version: 66.06
glider: 180
mission: 1
dive: 7
start: 2 2 110 23 55 40
data:
$ID,180
$MISSION,1
$DIVE,7
$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,-5005.0952
$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
$GPS1,234214,4806.778,-12222.979,11,1.5,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-76.5
$GPS2,235446,4806.752,-12223.025,22,3.0,41,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.164,-0.114
$KALMAN_X,-1056.1,-525.2,-99.8,1942.8,-105.4
$KALMAN_Y,-355.3,-57.1,-23.9,-1579.4,-84.5
$MHEAD_RNG_PITCHd_Wd,106.3,1884,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-107.5,0.0,0.0,0,109,0.00,0.00,-91.12,0.000,2,0.000,0.000,147,2204,3133,0,0,0,0,0,0
$GC,112,-0.69,-107.5,3.6,-5.7,22,148,13.35,2.45,-15.75,0.000,4,0.315,0.067,2723,659,3885,0,0,0,0,0,0
$GC,412,-0.69,-107.5,30.5,-7.8,87,418,0.00,2.45,0.00,0.000,6,0.000,0.054,2714,2199,3887,0,0,0,0,0,0
$GC,488,-0.69,-107.5,36.2,-7.2,103,492,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2199,3887,0,0,0,0,0,0
$GC,561,-0.69,-107.5,42.1,-7.9,119,567,0.00,2.58,0.00,0.000,4,0.000,0.073,2701,3757,3887,0,0,0,0,0,0
$GC,600,-0.69,-107.5,45.5,-9.0,127,606,0.12,2.40,0.00,0.000,6,0.225,0.041,2728,2184,3887,0,0,0,0,0,0
$GC,745,-0.69,-107.5,56.7,-7.2,158,751,0.00,2.60,0.00,0.000,4,0.000,0.074,2718,3754,3887,0,0,0,0,0,0
$GC,862,-0.69,-107.5,66.7,-8.6,183,868,0.00,2.38,0.00,0.000,6,0.000,0.040,2719,2191,3887,0,0,0,0,0,0
$GC,1008,-0.69,-107.5,77.9,-7.4,214,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2190,3887,0,0,0,0,0,0
$GC,1150,-0.69,-107.5,88.4,-7.4,245,1155,0.00,2.58,0.00,0.000,4,0.000,0.073,2706,3757,3887,0,0,0,0,0,0
$GC,1262,-0.69,-107.5,98.0,-8.5,269,1268,0.12,2.38,0.00,0.000,6,0.222,0.041,2733,2184,3887,0,0,0,0,0,0
$STATE,1337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1337,begin apogee
$GC,1341,-0.19,0.0,103.2,6.6,285,1428,0.52,0.00,82.32,0.667,6,0.180,0.000,2889,2184,3444,0,0,0,0,0,0
$STATE,1429,end apogee,CONTROL_FINISHED_OK
$STATE,1429,begin climb
$GC,1430,0.69,107.5,104.4,0.0,305,1525,0.90,2.72,83.93,0.637,4,0.127,0.059,3163,3759,3005,0,0,0,0,0,0
$GC,1539,0.69,107.5,95.8,10.6,330,1545,0.00,2.47,0.00,0.000,6,0.000,0.036,3173,2207,3004,0,0,0,0,0,0
$GC,1684,0.69,107.5,78.9,11.4,361,1690,0.00,2.53,0.00,0.000,4,0.000,0.058,3163,3759,3004,0,0,0,0,0,0
$GC,1731,0.69,107.5,73.0,12.9,371,1737,0.00,2.42,0.00,0.000,6,0.000,0.036,3173,2187,3004,0,0,0,0,0,0
$GC,1875,0.69,107.5,56.9,10.8,402,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2186,3004,0,0,0,0,0,0
$GC,2020,0.69,107.5,42.1,10.0,433,2025,0.00,2.53,0.00,0.000,4,0.000,0.058,3163,3766,3004,0,0,0,0,0,0
$GC,2110,0.69,107.5,31.5,11.9,452,2116,0.00,2.40,0.00,0.000,6,0.000,0.036,3173,2187,3004,0,0,0,0,0,0
$GC,2186,0.69,107.5,23.2,10.3,468,2191,0.00,2.40,0.00,0.000,4,0.000,0.053,3185,659,3004,0,0,0,0,0,0
$GC,2224,0.69,107.5,19.4,10.2,476,2230,0.00,2.42,0.00,0.000,6,0.000,0.047,3175,2213,3004,0,0,0,0,0,0
$GC,2300,0.69,107.5,12.9,7.8,492,2305,0.00,2.45,0.00,0.000,4,0.000,0.051,3185,653,3004,0,0,0,0,0,0
$GC,2329,0.69,107.5,10.8,7.0,498,2334,0.00,2.40,0.00,0.000,6,0.000,0.047,3175,2211,3004,0,0,0,0,0,0
$GC,2405,0.86,243.4,8.5,1.0,514,2517,0.17,2.55,103.40,0.596,4,0.121,0.061,3234,3757,2451,0,0,0,0,0,0
$STATE,2659,end climb,NO_VERTICAL_VELOCITY
$STATE,2659,begin surface
$SM_CCo,2661,293.27,0.546,9,0,420,741.79
$SM_GC,1.21,9.07,0.00,0.00,0.079,0.000,0.000,154,2196,416,-8.75,-0.11,742.52
$IRIDIUM_FIX,4751.72,-12219.12,290499,232330
$TT8_MAMPS,0.026845
$HUMID,32.59
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,24.3,0.883
$10V_AH,10.6,1.211
$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,24.275,49.625,269.650,293.275,0.000,70.587,134.247,291.132,1.750,0.000,42.170,805.610,940.189,669.507,866.119,593.492,33.327,1172.527,0.000,826.533,0.000,8.727,0.000
$DEVICE_MAMPS,315.237,74.399,666.523,546.104,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,379.600,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,19039,571
$CAP_FILE_SIZE,68675,0
$CFSIZE,260165632,254455808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,4
$GPS,030210,004837,4806.626,-12222.940,36,1.3,36,18.3