version: 66.07
glider: 179
mission: 2
dive: 5
start: 9 30 110 19 18 29
data:
$ID,179
$MISSION,2
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$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,0
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51749
$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,24.688
$TGT_DEFAULT_LON,-77.613998
$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,-13065.543
$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,2937
$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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$VBD_MAX,3960
$C_VBD,2312
$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,-38.225636
$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,120
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$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
$LOGGERDEVICE1,69
$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,0.0043333764
$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
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,300910,190838,4742.754,-12225.343,14,2.0,14,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.8
$GPS2,300910,191732,4742.718,-12225.369,14,1.5,14,18.2
$SPEED_LIMITS,0.140,0.241
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.110,0.214
$KALMAN_X,-469.6,-279.9,-138.1,554.8,-221.2
$KALMAN_Y,-783.4,-933.7,-727.1,2342.4,-199.6
$MHEAD_RNG_PITCHd_Wd,9.1,1519,-14.2,-8.065
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-146.0,0.0,0.0,0,84,0.00,0.00,-67.62,0.000,6,0.000,0.000,137,2011,2908,0,0,0,0,0,0
$GC,86,-0.72,-146.0,2.6,-2.8,12,105,11.52,2.33,0.00,0.000,4,0.261,0.040,2695,510,2910,0,0,0,0,0,0
$GC,128,-0.72,-146.0,12.2,-21.2,19,135,0.00,2.47,0.00,0.000,6,0.000,0.041,2686,2096,2911,0,0,0,0,0,0
$GC,236,-0.72,-146.0,23.2,-10.1,38,243,0.00,2.50,0.00,0.000,4,0.000,0.057,2674,3674,2912,0,0,0,0,0,0
$GC,288,-0.72,-146.0,28.7,-10.8,47,295,0.00,2.42,0.00,0.000,6,0.000,0.037,2674,2093,2912,0,0,0,0,0,0
$GC,396,-0.72,-146.0,41.1,-12.4,66,403,0.00,2.53,0.00,0.000,4,0.000,0.057,2661,3680,2912,0,0,0,0,0,0
$GC,437,-0.72,-146.0,46.0,-12.3,73,444,0.15,2.40,0.00,0.000,6,0.154,0.037,2701,2095,2912,0,0,0,0,0,0
$GC,545,-0.72,-146.0,56.6,-8.8,92,552,0.00,2.50,0.00,0.000,4,0.000,0.057,2691,3675,2912,0,0,0,0,0,0
$GC,575,-0.72,-146.0,59.5,-9.3,97,582,0.00,2.38,0.00,0.000,6,0.000,0.037,2691,2095,2912,0,0,0,0,0,0
$GC,683,-0.72,-146.0,70.3,-10.0,116,690,0.00,2.40,0.00,0.000,4,0.000,0.044,2692,526,2912,0,0,0,0,0,0
$GC,813,-0.72,-146.0,82.1,-8.5,139,820,0.00,2.42,0.00,0.000,6,0.000,0.041,2680,2103,2912,0,0,0,0,0,0
$GC,922,-0.72,-146.0,92.5,-9.5,158,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2103,2912,0,0,0,0,0,0
$GC,1029,-0.72,-146.0,102.1,-8.6,177,1035,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2103,2912,0,0,0,0,0,0
$GC,1136,-0.72,-146.0,111.1,-9.4,196,1142,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2103,2912,0,0,0,0,0,0
$GC,1243,-0.72,-146.0,119.7,-8.8,215,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2103,2912,0,0,0,0,0,0
