version: 66.06
glider: 179
mission: 1
dive: 10
start: 2 2 110 3 35 45
data:
$ID,179
$MISSION,1
$DIVE,10
$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,-7053.6885
$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,33
$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
$GPS1,032914,4806.489,-12222.471,10,1.1,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-71.9
$GPS2,033450,4806.516,-12222.509,16,1.4,16,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.165
$KALMAN_X,-707.0,-70.0,-19.6,1605.9,-134.4
$KALMAN_Y,358.6,-20.7,39.1,-1938.8,181.7
$MHEAD_RNG_PITCHd_Wd,127.2,1144,-14.6,-6.944
$D_GRID,107
$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,-107.5,0.0,0.0,0,113,0.00,0.00,-95.72,0.000,2,0.000,0.000,152,2156,2865,0,0,0,0,0,0
$GC,116,-0.69,-107.5,3.0,-3.8,23,169,12.25,2.42,-34.38,0.000,4,0.295,0.063,2626,3682,3891,0,0,0,0,0,0
$GC,207,-0.69,-107.5,6.3,-5.2,43,212,0.00,2.38,0.00,0.000,6,0.000,0.035,2626,2134,3891,0,0,0,0,0,0
$GC,284,-0.69,-107.5,10.3,-5.1,59,289,0.00,2.42,0.00,0.000,4,0.000,0.044,2626,568,3892,0,0,0,0,0,0
$GC,341,-0.69,-107.5,13.8,-5.8,71,346,0.00,2.45,0.00,0.000,6,0.000,0.041,2614,2155,3892,0,0,0,0,0,0
$GC,417,-0.69,-107.5,18.8,-6.8,87,423,0.00,2.40,0.00,0.000,4,0.000,0.053,2603,3673,3892,0,0,0,0,0,0
$GC,446,-0.69,-107.5,21.1,-7.8,93,452,0.15,2.33,0.00,0.000,6,0.197,0.035,2638,2139,3892,0,0,0,0,0,0
$GC,522,-0.69,-107.5,26.3,-6.2,109,527,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2139,3892,0,0,0,0,0,0
$GC,597,-0.69,-107.5,31.4,-7.0,125,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2139,3892,0,0,0,0,0,0
$GC,672,-0.69,-107.5,36.6,-6.9,141,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2638,2139,3892,0,0,0,0,0,0
$GC,746,-0.69,-107.5,42.0,-7.4,157,751,0.00,2.38,0.00,0.000,4,0.000,0.045,2638,578,3892,0,0,0,0,0,0
$GC,795,-0.69,-107.5,45.9,-7.9,167,800,0.00,2.42,0.00,0.000,6,0.000,0.041,2628,2159,3892,0,0,0,0,0,0
$GC,938,-0.69,-107.5,56.9,-7.5,198,943,0.00,2.38,0.00,0.000,4,0.000,0.053,2617,3673,3892,0,0,0,0,0,0
$GC,1022,-0.69,-107.5,63.4,-8.0,216,1028,0.00,2.30,0.00,0.000,6,0.000,0.035,2617,2147,3892,0,0,0,0,0,0
$GC,1166,-0.69,-107.5,74.3,-7.4,247,1172,0.00,2.40,0.00,0.000,4,0.000,0.045,2617,571,3892,0,0,0,0,0,0
$GC,1195,-0.69,-107.5,76.6,-7.6,253,1202,0.12,2.42,0.00,0.000,6,0.193,0.040,2634,2160,3892,0,0,0,0,0,0
$GC,1340,-0.69,-107.5,86.1,-6.7,284,1344,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2159,3892,0,0,0,0,0,0
$GC,1484,-0.69,-107.5,95.5,-6.4,315,1489,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2159,3892,0,0,0,0,0,0
$GC,1629,-0.69,-107.5,104.8,-6.3,346,1634,0.00,2.38,0.00,0.000,4,0.000,0.054,2625,3682,3892,0,0,0,0,0,0
$STATE,1657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1657,begin apogee
$GC,1663,-0.19,0.0,107.1,6.8,352,1750,0.55,0.00,80.57,0.585,6,0.156,0.000,2793,2141,3452,0,0,0,0,0,0
$STATE,1751,end apogee,CONTROL_FINISHED_OK
$STATE,1751,begin climb
$GC,1752,0.69,107.5,108.8,0.0,372,1843,0.85,2.53,82.72,0.561,4,0.100,0.044,3090,582,3013,0,0,0,0,0,0
$GC,1867,0.69,107.5,100.1,10.9,398,1872,0.00,2.53,0.00,0.000,6,0.000,0.041,3090,2146,3013,0,0,0,0,0,0
$GC,2011,0.69,107.5,82.9,11.8,429,2017,0.00,2.47,0.00,0.000,4,0.000,0.053,3090,3681,3013,0,0,0,0,0,0
$GC,2063,0.69,107.5,75.9,13.7,440,2069,0.00,2.38,0.00,0.000,6,0.000,0.035,3102,2150,3012,0,0,0,0,0,0
$GC,2207,0.69,107.5,57.9,12.1,471,2212,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,2150,3013,0,0,0,0,0,0
$GC,2353,0.69,107.5,40.9,11.6,502,2358,0.00,2.42,0.00,0.000,4,0.000,0.053,3102,3677,3013,0,0,0,0,0,0
$GC,2372,0.69,107.5,38.2,11.7,506,2378,0.00,2.35,0.00,0.000,6,0.000,0.035,3114,2140,3013,0,0,0,0,0,0
$GC,2448,0.69,107.5,29.0,12.1,522,2453,0.00,2.40,0.00,0.000,4,0.000,0.046,3126,572,3013,0,0,0,0,0,0
$GC,2476,0.69,107.5,25.6,12.3,528,2483,0.15,2.45,0.00,0.000,6,0.193,0.040,3089,2162,3013,0,0,0,0,0,0
$GC,2553,0.69,107.5,16.9,10.7,544,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2162,3012,0,0,0,0,0,0
$GC,2627,0.69,107.5,9.7,9.6,560,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2162,3012,0,0,0,0,0,0
$STATE,2691,end climb,SURFACE_DEPTH_REACHED
$STATE,2691,begin surface coast
$FINISH,3.4,1.019018
$STATE,2744,end surface coast,CONTROL_FINISHED_OK
$STATE,2744,begin surface
$SM_CCo,2758,268.90,0.485,1,0,1007,600.00
$SM_GC,1.20,0.00,0.00,268.90,0.000,0.000,0.485,149,2162,1007,-8.49,0.34,600.00
$IRIDIUM_FIX,4748.51,-12221.84,290499,020229
$TT8_MAMPS,0.026078
$HUMID,32.31
$INTERNAL_PRESSURE,9.22226
$TCM_TEMP,19.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.1,42.0
$24V_AH,24.4,1.246
$10V_AH,10.5,0.489
$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,22.925,52.950,163.300,268.900,0.000,29.279,28.309,198.698,1.500,0.000,16.608,867.642,768.477,566.338,859.538,323.497,33.360,1073.106,0.000,845.737,0.000,8.624,0.000
$DEVICE_MAMPS,295.295,62.894,585.221,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,391.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324588
$DATA_FILE_SIZE,18987,585
$CAP_FILE_SIZE,68410,0
$CFSIZE,260165632,256827392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,042702,4806.279,-12222.260,11,1.4,11,18.3