146.0,60.6,14.3,380,2201,0.00,2.45,0.00,0.000,4,0.000,0.046,3202,431,1709,0,0,0,0,0,0
$GC,2246,0.72,146.0,53.3,14.1,389,2254,0.12,2.40,0.00,0.000,6,0.161,0.037,3172,2014,1709,0,0,0,0,0,0
$GC,2355,0.72,146.0,39.9,11.6,408,2362,0.00,2.45,0.00,0.000,4,0.000,0.051,3172,3579,1709,0,0,0,0,0,0
$GC,2418,0.72,146.0,31.3,14.1,419,2425,0.00,2.38,0.00,0.000,6,0.000,0.036,3182,2007,1709,0,0,0,0,0,0
$GC,2526,0.72,146.0,17.5,12.3,438,2533,0.00,2.45,0.00,0.000,4,0.000,0.045,3193,416,1708,0,0,0,0,0,0
$GC,2567,0.72,146.0,12.2,13.2,445,2574,0.00,2.42,0.00,0.000,6,0.000,0.037,3193,2009,1709,0,0,0,0,0,0
$STATE,2634,end climb,SURFACE_DEPTH_REACHED
$STATE,2634,begin surface coast
$FINISH,0.4,1.010068
$STATE,2658,end surface coast,CONTROL_FINISHED_OK
$STATE,2659,begin surface
$SM_CCo,2673,57.67,0.063,0,0,1292,250.21
$SM_GC,1.31,0.00,0.00,57.67,0.000,0.000,0.063,137,2010,1292,-8.75,0.28,250.21
$IRIDIUM_FIX,4713.38,-12321.07,250312,111105
$TT8_MAMPS,0.026215
$HUMID,1078880635
$INTERNAL_PRESSURE,9.07577
$TCM_TEMP,20.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.3,64.1
$24V_AH,24.2,10.879
$10V_AH,10.5,12.578
$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,21.450,53.600,235.750,57.675,0.000,30.145,37.909,232.908,2.500,0.000,43.096,989.753,674.390,413.189,1027.865,49.320,32.339,828.131,0.000,669.252,0.000,20.889,0.000
$DEVICE_MAMPS,260.100,57.375,599.760,62.730,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,307.222,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,355028
$DATA_FILE_SIZE,13433,461
$CAP_FILE_SIZE,60861,0
$CFSIZE,260165632,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,190838,4742.754,-12225.343,14,2.0,14,18.2