version: 66.07
glider: 178
mission: 6
dive: 6
start: 9 30 110 20 13 42
data:
$ID,178
$MISSION,6
$DIVE,6
$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,-7001.3159
$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,3220
$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,2150
$C_ROLL_CLIMB,2030
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,29
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$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
$GPS1,300910,200651,4742.937,-12225.271,18,4.3,37,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.63
$_SM_ANGLEo,-78.3
$GPS2,300910,201220,4742.930,-12225.309,16,1.3,16,18.2
$SPEED_LIMITS,0.096,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.148,0.190
$KALMAN_X,-802.7,-250.6,-63.8,854.4,-308.2
$KALMAN_Y,-1069.9,-1120.1,-571.5,3134.8,-39.4
$MHEAD_RNG_PITCHd_Wd,19.7,1123,-14.1,-8.065
$D_GRID,190
$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,-146.6,0.0,0.0,0,80,0.00,0.00,-62.70,0.000,2,0.000,0.000,160,2140,2836,0,0,0,0,0,0
$GC,82,-0.69,-146.6,3.3,-6.1,11,102,12.52,2.67,-0.75,0.000,4,0.261,0.073,2976,3741,2880,0,0,0,0,0,0
$GC,153,-0.69,-146.6,25.0,-20.0,23,160,0.00,2.47,0.00,0.000,6,0.000,0.039,2976,2152,2882,0,0,0,0,0,0
$GC,261,-0.69,-146.6,42.4,-16.5,42,267,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2148,2883,0,0,0,0,0,0
$GC,368,-0.69,-146.6,59.6,-15.7,61,375,0.00,2.58,0.00,0.000,4,0.000,0.063,2964,3735,2883,0,0,0,0,0,0
$GC,493,-0.69,-146.6,80.1,-15.4,83,501,0.12,2.42,0.00,0.000,6,0.172,0.038,2995,2146,2883,0,0,0,0,0,0
$GC,602,-0.69,-146.6,93.1,-10.9,102,608,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2143,2883,0,0,0,0,0,0
$GC,709,-0.69,-146.6,103.7,-9.8,121,716,0.00,2.58,0.00,0.000,4,0.000,0.062,2985,3739,2883,0,0,0,0,0,0
$GC,755,-0.69,-146.6,109.2,-12.2,129,762,0.00,2.42,0.00,0.000,6,0.000,0.039,2985,2150,2883,0,0,0,0,0,0
$GC,864,-0.69,-146.6,123.0,-12.0,148,870,0.00,2.58,0.00,0.000,4,0.000,0.062,2973,3731,2883,0,0,0,0,0,0
$GC,893,-0.69,-146.6,126.8,-13.0,153,900,0.00,2.40,0.00,0.000,6,0.000,0.037,2973,2149,2884,0,0,0,0,0,0
$GC,1001,-0.69,-146.6,142.6,-15.3,172,1008,0.00,2.55,0.00,0.000,4,0.000,0.062,2961,3733,2883,0,0,0,0,0,0
$STATE,1046,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1046,begin apogee
$GC,1052,-0.18,0.0,150.2,16.6,180,1178,0.62,0.00,116.28,0.670,6,0.154,0.000,3150,2028,2279,0,0,0,0,0,0
$STATE,1179,end apogee,CONTROL_FINISHED_OK
$STATE,1179,begin climb
$GC,1180,0.69,146.6,160.1,0.0,202,1312,0.85,2.67,119.43,0.653,4,0.089,0.053,3452,461,1681,0,0,0,0,0,0
$GC,1318,0.70,160.8,153.6,7.5,226,1337,0.00,2.55,13.00,0.592,6,0.000,0.041,3452,2028,1624,0,0,0,0,0,0
$GC,1438,0.70,160.8,139.1,12.0,247,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2028,1619,0,0,0,0,0,0
$GC,1546,0.70,160.8,125.2,14.0,266,1552,0.00,2.60,0.00,0.000,4,0.000,0.059,3452,3616,1617,0,0,0,0,0,0
$GC,1558,0.70,160.8,123.5,13.5,268,1565,0.00,2.47,0.00,0.000,6,0.000,0.039,3464,2039,1616,0,0,0,0,0,0
$GC,1666,0.70,160.8,110.0,13.0,287,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2036,1617,0,0,0,0,0,0
$GC,1774,0.70,160.8,95.5,13.7,306,1780,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2036,1617,0,0,0,0,0,0
$GC,1881,0.70,160.8,82.1,11.6,325,1887,0.00,2.58,0.00,0.000,4,0.000,0.054,3476,439,1616,0,0,0,0,0,0
$GC,1899,0.70,160.8,80.2,11.4,328,1905,0.00,2.50,0.00,0.000,6,0.000,0.041,3476,2031,1616,0,0,0,0,0,0
$GC,2007,0.70,160.8,67.6,10.5,347,2014,0.00,2.58,0.00,0.000,4,0.000,0.056,3488,444,1616,0,0,0,0,0,0
$GC,2087,0.70,160.8,58.3,12.1,361,2094,0.17,2.53,0.00,0.000,6,0.213,0.042,3449,2041,1615,0,0,0,0,0,0
$GC,2196,0.70,160.8,47.5,9.6,380,2202,0.00,2.50,0.00,0.000,4,0.000,0.057,3449,3617,1615,0,0,0,0,0,0
$GC,2208,0.70,160.8,46.2,9.8,382,2215,0.00,2.47,0.00,0.000,6,0.000,0.038,3458,2024,1615,0,0,0,0,0,0
$GC,2316,0.70,160.8,35.4,9.9,401,2323,0.00,2.58,0.00,0.000,4,0.000,0.058,3458,3618,1615,0,0,0,0,0,0
$GC,2340,0.70,160.8,32.8,10.6,405,2347,0.00,2.47,0.00,0.000,6,0.000,0.037,3470,2020,1615,0,0,0,0,0,0
$GC,2448,0.70,160.8,20.9,11.4,424,2454,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2016,1615,0,0,0,0,0,0
$GC,2555,0.70,160.8,9.9,10.6,443,2562,0.00,2.58,0.00,0.000,4,0.000,0.059,3470,3616,1615,0,0,0,0,0,0
$STATE,2611,end climb,SURFACE_DEPTH_REACHED
$STATE,2611,begin surface coast
$FINISH,-0.4,1.012980
$STATE,2634,end surface coast,CONTROL_FINISHED_OK
$STATE,2634,begin surface
$SM_CCo,2652,48.15,0.076,0,0,1260,250.21
$SM_GC,0.39,0.00,0.00,48.15,0.000,0.000,0.076,156,2140,1260,-9.58,-0.28,250.21
$IRIDIUM_FIX,4751.72,-12340.51,250312,131344
$TT8_MAMPS,0.026964
$HUMID,1078941281
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,19.50
$XPDR_PINGS,28
$ALTIM_BOTTOM_PING,140.8,61.0
$24V_AH,24.3,13.967
$10V_AH,10.4,14.786
$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,23.300,60.725,248.700,48.150,0.000,31.358,28.929,192.142,8.500,0.000,16.880,982.407,670.784,418.849,932.405,69.684,33.325,831.808,0.000,663.883,0.000,11.950,0.000
$DEVICE_MAMPS,260.865,73.440,670.140,76.500,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,304.928,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323452
$DATA_FILE_SIZE,13415,457
$CAP_FILE_SIZE,60434,0
$CFSIZE,260165632,254332928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,205938,4743.291,-12225.051,17,1.8,22,18.2