version: 66.06
glider: 180
mission: 1
dive: 13
start: 2 3 110 5 46 53
data:
$ID,180
$MISSION,1
$DIVE,13
$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,-5145.1436
$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,47
$R_STBD_OVSHOOT,32
$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
$GPS1,053958,4806.101,-12222.166,8,2.7,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-72.8
$GPS2,054558,4806.093,-12222.154,13,2.7,32,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.090,0.178
$KALMAN_X,-2399.2,-276.8,-27.8,4034.9,32.8
$KALMAN_Y,-613.1,15.9,116.2,-2748.9,-169.8
$MHEAD_RNG_PITCHd_Wd,314.9,4204,-14.6,-6.944
$D_GRID,107
$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,-107.5,0.0,0.0,0,135,0.00,0.00,-116.15,0.000,2,0.000,0.000,149,2513,3055,0,0,0,0,0,0
$GC,137,-0.69,-107.5,3.3,-4.4,28,182,13.65,2.45,-24.38,0.000,4,0.321,0.058,2725,948,3883,0,0,0,0,0,0
$GC,312,-0.69,-107.5,12.2,-5.3,66,318,0.00,2.47,0.00,0.000,6,0.000,0.058,2715,2489,3884,0,0,0,0,0,0
$GC,388,-0.69,-107.5,16.5,-5.9,82,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2489,3884,0,0,0,0,0,0
$GC,463,-0.69,-107.5,21.5,-6.6,98,468,0.00,2.15,0.00,0.000,4,0.000,0.071,2705,3813,3884,0,0,0,0,0,0
$GC,529,-0.69,-107.5,27.0,-8.7,112,535,0.12,2.00,0.00,0.000,6,0.229,0.039,2731,2488,3884,0,0,0,0,0,0
$GC,604,-0.69,-107.5,32.7,-7.7,128,610,0.00,2.35,0.00,0.000,4,0.000,0.047,2731,955,3885,0,0,0,0,0,0
$GC,633,-0.69,-107.5,34.9,-7.6,134,639,0.00,2.47,0.00,0.000,6,0.000,0.058,2722,2499,3885,0,0,0,0,0,0
$GC,709,-0.69,-107.5,41.1,-8.2,150,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2499,3885,0,0,0,0,0,0
$GC,854,-0.69,-107.5,53.0,-8.3,181,859,0.00,2.12,0.00,0.000,4,0.000,0.072,2712,3813,3884,0,0,0,0,0,0
$GC,892,-0.69,-107.5,56.6,-9.1,189,897,0.00,1.95,0.00,0.000,6,0.000,0.039,2711,2498,3884,0,0,0,0,0,0
$GC,1036,-0.69,-107.5,69.3,-8.6,220,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2498,3884,0,0,0,0,0,0
$GC,1180,-0.69,-107.5,81.1,-8.6,251,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2498,3885,0,0,0,0,0,0
$GC,1321,-0.69,-107.5,92.7,-8.2,282,1327,0.00,2.12,0.00,0.000,4,0.000,0.071,2701,3813,3884,0,0,0,0,0,0
$GC,1364,-0.69,-107.5,96.5,-8.9,291,1370,0.12,1.95,0.00,0.000,6,0.227,0.039,2729,2498,3884,0,0,0,0,0,0
$GC,1508,-0.69,-107.5,106.6,-6.4,322,1514,0.00,2.12,0.00,0.000,4,0.000,0.072,2721,3811,3884,0,0,0,0,0,0
$STATE,1518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1518,begin apogee
$GC,1524,-0.19,0.0,107.2,6.5,324,1610,0.57,0.00,81.95,0.667,6,0.189,0.000,2886,2439,3444,0,0,0,0,0,0
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1613,0.69,107.5,108.6,0.0,344,1703,0.93,0.00,83.93,0.638,6,0.132,0.000,3175,2438,3005,0,0,0,0,0,0
$GC,1842,0.69,107.5,85.6,12.1,395,1846,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2438,3004,0,0,0,0,0,0
$GC,1986,0.69,107.5,69.0,11.5,426,1991,0.00,2.20,0.00,0.000,4,0.000,0.058,3166,3814,3004,0,0,0,0,0,0
$GC,2043,0.69,107.5,61.8,12.5,438,2048,0.00,2.08,0.00,0.000,6,0.000,0.033,3175,2447,3004,0,0,0,0,0,0
$GC,2188,0.69,107.5,45.6,11.0,469,2193,0.00,2.40,0.00,0.000,4,0.000,0.048,3187,905,3004,0,0,0,0,0,0
$GC,2246,0.69,107.5,39.4,10.9,481,2252,0.00,2.45,0.00,0.000,6,0.000,0.047,3177,2465,3004,0,0,0,0,0,0
$GC,2321,0.69,107.5,31.1,10.5,497,2327,0.00,2.12,0.00,0.000,4,0.000,0.057,3166,3812,3004,0,0,0,0,0,0
$GC,2355,0.69,107.5,27.2,11.2,504,2360,0.00,2.05,0.00,0.000,6,0.000,0.033,3176,2449,3004,0,0,0,0,0,0
$GC,2431,0.69,107.5,19.1,10.6,520,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2449,3004,0,0,0,0,0,0
$GC,2505,0.69,107.5,11.4,10.1,536,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2449,3004,0,0,0,0,0,0
$GC,2579,0.69,107.5,4.5,8.1,552,2585,0.00,2.35,0.00,0.000,4,0.000,0.048,3187,906,3004,0,0,0,0,0,0
$STATE,2791,end climb,NO_VERTICAL_VELOCITY
$STATE,2791,begin surface
$SM_CCo,2793,313.42,0.565,1,0,419,741.79
$SM_GC,1.01,8.90,0.00,0.00,0.077,0.000,0.000,152,2507,417,-8.75,0.20,742.77
$IRIDIUM_FIX,4801.38,-11658.50,300499,040416
$TT8_MAMPS,0.027612
$HUMID,32.31
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.20
$XPDR_PINGS,8
$24V_AH,24.3,1.432
$10V_AH,10.6,1.406
$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,24.300,44.600,165.875,313.425,0.000,27.454,25.803,199.577,3.500,0.000,34.205,872.986,880.832,611.803,895.930,333.257,33.332,1122.655,0.000,864.592,0.000,10.574,0.000
$DEVICE_MAMPS,320.606,72.098,666.523,565.279,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,399.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,18995,598
$CAP_FILE_SIZE,67635,0
$CFSIZE,260165632,254242816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,064136,4806.230,-12222.300,31,1.0,31,18.3