version: 66.06
glider: 180
mission: 1
dive: 5
start: 2 2 110 22 0 20
data:
$ID,180
$MISSION,1
$DIVE,5
$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,580
$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,-4929.0645
$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,26
$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,40
$R_STBD_OVSHOOT,23
$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,6
$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
$GPS1,215336,4807.164,-12223.197,13,1.2,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.9
$GPS2,215925,4807.104,-12223.268,13,1.4,13,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.139,-0.021
$KALMAN_X,-497.7,-390.0,-250.8,1098.3,-83.4
$KALMAN_Y,-203.2,-17.6,18.9,-1159.8,-130.3
$MHEAD_RNG_PITCHd_Wd,80.4,383,-22.6,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.93,-49.8,0.0,0.0,0,92,0.00,0.00,-74.50,0.000,2,0.000,0.000,147,2205,2895,0,0,0,0,0,0
$GC,94,-0.96,-72.8,3.4,-4.8,18,135,12.90,2.55,-22.17,0.000,4,0.314,0.081,2630,3756,3742,0,0,0,0,0,0
$GC,382,-0.96,-72.8,28.6,-7.7,80,388,0.00,2.40,0.00,0.000,6,0.000,0.039,2638,2187,3744,0,0,0,0,0,0
$GC,457,-0.96,-72.8,35.8,-9.6,96,463,0.00,2.58,0.00,0.000,4,0.000,0.071,2627,3757,3744,0,0,0,0,0,0
$GC,500,-0.96,-72.8,40.9,-12.0,105,506,0.00,2.38,0.00,0.000,6,0.000,0.040,2627,2203,3744,0,0,0,0,0,0
$GC,646,-0.96,-72.8,56.4,-10.8,136,651,0.00,2.55,0.00,0.000,4,0.000,0.071,2618,3752,3744,0,0,0,0,0,0
$GC,707,-0.96,-72.8,64.0,-12.3,149,713,0.12,2.38,0.00,0.000,6,0.239,0.040,2647,2193,3744,0,0,0,0,0,0
$GC,852,-0.96,-72.8,78.5,-9.9,180,858,0.00,2.53,0.00,0.000,4,0.000,0.073,2636,3753,3744,0,0,0,0,0,0
$GC,914,-0.96,-72.8,85.1,-10.9,193,920,0.00,2.38,0.00,0.000,6,0.000,0.040,2636,2196,3744,0,0,0,0,0,0
$GC,1058,-0.96,-72.8,99.7,-10.0,224,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2194,3744,0,0,0,0,0,0
$STATE,1087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1088,begin apogee
$GC,1091,-0.19,0.0,103.0,10.4,230,1152,0.93,0.00,56.05,0.667,6,0.212,0.000,2887,2194,3444,0,0,0,0,0,0
$STATE,1153,end apogee,CONTROL_FINISHED_OK
$STATE,1153,begin climb
$GC,1154,0.96,72.8,104.6,0.0,244,1219,1.17,2.53,57.22,0.640,4,0.125,0.051,3273,663,3146,0,0,0,0,0,0
$GC,1253,0.96,72.8,95.8,11.7,266,1258,0.00,2.53,0.00,0.000,6,0.000,0.048,3269,2211,3146,0,0,0,0,0,0
$GC,1398,0.96,72.8,75.9,13.8,297,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2211,3146,0,0,0,0,0,0
$GC,1543,0.96,72.8,56.8,13.0,328,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2211,3146,0,0,0,0,0,0
$GC,1688,0.96,72.8,39.1,12.0,359,1693,0.00,2.50,0.00,0.000,4,0.000,0.058,3257,3766,3146,0,0,0,0,0,0
$GC,1745,0.96,72.8,31.9,12.4,371,1750,0.00,2.40,0.00,0.000,6,0.000,0.038,3268,2189,3146,0,0,0,0,0,0
$GC,1820,0.96,72.8,23.3,11.5,387,1825,0.00,2.50,0.00,0.000,4,0.000,0.058,3258,3765,3146,0,0,0,0,0,0
$GC,1868,0.96,72.8,17.4,12.6,397,1873,0.00,2.38,0.00,0.000,6,0.000,0.037,3267,2201,3146,0,0,0,0,0,0
$GC,1944,0.96,74.1,11.6,6.8,413,1949,0.00,2.40,0.00,0.000,4,0.000,0.053,3279,653,3146,0,0,0,0,0,0
$GC,2213,1.04,140.4,11.0,0.7,471,2269,0.00,2.40,51.22,0.603,6,0.000,0.047,3269,2207,2871,0,0,0,0,0,0
$GC,2340,1.14,215.9,9.0,-0.1,499,2405,0.17,2.55,58.58,0.587,4,0.133,0.051,3334,650,2562,0,0,0,0,0,0
$GC,2411,1.20,270.2,7.3,1.9,515,2463,0.00,2.53,43.58,0.570,6,0.000,0.045,3325,2198,2341,0,0,0,0,0,0
$GC,2533,1.30,350.0,5.5,-0.5,542,2590,0.17,0.00,54.03,0.572,2,0.115,0.000,3380,2198,2061,0,0,0,0,0,0
$STATE,2591,end climb,SURFACE_DEPTH_REACHED
$STATE,2591,begin surface coast
$FINISH,0.5,1.016161
$STATE,2725,end surface coast,CONTROL_FINISHED_OK
$STATE,2725,begin surface
$SM_CCo,2741,100.32,0.070,0,0,1079,580.13
$SM_GC,1.09,0.00,0.00,100.32,0.000,0.000,0.070,147,2200,1079,-8.79,0.00,580.13
$IRIDIUM_FIX,4748.51,-12221.84,290499,212135
$TT8_MAMPS,0.027612
$HUMID,32.75
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.00
$XPDR_PINGS,6
$24V_AH,24.4,0.683
$10V_AH,10.6,1.144
$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,25.525,44.425,320.675,100.325,0.000,22.458,27.753,210.218,2.750,0.000,13.105,812.294,743.853,453.926,856.537,336.760,33.315,969.757,0.000,843.055,0.000,8.731,0.000
$DEVICE_MAMPS,313.703,80.535,667.290,69.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,387.628,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324560
$DATA_FILE_SIZE,19034,584
$CAP_FILE_SIZE,64393,0
$CFSIZE,260165632,254533632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,224826,4806.970,-12223.074,11,1.8,11,18.3