version: 66.06
glider: 178
mission: 1
dive: 15
start: 2 3 110 7 21 48
data:
$ID,178
$MISSION,1
$DIVE,15
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,500
$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,-2958.5115
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2874
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2290
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3438
$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,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.376595
$PRESSURE_SLOPE,0.0001161899
$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,8
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$GPS1,071532,4806.633,-12222.403,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-75.7
$GPS2,072055,4806.598,-12222.400,25,1.3,30,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.146,0.136
$KALMAN_X,-208.3,82.9,50.6,994.1,382.0
$KALMAN_Y,253.3,30.7,-22.7,-2409.8,-263.4
$MHEAD_RNG_PITCHd_Wd,294.8,3264,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.74,-107.5,0.0,0.0,0,84,0.00,0.00,-66.50,0.000,2,0.000,0.000,168,2254,3082,0,0,0,0,0,0
$GC,86,-0.74,-107.5,3.3,-5.0,16,127,11.77,2.53,-21.70,0.000,4,0.292,0.080,2616,3778,3878,0,0,0,0,0,0
$GC,215,-0.74,-107.5,10.9,-6.0,44,220,0.00,2.33,0.00,0.000,6,0.000,0.041,2617,2284,3879,0,0,0,0,0,0
$GC,290,-0.74,-107.5,15.3,-6.1,60,295,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2285,3879,0,0,0,0,0,0
$GC,365,-0.74,-107.5,20.5,-7.1,76,369,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2284,3879,0,0,0,0,0,0
$GC,439,-0.74,-107.5,26.0,-7.6,92,445,0.00,2.47,0.00,0.000,4,0.000,0.051,2616,716,3879,0,0,0,0,0,0
$GC,491,-0.74,-107.5,30.7,-9.0,103,497,0.12,2.53,0.00,0.000,6,0.225,0.054,2630,2296,3879,0,0,0,0,0,0
$GC,567,-0.74,-107.5,36.9,-8.1,119,573,0.00,2.38,0.00,0.000,4,0.000,0.066,2621,3776,3879,0,0,0,0,0,0
$GC,633,-0.74,-107.5,42.6,-8.4,133,639,0.00,2.30,0.00,0.000,6,0.000,0.041,2621,2281,3879,0,0,0,0,0,0
$GC,778,-0.74,-107.5,54.3,-8.3,164,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2281,3879,0,0,0,0,0,0
$GC,921,-0.74,-107.5,66.0,-8.3,195,926,0.00,2.42,0.00,0.000,4,0.000,0.067,2611,3774,3879,0,0,0,0,0,0
$GC,959,-0.74,-107.5,69.3,-8.6,203,964,0.00,2.30,0.00,0.000,6,0.000,0.041,2611,2279,3879,0,0,0,0,0,0
$GC,1105,-0.74,-107.5,81.2,-7.7,234,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2611,2279,3879,0,0,0,0,0,0
$GC,1251,-0.74,-107.5,93.1,-8.4,265,1256,0.00,2.42,0.00,0.000,4,0.000,0.067,2599,3776,3879,0,0,0,0,0,0
$GC,1282,-0.74,-107.5,96.1,-8.9,271,1288,0.15,2.28,0.00,0.000,6,0.213,0.041,2634,2290,3879,0,0,0,0,0,0
$GC,1427,-0.74,-107.5,106.8,-7.2,302,1432,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2289,3879,0,0,0,0,0,0
$GC,1572,-0.74,-107.5,116.3,-6.2,333,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2289,3878,0,0,0,0,0,0
$STATE,1590,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1590,begin apogee
$GC,1593,-0.21,0.0,117.5,5.9,337,1679,0.55,0.00,81.25,0.668,6,0.178,0.000,2798,2289,3437,0,0,0,0,0,0
$STATE,1680,end apogee,CONTROL_FINISHED_OK
$STATE,1680,begin climb
$GC,1681,0.74,107.5,118.7,0.0,357,1773,0.95,2.72,82.57,0.643,4,0.124,0.051,3113,665,2999,0,0,0,0,0,0
$GC,1801,0.74,107.5,108.2,11.8,384,1807,0.00,2.62,0.00,0.000,6,0.000,0.049,3113,2250,2998,0,0,0,0,0,0
$GC,1945,0.74,107.5,90.5,11.8,415,1951,0.00,2.58,0.00,0.000,4,0.000,0.054,3125,668,2998,0,0,0,0,0,0
$GC,1993,0.74,107.5,84.5,12.6,425,1999,0.00,2.55,0.00,0.000,6,0.000,0.048,3125,2251,2998,0,0,0,0,0,0
$GC,2137,0.74,107.5,66.7,12.6,456,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2252,2998,0,0,0,0,0,0
$GC,2283,0.74,107.5,49.5,12.1,487,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,3125,2251,2999,0,0,0,0,0,0
$GC,2427,0.74,107.5,32.7,11.1,518,2432,0.00,2.47,0.00,0.000,4,0.000,0.064,3125,3784,2999,0,0,0,0,0,0
$GC,2451,0.74,107.5,29.6,12.1,523,2456,0.00,2.40,0.00,0.000,6,0.000,0.042,3137,2233,2999,0,0,0,0,0,0
$GC,2526,0.74,107.5,21.0,11.4,539,2532,0.00,2.47,0.00,0.000,4,0.000,0.052,3149,663,2998,0,0,0,0,0,0
$GC,2560,0.74,107.5,17.0,11.7,546,2566,0.15,2.50,0.00,0.000,6,0.211,0.049,3115,2243,2999,0,0,0,0,0,0
$GC,2636,0.74,107.5,8.7,10.6,562,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,3115,2243,2999,0,0,0,0,0,0
$STATE,2672,end climb,SURFACE_DEPTH_REACHED
$STATE,2672,begin surface coast
$FINISH,4.5,1.020130
$STATE,2728,end surface coast,CONTROL_FINISHED_OK
$STATE,2729,begin surface
$SM_CCo,2744,210.10,0.576,0,0,1399,500.17
$SM_GC,0.96,0.00,0.00,210.10,0.000,0.000,0.576,167,2283,1399,-8.46,-0.23,500.17
$IRIDIUM_FIX,4748.51,-12223.57,300499,060629
$TT8_MAMPS,0.027612
$HUMID,32.91
$INTERNAL_PRESSURE,8.91636
$TCM_TEMP,18.80
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,95.0,29.1
$24V_AH,24.5,1.631
$10V_AH,10.6,0.631
$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,22.425,44.325,163.825,210.100,0.000,25.617,25.254,182.121,4.500,0.000,30.657,871.504,786.234,467.503,873.700,293.675,33.340,958.383,0.000,841.192,0.000,16.172,0.000
$DEVICE_MAMPS,292.227,151.099,668.057,576.017,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.162,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,18975,582
$CAP_FILE_SIZE,66067,0
$CFSIZE,260165632,254386176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,6
$GPS,030210,081206,4806.787,-12222.599,14,1.5,30,18.3