version: 66.06
glider: 180
mission: 1
dive: 2
start: 2 2 110 19 12 57
data:
$ID,180
$MISSION,1
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,500
$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,50
$T_MISSION,85
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,550
$N_FILEKB,4
$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,-4869.5635
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,146
$PITCH_MAX,3955
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,232
$ROLL_MAX,3814
$ROLL_DEG,44
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,420
$VBD_MAX,3960
$C_VBD,3444
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-45.04306
$PRESSURE_SLOPE,0.0001165946
$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,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.3
$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,0.0043584961
$SEABIRD_T_H,0.00063068554
$SEABIRD_T_I,2.4926299e-05
$SEABIRD_T_J,2.7191541e-06
$SEABIRD_C_G,-10.279253
$SEABIRD_C_H,1.1573142
$SEABIRD_C_I,-0.0015083726
$SEABIRD_C_J,0.00020789768
$GPS1,190537,4807.847,-12223.464,7,2.0,12,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-75.9
$GPS2,191206,4807.872,-12223.585,17,1.2,27,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.165,-0.154
$KALMAN_X,-115.0,-115.0,-115.0,-78.0,-269.3
$KALMAN_Y,63.2,63.2,63.2,-136.4,147.9
$MHEAD_RNG_PITCHd_Wd,114.6,1769,-20.6,-10.000
$D_GRID,105
$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,-0.87,-107.5,0.0,0.0,0,134,0.00,0.00,-115.12,0.000,2,0.000,0.000,149,2205,3034,0,0,0,0,0,0
$GC,136,-0.87,-107.5,3.2,-6.1,28,180,12.32,2.47,-24.70,0.000,4,0.299,0.071,2691,648,3884,0,0,0,0,0,0
$GC,200,-0.87,-107.5,6.5,-4.2,42,206,0.00,2.50,0.00,0.000,6,0.000,0.060,2681,2201,3884,0,0,0,0,0,0
$GC,276,-0.87,-107.5,12.0,-8.0,58,282,0.00,2.58,0.00,0.000,4,0.000,0.077,2669,3753,3885,0,0,0,0,0,0
$GC,329,-0.87,-107.5,16.7,-9.0,69,335,0.12,2.40,0.00,0.000,6,0.231,0.044,2694,2198,3886,0,0,0,0,0,0
$GC,405,-0.87,-107.5,22.6,-7.2,85,410,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2198,3886,0,0,0,0,0,0
$GC,480,-0.87,-107.5,28.6,-7.8,101,486,0.00,2.42,0.00,0.000,4,0.000,0.058,2694,655,3886,0,0,0,0,0,0
$GC,505,-0.87,-107.5,30.8,-9.1,106,510,0.00,2.47,0.00,0.000,6,0.000,0.060,2684,2201,3886,0,0,0,0,0,0
$GC,581,-0.87,-107.5,37.6,-9.0,122,586,0.00,2.58,0.00,0.000,4,0.000,0.077,2672,3753,3886,0,0,0,0,0,0
$GC,615,-0.87,-107.5,41.0,-10.2,129,620,0.00,2.38,0.00,0.000,6,0.000,0.043,2672,2194,3886,0,0,0,0,0,0
$GC,759,-0.87,-107.5,55.9,-10.0,160,764,0.00,2.58,0.00,0.000,4,0.000,0.077,2660,3752,3886,0,0,0,0,0,0
$GC,857,-0.87,-107.5,67.4,-12.4,181,863,0.15,2.38,0.00,0.000,6,0.219,0.049,2693,2186,3887,0,0,0,0,0,0
$GC,1001,-0.87,-107.5,81.4,-8.9,212,1007,0.00,2.60,0.00,0.000,4,0.000,0.075,2683,3756,3886,0,0,0,0,0,0
$GC,1114,-0.87,-107.5,92.9,-10.6,236,1120,0.00,2.38,0.00,0.000,6,0.000,0.042,2683,2199,3887,0,0,0,0,0,0
$STATE,1246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1246,begin apogee
$GC,1250,-0.18,0.0,105.2,9.6,264,1340,0.80,0.00,82.12,0.670,6,0.192,0.000,2912,2198,3444,0,0,0,0,0,0
$STATE,1341,end apogee,CONTROL_FINISHED_OK
$STATE,1341,begin climb
$GC,1342,0.87,107.5,106.7,0.0,285,1437,1.05,2.60,83.95,0.641,4,0.107,0.056,3267,668,3005,0,0,0,0,0,0
$GC,1488,0.87,107.5,90.6,15.0,318,1494,0.00,2.50,0.00,0.000,6,0.000,0.051,3263,2204,3004,0,0,0,0,0,0
$GC,1632,0.87,107.5,69.4,15.3,349,1638,0.00,2.53,0.00,0.000,4,0.000,0.061,3257,3763,3005,0,0,0,0,0,0
$GC,1702,0.87,107.5,56.4,19.7,364,1708,0.00,2.42,0.00,0.000,6,0.000,0.038,3267,2193,3004,0,0,0,0,0,0
$GC,1848,0.87,107.5,32.0,15.3,395,1853,0.00,2.53,0.00,0.000,4,0.000,0.060,3267,3756,3005,0,0,0,0,0,0
$GC,1905,0.87,107.5,22.9,15.7,407,1910,0.00,2.38,0.00,0.000,6,0.000,0.038,3279,2200,3005,0,0,0,0,0,0
$GC,1980,0.87,107.5,11.9,14.5,423,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,3279,2199,3005,0,0,0,0,0,0
$GC,2055,1.08,275.7,6.4,-0.5,439,2170,0.15,0.00,111.47,0.588,2,0.122,0.000,3331,2199,2410,0,0,0,0,0,0
$STATE,2171,end climb,SURFACE_DEPTH_REACHED
$STATE,2171,begin surface coast
$FINISH,10.4,1.019625
$STATE,2245,end surface coast,CONTROL_FINISHED_OK
$STATE,2245,begin surface
$SM_CCo,2248,264.02,0.547,6,0,420,741.79
$SM_GC,1.18,9.35,0.00,0.00,0.080,0.000,0.000,150,2199,417,-8.82,-0.03,742.52
$IRIDIUM_FIX,4751.72,-12220.85,290499,191900
$TT8_MAMPS,0.027612
$HUMID,33.50
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.20
$XPDR_PINGS,32
$24V_AH,24.4,0.427
$10V_AH,10.6,1.049
$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,23.950,44.675,277.550,264.025,0.000,0.000,0.000,0.000,9.500,0.000,27.896,657.336,662.410,644.212,725.785,40.877,30.182,1098.912,0.000,699.790,0.000,10.276,0.000
$DEVICE_MAMPS,299.130,77.467,669.591,546.871,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,317.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,15851,482
$CAP_FILE_SIZE,65346,0
$CFSIZE,260165632,254640128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0
$GPS,020210,195806,4807.682,-12223.486,13,1.6,29,18.3