$GC,1353,-0.72,-146.0,130.5,-10.4,234,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2103,2912,0,0,0,0,0,0
$GC,1464,-0.72,-146.0,144.3,-13.7,253,1471,0.00,2.38,0.00,0.000,4,0.000,0.042,2680,532,2912,0,0,0,0,0,0
$GC,1488,-0.72,-146.0,147.7,-14.1,257,1495,0.12,2.40,0.00,0.000,6,0.157,0.041,2702,2112,2912,0,0,0,0,0,0
$STATE,1506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1506,begin apogee
$GC,1509,-0.19,0.0,150.2,13.5,260,1634,0.50,0.00,116.53,0.601,6,0.116,0.000,2868,2112,2310,0,0,0,0,0,0
$STATE,1635,end apogee,CONTROL_FINISHED_OK
$STATE,1635,begin climb
$GC,1636,0.72,146.0,153.7,0.0,282,1768,0.85,2.70,118.78,0.581,4,0.078,0.044,3176,484,1715,0,0,0,0,0,0
$GC,1819,0.72,146.0,130.9,15.8,314,1825,0.00,2.47,0.00,0.000,6,0.000,0.037,3176,2061,1712,0,0,0,0,0,0
$GC,1927,0.72,146.0,113.5,14.9,333,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2062,1710,0,0,0,0,0,0
$GC,2034,0.72,146.0,97.4,14.4,352,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2061,1710,0,0,0,0,0,0
$GC,2141,0.72,146.0,82.8,13.4,371,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2061,1710,0,0,0,0,0,0
$GC,2249,0.72,146.0,68.0,13.6,390,2255,0.00,2.42,0.00,0.000,4,0.000,0.045,3187,481,1710,0,0,0,0,0,0
$GC,2284,0.72,146.0,63.3,13.1,396,2290,0.00,2.40,0.00,0.000,6,0.000,0.037,3187,2059,1709,0,0,0,0,0,0
$GC,2392,0.72,146.0,49.6,12.8,415,2398,0.00,2.42,0.00,0.000,4,0.000,0.044,3199,479,1709,0,0,0,0,0,0
$GC,2410,0.72,146.0,47.2,12.9,418,2416,0.00,2.40,0.00,0.000,6,0.000,0.037,3199,2058,1709,0,0,0,0,0,0
$GC,2518,0.72,146.0,32.9,13.3,437,2525,0.00,2.45,0.00,0.000,4,0.000,0.050,3199,3631,1709,0,0,0,0,0,0
$GC,2553,0.72,146.0,27.5,15.3,443,2560,0.15,2.40,0.00,0.000,6,0.172,0.035,3174,2058,1709,0,0,0,0,0,0
$GC,2662,0.72,146.0,13.7,11.6,462,2668,0.00,2.47,0.00,0.000,4,0.000,0.050,3174,3631,1709,0,0,0,0,0,0
$GC,2725,0.72,146.0,5.0,14.4,473,2732,0.00,2.40,0.00,0.000,6,0.000,0.034,3184,2051,1709,0,0,0,0,0,0
$STATE,2742,end climb,SURFACE_DEPTH_REACHED
$STATE,2742,begin surface coast
$FINISH,0.4,1.022118
$STATE,2760,end surface coast,CONTROL_FINISHED_OK
$STATE,2760,begin surface
$SM_CCo,2775,59.28,0.063,0,0,1291,250.21
$SM_GC,1.29,0.00,0.00,59.28,0.000,0.000,0.063,138,2113,1291,-8.75,0.34,250.21
$IRIDIUM_FIX,4729.30,-12212.55,250312,131334
$TT8_MAMPS,0.026215
$HUMID,1078832893
$INTERNAL_PRESSURE,9.066
$TCM_TEMP,20.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,140.2,64.0
$24V_AH,24.2,10.942
$10V_AH,10.4,12.610
$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,21.425,53.750,235.300,59.275,0.000,57.103,66.872,267.445,2.500,0.000,15.844,1023.676,763.834,426.564,1115.625,57.380,33.324,859.221,0.000,695.592,0.000,17.779,0.000
$DEVICE_MAMPS,260.865,107.865,601.290,63.495,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,319.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354992
$DATA_FILE_SIZE,13473,479
$CAP_FILE_SIZE,65860,0
$CFSIZE,260165632,257060864
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300910,200655,4743.084,-12225.226,21,1.5,38,18.2