version: 66.06
glider: 180
mission: 1
dive: 4
start: 2 2 110 20 58 59
data:
$ID,180
$MISSION,1
$DIVE,4
$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,72
$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,-4915.3301
$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,2960
$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,28
$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,1
$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
$GPS1,205232,4807.405,-12223.381,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.7
$GPS2,205806,4807.348,-12223.430,12,1.2,28,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,-0.114
$KALMAN_X,-336.5,-281.6,-246.3,622.4,-162.6
$KALMAN_Y,-96.2,-6.8,13.3,-816.0,-57.5
$MHEAD_RNG_PITCHd_Wd,106.6,836,-14.6,-6.944
$D_GRID,103
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.65,-107.5,0.0,0.0,0,117,0.00,0.00,-98.82,0.000,2,0.000,0.000,150,2213,2727,0,0,0,0,0,0
$GC,120,-0.65,-107.5,3.4,-4.9,24,168,13.20,0.00,-30.38,0.000,6,0.311,0.000,2739,2213,3885,0,0,0,0,0,0
$GC,238,-0.65,-107.5,13.2,-7.5,50,243,0.00,2.47,0.00,0.000,4,0.000,0.055,2739,653,3886,0,0,0,0,0,0
$GC,322,-0.65,-107.5,18.7,-6.4,68,328,0.00,2.47,0.00,0.000,6,0.000,0.057,2730,2202,3887,0,0,0,0,0,0
$GC,399,-0.65,-107.5,23.4,-6.4,84,405,0.00,2.58,0.00,0.000,4,0.000,0.074,2718,3752,3887,0,0,0,0,0,0
$GC,437,-0.65,-107.5,26.3,-7.3,92,443,0.12,2.40,0.00,0.000,6,0.217,0.043,2744,2193,3887,0,0,0,0,0,0
$GC,513,-0.65,-107.5,31.7,-7.0,108,519,0.00,2.42,0.00,0.000,4,0.000,0.056,2745,647,3887,0,0,0,0,0,0
$GC,538,-0.65,-107.5,33.5,-7.1,113,543,0.00,2.47,0.00,0.000,6,0.000,0.059,2737,2198,3887,0,0,0,0,0,0
$GC,613,-0.65,-107.5,39.1,-7.3,129,619,0.00,2.58,0.00,0.000,4,0.000,0.075,2725,3754,3887,0,0,0,0,0,0
$GC,730,-0.65,-107.5,48.9,-8.3,154,736,0.00,2.35,0.00,0.000,6,0.000,0.042,2725,2201,3887,0,0,0,0,0,0
$GC,876,-0.65,-107.5,60.8,-8.5,185,881,0.00,2.55,0.00,0.000,4,0.000,0.074,2713,3759,3887,0,0,0,0,0,0
$GC,965,-0.65,-107.5,69.1,-9.4,204,971,0.15,2.40,0.00,0.000,6,0.209,0.042,2748,2186,3887,0,0,0,0,0,0
$GC,1111,-0.65,-107.5,79.9,-6.9,235,1117,0.00,2.60,0.00,0.000,4,0.000,0.075,2738,3760,3887,0,0,0,0,0,0
$GC,1236,-0.65,-107.5,89.5,-7.6,262,1242,0.00,2.38,0.00,0.000,6,0.000,0.041,2738,2201,3887,0,0,0,0,0,0
$GC,1380,-0.65,-107.5,99.4,-6.7,293,1386,0.00,2.58,0.00,0.000,4,0.000,0.075,2726,3762,3887,0,0,0,0,0,0
$STATE,1432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1432,begin apogee
$GC,1439,-0.18,0.0,103.2,7.5,304,1525,0.57,0.00,82.25,0.664,6,0.184,0.000,2892,2188,3444,0,0,0,0,0,0
$STATE,1526,end apogee,CONTROL_FINISHED_OK
$STATE,1526,begin climb
$GC,1527,0.65,107.5,104.9,0.0,324,1623,0.85,2.60,83.62,0.635,4,0.128,0.055,3172,660,3005,0,0,0,0,0,0
$GC,1637,0.65,107.5,97.2,9.6,349,1643,0.00,2.53,0.00,0.000,6,0.000,0.050,3168,2207,3005,0,0,0,0,0,0
$GC,1781,0.65,107.5,81.7,10.9,380,1786,0.00,2.55,0.00,0.000,4,0.000,0.061,3157,3762,3005,0,0,0,0,0,0
$GC,1828,0.65,107.5,76.0,12.2,390,1834,0.00,2.42,0.00,0.000,6,0.000,0.038,3167,2194,3004,0,0,0,0,0,0
$GC,1972,0.65,107.5,59.8,11.4,421,1978,0.00,2.53,0.00,0.000,4,0.000,0.059,3161,3755,3005,0,0,0,0,0,0
$GC,2029,0.65,107.5,52.7,12.6,433,2035,0.00,2.38,0.00,0.000,6,0.000,0.037,3172,2198,3005,0,0,0,0,0,0
$GC,2173,0.65,107.5,36.9,10.7,464,2179,0.00,2.50,0.00,0.000,4,0.000,0.058,3161,3757,3005,0,0,0,0,0,0
$GC,2239,0.65,107.5,29.6,11.3,478,2245,0.00,2.38,0.00,0.000,6,0.000,0.036,3172,2193,3005,0,0,0,0,0,0
$GC,2315,0.65,107.5,22.1,9.8,494,2319,0.00,0.00,0.00,0.000,6,0.000,0.000,3172,2191,3005,0,0,0,0,0,0
$GC,2389,0.65,107.5,14.9,9.6,510,2395,0.00,2.50,0.00,0.000,4,0.000,0.058,3162,3757,3005,0,0,0,0,0,0
$GC,2414,0.65,107.5,12.7,9.1,515,2419,0.00,2.38,0.00,0.000,6,0.000,0.036,3172,2188,3005,0,0,0,0,0,0
$GC,2489,0.77,200.4,9.0,2.9,531,2568,0.10,2.62,70.30,0.595,4,0.145,0.059,3195,3756,2625,0,0,0,0,0,0
$GC,2833,0.97,368.6,5.0,-0.4,606,2937,0.20,2.38,96.47,0.583,2,0.106,0.035,3275,2205,2119,0,0,0,0,0,0
$STATE,2937,end climb,SURFACE_DEPTH_REACHED
$STATE,2937,begin surface coast
$FINISH,2.3,1.016707
$STATE,3103,end surface coast,CONTROL_FINISHED_OK
$STATE,3103,begin surface
$SM_CCo,3119,95.57,0.071,0,0,1201,550.21
$SM_GC,1.41,0.00,0.00,95.57,0.000,0.000,0.071,147,2205,1201,-8.79,0.14,550.21
$IRIDIUM_FIX,4751.72,-12223.57,290499,202054
$TT8_MAMPS,0.027612
$HUMID,32.71
$INTERNAL_PRESSURE,9.12643
$TCM_TEMP,19.10
$XPDR_PINGS,4
$24V_AH,24.4,0.609
$10V_AH,10.6,1.113
$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,24.750,64.425,332.650,95.575,0.000,25.874,26.151,183.746,2.250,0.000,28.650,922.054,840.196,495.086,987.535,319.619,32.329,1082.111,0.000,959.204,0.000,8.733,0.000
$DEVICE_MAMPS,310.635,75.166,664.222,71.331,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,442.094,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324536
$DATA_FILE_SIZE,22122,666
$CAP_FILE_SIZE,72966,0
$CFSIZE,260165632,254558208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,020210,215336,4807.164,-12223.197,13,1.2,29,18.3