version: 66.06
glider: 179
mission: 1
dive: 11
start: 2 2 110 4 33 44
data:
$ID,179
$MISSION,1
$DIVE,11
$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,-7069.4414
$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,36
$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
$GPS1,042702,4806.279,-12222.260,11,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-74.3
$GPS2,043249,4806.309,-12222.286,10,1.2,15,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.104,-0.171
$KALMAN_X,-750.2,-78.4,-46.3,1959.3,-86.9
$KALMAN_Y,413.2,7.5,84.6,-2450.3,148.1
$MHEAD_RNG_PITCHd_Wd,130.3,672,-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,-107.5,0.0,0.0,0,97,0.00,0.00,-79.05,0.000,2,0.000,0.000,148,2162,2947,0,0,0,0,0,0
$GC,99,-0.69,-107.5,3.0,-3.5,19,152,12.45,2.42,-33.03,0.000,4,0.298,0.066,2624,3671,3892,0,0,0,0,0,0
$GC,180,-0.69,-107.5,5.8,-6.1,37,186,0.00,2.35,0.00,0.000,6,0.000,0.035,2624,2139,3893,0,0,0,0,0,0
$GC,256,-0.69,-107.5,10.0,-5.1,53,262,0.00,2.42,0.00,0.000,4,0.000,0.044,2623,576,3893,0,0,0,0,0,0
$GC,346,-0.69,-107.5,15.8,-7.1,72,352,0.00,2.45,0.00,0.000,6,0.000,0.040,2612,2161,3893,0,0,0,0,0,0
$GC,422,-0.69,-107.5,21.6,-7.2,88,427,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2161,3893,0,0,0,0,0,0
$GC,496,-0.69,-107.5,27.0,-7.3,104,501,0.10,0.00,0.00,0.000,6,0.202,0.000,2634,2161,3893,0,0,0,0,0,0
$GC,571,-0.69,-107.5,32.1,-6.7,120,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,2161,3893,0,0,0,0,0,0
$GC,647,-0.69,-107.5,37.4,-7.2,136,652,0.00,2.45,0.00,0.000,4,0.000,0.044,2634,571,3893,0,0,0,0,0,0
$GC,677,-0.69,-107.5,39.6,-7.4,142,683,0.00,2.42,0.00,0.000,6,0.000,0.039,2624,2155,3893,0,0,0,0,0,0
$GC,752,-0.69,-107.5,45.6,-7.9,158,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2624,2155,3893,0,0,0,0,0,0
$GC,896,-0.69,-107.5,56.7,-7.8,189,902,0.00,2.38,0.00,0.000,4,0.000,0.053,2612,3669,3893,0,0,0,0,0,0
$GC,957,-0.69,-107.5,61.8,-8.4,202,963,0.00,2.30,0.00,0.000,6,0.000,0.035,2613,2146,3894,0,0,0,0,0,0
$GC,1104,-0.69,-107.5,73.2,-8.0,233,1109,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,2145,3893,0,0,0,0,0,0
$GC,1249,-0.69,-107.5,84.5,-7.6,264,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2145,3893,0,0,0,0,0,0
$GC,1392,-0.69,-107.5,95.2,-7.3,295,1398,0.00,2.40,0.00,0.000,4,0.000,0.053,2601,3675,3893,0,0,0,0,0,0
$GC,1440,-0.69,-107.5,99.0,-7.9,305,1446,0.15,2.30,0.00,0.000,6,0.186,0.036,2637,2147,3893,0,0,0,0,0,0
$STATE,1566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1566,begin apogee
$GC,1570,-0.19,0.0,107.1,6.0,332,1656,0.50,0.00,80.60,0.581,6,0.150,0.000,2795,2146,3453,0,0,0,0,0,0
$STATE,1657,end apogee,CONTROL_FINISHED_OK
$STATE,1657,begin climb
$GC,1658,0.69,107.5,108.0,0.0,352,1748,0.85,0.00,82.70,0.557,6,0.100,0.000,3081,2145,3013,0,0,0,0,0,0
$GC,1888,0.69,107.5,85.6,11.4,403,1893,0.00,2.47,0.00,0.000,4,0.000,0.054,3080,3667,3013,0,0,0,0,0,0
$GC,1940,0.69,107.5,79.0,13.0,414,1945,0.00,2.35,0.00,0.000,6,0.000,0.035,3092,2158,3013,0,0,0,0,0,0
$GC,2084,0.69,107.5,61.9,11.5,445,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2157,3013,0,0,0,0,0,0
$GC,2228,0.69,107.5,45.6,10.9,476,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2157,3013,0,0,0,0,0,0
$GC,2373,0.69,107.5,29.4,11.6,507,2379,0.00,2.45,0.00,0.000,4,0.000,0.046,3104,570,3013,0,0,0,0,0,0
$GC,2393,0.69,107.5,26.9,11.4,511,2399,0.00,2.42,0.00,0.000,6,0.000,0.040,3104,2144,3013,0,0,0,0,0,0
$GC,2468,0.69,107.5,18.1,11.8,527,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,3104,2144,3013,0,0,0,0,0,0
$GC,2543,0.69,107.5,9.8,10.7,543,2548,0.00,2.42,0.00,0.000,4,0.000,0.053,3104,3683,3013,0,0,0,0,0,0
$GC,2577,0.69,107.5,6.1,10.8,550,2582,0.00,2.35,0.00,0.000,6,0.000,0.035,3116,2141,3013,0,0,0,0,0,0
$STATE,2600,end climb,SURFACE_DEPTH_REACHED
$STATE,2600,begin surface coast
$FINISH,3.3,1.019179
$STATE,2643,end surface coast,CONTROL_FINISHED_OK
$STATE,2643,begin surface
$SM_CCo,2657,266.38,0.482,1,0,1007,600.00
$SM_GC,1.20,0.00,0.00,266.38,0.000,0.000,0.482,153,2139,1007,-8.48,-0.31,600.00
$IRIDIUM_FIX,4748.51,-12224.57,290499,030312
$TT8_MAMPS,0.026078
$HUMID,32.16
$INTERNAL_PRESSURE,9.22226
$TCM_TEMP,19.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,100.2,15.5
$24V_AH,24.4,1.324
$10V_AH,9.7,0.520
$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,23.000,38.375,163.300,266.375,0.000,30.340,34.238,203.599,2.500,0.000,15.123,835.033,751.871,542.208,829.484,333.772,33.348,1025.293,0.000,815.485,0.000,14.526,0.000
$DEVICE_MAMPS,298.363,65.962,581.386,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,377.524,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324544
$DATA_FILE_SIZE,18978,564
$CAP_FILE_SIZE,63545,0
$CFSIZE,260165632,256798720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,052336,4806.065,-12222.033,20,1.0,30,18.3