version: 66.06
glider: 180
mission: 1
dive: 11
start: 2 3 110 3 50 0
data:
$ID,180
$MISSION,1
$DIVE,11
$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,-5094.7954
$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,41
$R_STBD_OVSHOOT,26
$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,0
$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
$GPS1,034237,4806.158,-12222.396,25,1.3,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.4
$GPS2,034906,4806.150,-12222.371,12,1.2,28,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.174,-0.098
$KALMAN_X,-2241.0,-438.1,-17.3,3762.6,-98.3
$KALMAN_Y,-187.2,-21.3,76.2,-2993.7,35.7
$MHEAD_RNG_PITCHd_Wd,101.2,537,-14.6,-6.944
$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,-0.69,-107.5,0.0,0.0,0,101,0.00,0.00,-82.80,0.000,2,0.000,0.000,148,2493,2947,0,0,0,0,0,0
$GC,103,-0.69,-107.5,3.3,-4.6,20,152,13.82,2.45,-26.38,0.000,4,0.323,0.061,2723,948,3884,0,0,0,0,0,0
$GC,393,-0.69,-107.5,22.3,-7.2,83,399,0.00,2.50,0.00,0.000,6,0.000,0.057,2713,2503,3885,0,0,0,0,0,0
$GC,470,-0.69,-107.5,28.2,-8.2,99,475,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2503,3885,0,0,0,0,0,0
$GC,546,-0.69,-107.5,34.8,-8.7,115,551,0.00,2.40,0.00,0.000,4,0.000,0.048,2713,952,3885,0,0,0,0,0,0
$GC,579,-0.69,-107.5,37.8,-8.6,122,585,0.12,2.47,0.00,0.000,6,0.222,0.058,2729,2500,3885,0,0,0,0,0,0
$GC,655,-0.69,-107.5,44.1,-8.2,138,661,0.00,2.15,0.00,0.000,4,0.000,0.073,2720,3814,3885,0,0,0,0,0,0
$GC,694,-0.69,-107.5,47.4,-8.8,146,699,0.00,2.00,0.00,0.000,6,0.000,0.040,2721,2488,3885,0,0,0,0,0,0
$GC,838,-0.69,-107.5,60.0,-8.8,177,842,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2487,3885,0,0,0,0,0,0
$GC,981,-0.69,-107.5,72.2,-8.5,208,986,0.00,2.15,0.00,0.000,4,0.000,0.073,2711,3811,3885,0,0,0,0,0,0
$GC,1075,-0.69,-107.5,80.7,-9.3,228,1081,0.00,1.98,0.00,0.000,6,0.000,0.040,2710,2498,3885,0,0,0,0,0,0
$GC,1219,-0.69,-107.5,93.1,-8.5,259,1224,0.00,2.35,0.00,0.000,4,0.000,0.048,2711,956,3885,0,0,0,0,0,0
$GC,1244,-0.69,-107.5,95.3,-8.5,264,1250,0.15,2.47,0.00,0.000,6,0.216,0.058,2733,2509,3885,0,0,0,0,0,0
$STATE,1379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1379,begin apogee
$GC,1383,-0.19,0.0,105.2,6.6,293,1474,0.52,0.00,82.35,0.669,6,0.180,0.000,2888,2451,3443,0,0,0,0,0,0
$STATE,1475,end apogee,CONTROL_FINISHED_OK
$STATE,1475,begin climb
$GC,1476,0.69,107.5,106.7,0.0,314,1571,0.93,2.60,83.78,0.640,4,0.133,0.048,3187,909,3005,0,0,0,0,0,0
$GC,1590,0.69,107.5,98.1,10.6,340,1596,0.00,2.53,0.00,0.000,6,0.000,0.048,3178,2455,3004,0,0,0,0,0,0
$GC,1734,0.69,107.5,81.3,11.8,371,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2455,3004,0,0,0,0,0,0
$GC,1878,0.69,107.5,64.9,11.3,402,1884,0.00,2.15,0.00,0.000,4,0.000,0.058,3168,3813,3004,0,0,0,0,0,0
$GC,1949,0.69,107.5,55.9,12.6,417,1955,0.00,2.05,0.00,0.000,6,0.000,0.034,3176,2443,3004,0,0,0,0,0,0
$GC,2093,0.69,107.5,39.7,11.4,448,2098,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2443,3005,0,0,0,0,0,0
$GC,2168,0.69,107.5,31.6,11.0,464,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2443,3004,0,0,0,0,0,0
$GC,2242,0.69,107.5,23.8,10.4,480,2248,0.00,2.38,0.00,0.000,4,0.000,0.048,3188,909,3005,0,0,0,0,0,0
$GC,2281,0.69,107.5,19.9,10.3,488,2286,0.00,2.40,0.00,0.000,6,0.000,0.047,3178,2457,3004,0,0,0,0,0,0
$GC,2356,0.69,107.5,12.1,10.2,504,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2457,3004,0,0,0,0,0,0
$GC,2430,0.69,107.5,5.4,8.4,520,2435,0.00,2.12,0.00,0.000,4,0.000,0.058,3168,3808,3004,0,0,0,0,0,0
$STATE,2448,end climb,SURFACE_DEPTH_REACHED
$STATE,2449,begin surface coast
$FINISH,4.9,1.018704
$STATE,2514,end surface coast,CONTROL_FINISHED_OK
$STATE,2514,begin surface
$SM_CCo,2516,322.85,0.564,3,0,419,741.79
$SM_GC,1.09,8.85,0.00,0.00,0.077,0.000,0.000,150,2490,416,-8.76,-0.28,742.77
$IRIDIUM_FIX,4751.72,-12223.57,300499,020247
$TT8_MAMPS,0.027612
$HUMID,32.35
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,19.00
$XPDR_PINGS,5
$24V_AH,24.3,1.240
$10V_AH,10.6,1.340
$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,24.400,41.325,166.125,322.850,0.000,22.097,28.305,234.229,2.750,0.000,28.324,790.236,800.886,607.477,805.520,360.557,33.352,1069.840,0.000,778.485,0.000,10.575,0.000
$DEVICE_MAMPS,322.907,111.215,668.824,563.745,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,359.361,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324560
$DATA_FILE_SIZE,15888,538
$CAP_FILE_SIZE,62431,0
$CFSIZE,260165632,254320640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030210,044008,4805.953,-12222.040,13,1.0,13,18.3