version: 66.06
glider: 180
mission: 1
dive: 8
start: 2 3 110 0 55 8
data:
$ID,180
$MISSION,1
$DIVE,8
$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,-5017.8984
$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,2500
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,29
$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,5
$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
$GPS1,004837,4806.626,-12222.940,36,1.3,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.7
$GPS2,005413,4806.629,-12222.948,12,1.3,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.166,-0.111
$KALMAN_X,-1456.5,-550.0,-36.1,2400.1,-165.5
$KALMAN_Y,-250.1,-58.2,-40.5,-1895.7,7.2
$MHEAD_RNG_PITCHd_Wd,105.5,1653,-14.6,-6.944
$D_GRID,101
$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,-107.5,0.0,0.0,0,130,0.00,0.00,-111.47,0.000,2,0.000,0.000,154,2197,2950,0,0,0,0,0,0
$GC,132,-0.69,-107.5,3.0,-3.9,27,173,13.40,1.92,-21.20,0.000,4,0.316,0.064,2725,948,3884,0,0,0,0,0,0
$GC,436,-0.69,-107.5,27.8,-7.5,93,442,0.00,2.50,0.00,0.000,6,0.000,0.059,2716,2501,3885,0,0,0,0,0,0
$GC,512,-0.69,-107.5,33.8,-8.0,109,516,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2500,3885,0,0,0,0,0,0
$GC,586,-0.69,-107.5,39.9,-8.2,125,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2500,3885,0,0,0,0,0,0
$GC,660,-0.69,-107.5,46.4,-9.0,141,666,0.00,2.42,0.00,0.000,4,0.000,0.048,2715,942,3885,0,0,0,0,0,0
$GC,685,-0.69,-107.5,48.6,-9.1,146,691,0.12,2.50,0.00,0.000,6,0.218,0.060,2731,2500,3886,0,0,0,0,0,0
$GC,830,-0.69,-107.5,59.2,-6.8,177,835,0.00,2.15,0.00,0.000,4,0.000,0.074,2723,3811,3886,0,0,0,0,0,0
$GC,924,-0.69,-107.5,66.8,-8.1,197,929,0.00,2.00,0.00,0.000,6,0.000,0.041,2723,2482,3886,0,0,0,0,0,0
$GC,1068,-0.69,-107.5,77.5,-7.3,228,1072,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2481,3886,0,0,0,0,0,0
$GC,1211,-0.69,-107.5,88.0,-7.3,259,1216,0.00,2.15,0.00,0.000,4,0.000,0.074,2712,3817,3886,0,0,0,0,0,0
$GC,1267,-0.69,-107.5,92.8,-8.7,271,1273,0.00,2.00,0.00,0.000,6,0.000,0.041,2713,2492,3885,0,0,0,0,0,0
$STATE,1369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1369,begin apogee
$GC,1373,-0.19,0.0,101.1,7.6,293,1459,0.60,0.00,82.05,0.663,6,0.186,0.000,2886,2492,3444,0,0,0,0,0,0
$STATE,1460,end apogee,CONTROL_FINISHED_OK
$STATE,1460,begin climb
$GC,1462,0.69,107.5,102.8,0.0,313,1557,0.93,2.30,83.78,0.634,4,0.131,0.059,3167,3813,3005,0,0,0,0,0,0
$GC,1576,0.69,107.5,93.3,11.6,339,1582,0.00,2.15,0.00,0.000,6,0.000,0.035,3176,2453,3004,0,0,0,0,0,0
$GC,1720,0.69,107.5,76.2,11.5,370,1725,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2453,3004,0,0,0,0,0,0
$GC,1865,0.69,107.5,59.8,11.6,401,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2453,3005,0,0,0,0,0,0
$GC,2009,0.69,107.5,43.5,11.1,432,2015,0.00,2.17,0.00,0.000,4,0.000,0.058,3167,3817,3004,0,0,0,0,0,0
$GC,2052,0.69,107.5,38.3,11.8,441,2058,0.00,2.05,0.00,0.000,6,0.000,0.035,3176,2448,3005,0,0,0,0,0,0
$GC,2129,0.69,107.5,30.2,10.4,457,2134,0.00,2.17,0.00,0.000,4,0.000,0.058,3167,3817,3005,0,0,0,0,0,0
$GC,2149,0.69,107.5,27.8,10.7,461,2154,0.00,2.08,0.00,0.000,6,0.000,0.045,3176,2444,3004,0,0,0,0,0,0
$GC,2224,0.69,107.5,20.0,10.4,477,2230,0.00,2.38,0.00,0.000,4,0.000,0.050,3188,910,3005,0,0,0,0,0,0
$GC,2249,0.69,107.5,17.5,10.5,482,2255,0.00,2.40,0.00,0.000,6,0.000,0.048,3178,2457,3005,0,0,0,0,0,0
$GC,2324,0.69,107.5,11.0,7.8,498,2330,0.00,2.40,0.00,0.000,4,0.000,0.049,3188,909,3005,0,0,0,0,0,0
$GC,2593,0.91,281.4,7.8,-0.7,556,2735,0.22,2.40,132.82,0.592,6,0.115,0.048,3255,2450,2296,0,0,0,0,0,0
$GC,2805,1.07,413.6,5.4,1.2,604,2870,0.15,0.00,61.67,0.575,2,0.118,0.000,3306,2450,1975,0,0,0,0,0,0
$STATE,2870,end climb,SURFACE_DEPTH_REACHED
$STATE,2871,begin surface coast
$FINISH,1.1,1.016823
$STATE,3004,end surface coast,CONTROL_FINISHED_OK
$STATE,3004,begin surface
$SM_CCo,3021,92.97,0.070,0,0,1079,580.13
$SM_GC,1.13,0.00,0.00,92.97,0.000,0.000,0.070,154,2505,1079,-8.77,0.11,580.13
$IRIDIUM_FIX,4751.72,-12230.75,300499,000007
$TT8_MAMPS,0.027612
$HUMID,32.71
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,19.10
$XPDR_PINGS,3
$24V_AH,24.3,0.963
$10V_AH,10.6,1.245
$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,25.125,40.225,360.325,92.975,0.000,22.842,24.420,204.030,2.000,0.000,12.175,877.907,809.769,499.918,948.710,330.183,33.336,1074.646,0.000,933.998,0.000,9.027,0.000
$DEVICE_MAMPS,316.004,124.254,662.688,69.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,22085,648
$CAP_FILE_SIZE,69007,0
$CFSIZE,260165632,254414848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,014744,4806.527,-12222.806,8,1.9,8,18.3