version: 66.07
glider: 178
mission: 6
dive: 3
start: 9 30 110 17 31 52
data:
$ID,178
$MISSION,6
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,50
$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,-6
$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,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51423
$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,-122.4
$TGT_DEFAULT_LON,47.75
$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,-6997.54
$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,3253
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,45
$C_ROLL_DIVE,2080
$C_ROLL_CLIMB,2080
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2280
$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,-47.94239
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,110
$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
$LOGGERDEVICE1,69
$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,0.0043278597
$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
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,300910,172644,4742.246,-12225.262,11,1.4,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-76.8
$GPS2,300910,173032,4742.179,-12225.269,10,1.5,10,18.2
$SPEED_LIMITS,0.096,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.040,0.238
$KALMAN_X,-100.0,-82.8,-76.2,47.7,-148.7
$KALMAN_Y,-589.7,-517.0,-487.2,581.0,-870.4
$MHEAD_RNG_PITCHd_Wd,351.5,2469,-14.1,-8.065
$D_GRID,152
$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,13,begin dive
$GC,14,-0.69,-146.6,0.0,0.0,0,90,0.00,0.00,-73.62,0.000,2,0.000,0.000,157,2060,2854,0,0,0,0,0,0
$GC,92,-0.69,-146.6,3.5,-7.0,13,111,12.80,0.00,-0.43,0.000,6,0.265,0.000,3021,2060,2879,0,0,0,0,0,0
$GC,213,-0.69,-146.6,28.4,-11.6,34,219,0.00,2.60,0.00,0.000,4,0.000,0.065,3011,3662,2882,0,0,0,0,0,0
$GC,281,-0.69,-146.6,37.0,-12.5,46,288,0.00,2.45,0.00,0.000,6,0.000,0.041,3011,2068,2882,0,0,0,0,0,0
$GC,390,-0.69,-146.6,50.2,-13.1,65,396,0.00,2.60,0.00,0.000,4,0.000,0.066,2999,3663,2882,0,0,0,0,0,0
$GC,430,-0.69,-146.6,56.4,-15.2,72,438,0.12,2.42,0.00,0.000,6,0.174,0.040,3029,2077,2882,0,0,0,0,0,0
$GC,539,-0.69,-146.6,72.2,-13.0,91,546,0.00,2.58,0.00,0.000,4,0.000,0.063,3020,3664,2882,0,0,0,0,0,0
$GC,591,-0.69,-146.6,78.9,-12.9,100,598,0.00,2.42,0.00,0.000,6,0.000,0.039,3020,2073,2882,0,0,0,0,0,0
$GC,699,-0.69,-146.6,90.9,-11.5,119,705,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2071,2882,0,0,0,0,0,0
$GC,806,-0.69,-146.6,102.6,-9.8,138,813,0.00,2.58,0.00,0.000,4,0.000,0.063,3008,3665,2882,0,0,0,0,0,0
$GC,852,-0.69,-146.6,107.9,-12.0,146,859,0.00,2.42,0.00,0.000,6,0.000,0.041,3008,2081,2882,0,0,0,0,0,0
$GC,959,-0.69,-146.6,121.9,-12.7,165,966,0.00,2.58,0.00,0.000,4,0.000,0.064,2997,3667,2882,0,0,0,0,0,0
$GC,1005,-0.69,-146.6,128.5,-14.8,173,1013,0.12,2.45,0.00,0.000,6,0.171,0.040,3028,2079,2882,0,0,0,0,0,0
$GC,1117,-0.69,-146.6,140.4,-10.3,192,1124,0.00,2.58,0.00,0.000,4,0.000,0.063,3018,3674,2882,0,0,0,0,0,0
$GC,1154,-0.69,-146.6,144.3,-10.9,198,1161,0.00,2.45,0.00,0.000,6,0.000,0.040,3018,2069,2882,0,0,0,0,0,0
$STATE,1208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1208,begin apogee
$GC,1212,-0.18,0.0,150.0,10.2,207,1337,0.52,0.00,116.38,0.673,6,0.133,0.000,3187,2066,2278,0,0,0,0,0,0
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1339,0.69,146.6,154.1,0.0,229,1465,0.80,2.67,118.30,0.655,4,0.080,0.054,3480,507,1681,0,0,0,0,0,0
$GC,1550,0.69,146.6,140.0,12.6,266,1556,0.00,2.55,0.00,0.000,6,0.000,0.045,3480,2090,1676,0,0,0,0,0,0
$GC,1658,0.69,146.6,126.2,12.6,285,1665,0.00,2.58,0.00,0.000,4,0.000,0.054,3492,501,1675,0,0,0,0,0,0
$GC,1681,0.69,146.6,123.2,12.8,289,1688,0.00,2.53,0.00,0.000,6,0.000,0.046,3492,2079,1674,0,0,0,0,0,0
$GC,1790,0.69,146.6,108.7,14.4,308,1796,0.00,2.55,0.00,0.000,4,0.000,0.055,3504,497,1674,0,0,0,0,0,0
$GC,1808,0.69,146.6,105.8,14.7,311,1814,0.00,2.55,0.00,0.000,6,0.000,0.046,3504,2087,1673,0,0,0,0,0,0
$GC,1916,0.69,146.6,91.6,12.5,330,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2088,1673,0,0,0,0,0,0
$GC,2023,0.69,146.6,77.5,13.3,349,2030,0.00,2.53,0.00,0.000,4,0.000,0.054,3517,505,1673,0,0,0,0,0,0
$GC,2092,0.69,146.6,68.1,14.2,361,2099,0.17,2.47,0.00,0.000,6,0.213,0.043,3478,2085,1673,0,0,0,0,0,0
$GC,2200,0.69,146.6,55.7,10.4,380,2207,0.00,2.55,0.00,0.000,4,0.000,0.053,3487,497,1672,0,0,0,0,0,0
$GC,2252,0.69,146.6,49.9,11.6,389,2259,0.00,2.50,0.00,0.000,6,0.000,0.044,3487,2087,1672,0,0,0,0,0,0
$GC,2360,0.69,146.6,36.5,12.0,408,2366,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2087,1671,0,0,0,0,0,0
$GC,2468,0.69,146.6,23.3,12.0,427,2474,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2087,1672,0,0,0,0,0,0
$GC,2575,0.69,146.6,10.8,12.0,446,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,2087,1672,0,0,0,0,0,0
$STATE,2630,end climb,SURFACE_DEPTH_REACHED
$STATE,2630,begin surface coast
$FINISH,0.6,1.022281
$STATE,2648,end surface coast,CONTROL_FINISHED_OK
$STATE,2648,begin surface
$SM_CCo,2663,58.15,0.349,1,0,1260,250.21
$SM_GC,0.69,0.00,0.00,58.15,0.000,0.000,0.349,162,2090,1260,-9.66,0.28,250.21
$IRIDIUM_FIX,4751.72,-12340.51,250312,111157
$TT8_MAMPS,0.026964
$HUMID,1078958055
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,19.70
$XPDR_PINGS,12
$24V_AH,24.4,13.775
$10V_AH,10.4,14.697
$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,23.550,55.600,234.675,58.150,0.000,0.000,0.000,0.000,5.750,0.000,11.602,989.575,672.921,425.494,681.283,50.770,31.415,836.848,0.000,666.647,0.000,21.381,0.000
$DEVICE_MAMPS,265.455,65.790,673.200,348.840,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,306.470,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323724
$DATA_FILE_SIZE,13464,459
$CAP_FILE_SIZE,70352,0
$CFSIZE,260165632,254423040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,181834,4742.392,-12225.331,22,2.5,41,18.2