version: 66.06
glider: 180
mission: 1
dive: 3
start: 2 2 110 20 7 18
data:
$ID,180
$MISSION,1
$DIVE,3
$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,-4886.0508
$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,41
$R_STBD_OVSHOOT,24
$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
$GPS1,195806,4807.682,-12223.486,13,1.6,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-74.6
$GPS2,200625,4807.601,-12223.541,15,1.5,15,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,-0.146
$KALMAN_X,-243.6,-204.9,-196.6,265.5,-187.2
$KALMAN_Y,1.4,24.6,28.1,-488.9,15.0
$MHEAD_RNG_PITCHd_Wd,112.0,1299,-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,-107.5,0.0,0.0,0,125,0.00,0.00,-106.88,0.000,2,0.000,0.000,149,2199,2861,0,0,0,0,0,0
$GC,127,-0.87,-107.5,3.3,-7.2,26,176,12.77,2.47,-28.08,0.000,4,0.307,0.070,2691,651,3884,0,0,0,0,0,0
$GC,426,-0.87,-107.5,31.5,-6.4,91,431,0.00,2.47,0.00,0.000,6,0.000,0.061,2680,2201,3887,0,0,0,0,0,0
$GC,502,-0.87,-107.5,37.8,-9.0,107,507,0.00,2.58,0.00,0.000,4,0.000,0.074,2668,3753,3886,0,0,0,0,0,0
$GC,568,-0.87,-107.5,45.0,-11.7,121,574,0.12,2.38,0.00,0.000,6,0.235,0.042,2694,2200,3887,0,0,0,0,0,0
$GC,713,-0.87,-107.5,59.2,-9.8,152,719,0.00,2.58,0.00,0.000,4,0.000,0.075,2683,3754,3887,0,0,0,0,0,0
$GC,830,-0.87,-107.5,71.8,-11.0,177,836,0.00,2.38,0.00,0.000,6,0.000,0.042,2683,2201,3887,0,0,0,0,0,0
$GC,976,-0.87,-107.5,87.0,-10.7,208,981,0.00,2.58,0.00,0.000,4,0.000,0.074,2671,3756,3887,0,0,0,0,0,0
$GC,1079,-0.87,-107.5,98.4,-10.7,230,1085,0.00,2.38,0.00,0.000,6,0.000,0.041,2671,2199,3887,0,0,0,0,0,0
$STATE,1149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1149,begin apogee
$GC,1153,-0.18,0.0,105.6,9.7,245,1243,0.82,0.00,82.57,0.669,6,0.194,0.000,2906,2197,3443,0,0,0,0,0,0
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1243,begin climb
$GC,1245,0.87,107.5,107.1,0.0,266,1335,1.08,0.00,83.78,0.640,6,0.116,0.000,3253,2198,3005,0,0,0,0,0,0
$GC,1474,0.87,107.5,78.2,15.2,317,1480,0.00,2.55,0.00,0.000,4,0.000,0.060,3252,3757,3004,0,0,0,0,0,0
$GC,1522,0.87,107.5,70.2,17.1,327,1527,0.00,2.42,0.00,0.000,6,0.000,0.038,3262,2196,3004,0,0,0,0,0,0
$GC,1666,0.87,107.5,46.5,16.8,358,1672,0.00,2.53,0.00,0.000,4,0.000,0.059,3258,3766,3004,0,0,0,0,0,0
$GC,1724,0.87,107.5,36.2,18.4,370,1730,0.00,2.40,0.00,0.000,6,0.000,0.038,3268,2197,3004,0,0,0,0,0,0
$GC,1800,0.87,107.5,23.3,16.5,386,1805,0.00,2.50,0.00,0.000,4,0.000,0.058,3268,3760,3004,0,0,0,0,0,0
$GC,1819,0.87,107.5,19.6,18.0,390,1825,0.00,2.38,0.00,0.000,6,0.000,0.038,3280,2199,3004,0,0,0,0,0,0
$GC,1895,0.87,107.5,8.0,11.4,406,1900,0.00,2.42,0.00,0.000,4,0.000,0.058,3291,657,3005,0,0,0,0,0,0
$GC,1924,0.93,158.6,6.0,6.8,412,1972,0.00,2.42,39.15,0.595,6,0.000,0.048,3282,2212,2796,0,0,0,0,0,0
$GC,2041,1.21,386.3,8.9,-4.2,438,2144,0.25,0.00,97.95,0.584,2,0.109,0.000,3372,2211,2281,0,0,0,0,0,0
$STATE,2144,end climb,SURFACE_DEPTH_REACHED
$STATE,2144,begin surface coast
$FINISH,4.9,1.018417
$STATE,2339,end surface coast,CONTROL_FINISHED_OK
$STATE,2339,begin surface
$SM_CCo,2341,218.32,0.560,1,0,420,741.79
$SM_GC,1.15,9.55,0.00,0.00,0.084,0.000,0.000,150,2212,417,-8.82,0.37,742.52
$IRIDIUM_FIX,4748.51,-12219.12,290499,202010
$TT8_MAMPS,0.027612
$HUMID,33.30
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,24.4,0.534
$10V_AH,10.6,1.079
$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,24.600,39.425,303.450,218.325,0.000,50.311,108.679,194.556,2.500,0.000,15.858,675.620,763.680,578.599,743.237,423.893,31.412,1042.795,0.000,729.948,0.000,10.273,0.000
$DEVICE_MAMPS,306.800,75.166,668.824,559.910,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.241,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324544
$DATA_FILE_SIZE,15876,504
$CAP_FILE_SIZE,58244,0
$CFSIZE,260165632,254611456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,205232,4807.405,-12223.381,11,1.8,11,18.3