version: 66.06
glider: 180
mission: 1
dive: 16
start: 2 3 110 8 43 33
data:
$ID,180
$MISSION,1
$DIVE,16
$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,500
$N_FILEKB,8
$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,-5184.4336
$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,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,28
$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,2550
$C_ROLL_CLIMB,2480
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,37
$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,70
$ALTIM_PING_DELTA,3
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,9
$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
$GPS1,083644,4806.459,-12222.571,10,1.2,10,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-76.2
$GPS2,084238,4806.426,-12222.533,13,1.2,13,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.093,0.177
$KALMAN_X,-2471.3,94.1,52.7,3189.3,105.3
$KALMAN_Y,-1269.2,-86.5,-119.1,-1142.1,-252.4
$MHEAD_RNG_PITCHd_Wd,314.0,3433,-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,-0.65,-107.5,0.0,0.0,0,105,0.00,0.00,-87.03,0.000,2,0.000,0.000,149,2566,3033,0,0,0,0,0,0
$GC,108,-0.65,-107.5,3.5,-4.9,21,148,13.93,2.00,-20.58,0.000,4,0.324,0.083,2719,3794,3883,0,0,0,0,0,0
$GC,237,-0.65,-107.5,13.8,-4.1,49,242,0.00,1.90,0.00,0.000,6,0.000,0.038,2720,2539,3884,0,0,0,0,0,0
$GC,312,-0.65,-107.5,18.7,-7.7,65,316,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2539,3884,0,0,0,0,0,0
$GC,388,-0.65,-107.5,23.8,-5.8,81,393,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2539,3884,0,0,0,0,0,0
$GC,463,-0.65,-107.5,29.8,-8.5,97,469,0.00,2.38,0.00,0.000,4,0.000,0.045,2719,1000,3884,0,0,0,0,0,0
$GC,506,-0.65,-107.5,33.3,-8.1,106,512,0.12,2.42,0.00,0.000,6,0.219,0.057,2735,2534,3884,0,0,0,0,0,0
$GC,582,-0.65,-107.5,39.3,-7.7,122,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2534,3884,0,0,0,0,0,0
$GC,657,-0.65,-107.5,45.2,-7.6,138,661,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2534,3884,0,0,0,0,0,0
$GC,802,-0.65,-107.5,56.3,-7.6,169,807,0.00,2.08,0.00,0.000,4,0.000,0.071,2727,3819,3884,0,0,0,0,0,0
$GC,870,-0.65,-107.5,62.0,-8.5,183,875,0.00,1.92,0.00,0.000,6,0.000,0.039,2726,2540,3884,0,0,0,0,0,0
$GC,1015,-0.65,-107.5,73.8,-7.9,214,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,2540,3884,0,0,0,0,0,0
$GC,1160,-0.65,-107.5,84.7,-7.3,245,1165,0.00,2.03,0.00,0.000,4,0.000,0.071,2717,3811,3884,0,0,0,0,0,0
$GC,1203,-0.65,-107.5,88.3,-8.1,254,1208,0.00,1.90,0.00,0.000,6,0.000,0.040,2717,2544,3884,0,0,0,0,0,0
$GC,1347,-0.65,-107.5,99.7,-7.8,285,1353,0.00,2.35,0.00,0.000,4,0.000,0.045,2717,1001,3884,0,0,0,0,0,0
$GC,1377,-0.65,-107.5,102.0,-8.0,291,1383,0.12,2.47,0.00,0.000,6,0.216,0.058,2734,2558,3884,0,0,0,0,0,0
$STATE,1419,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1419,begin apogee
$GC,1423,-0.18,0.0,105.2,7.2,300,1510,0.50,0.00,81.88,0.668,6,0.176,0.000,2883,2483,3444,0,0,0,0,0,0
$STATE,1511,end apogee,CONTROL_FINISHED_OK
$STATE,1511,begin climb
$GC,1512,0.65,107.5,106.9,0.0,320,1603,0.88,0.00,83.93,0.640,6,0.137,0.000,3153,2483,3004,0,0,0,0,0,0
$GC,1742,0.65,107.5,85.9,10.8,371,1748,0.00,2.45,0.00,0.000,4,0.000,0.046,3165,929,3003,0,0,0,0,0,0
$GC,1800,0.65,107.5,79.8,10.9,383,1806,0.00,2.50,0.00,0.000,6,0.000,0.048,3155,2492,3004,0,0,0,0,0,0
$GC,1945,0.65,107.5,65.0,10.1,414,1950,0.00,2.10,0.00,0.000,4,0.000,0.058,3145,3811,3004,0,0,0,0,0,0
$GC,1994,0.65,107.5,59.6,11.4,424,1999,0.00,2.03,0.00,0.000,6,0.000,0.034,3154,2472,3004,0,0,0,0,0,0
$GC,2138,0.65,107.5,44.9,9.7,455,2143,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2472,3004,0,0,0,0,0,0
$GC,2282,0.65,107.5,31.3,10.1,486,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2472,3004,0,0,0,0,0,0
$GC,2357,0.65,107.5,23.6,10.1,502,2361,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2472,3004,0,0,0,0,0,0
$GC,2431,0.65,107.5,16.4,10.0,518,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2472,3004,0,0,0,0,0,0
$GC,2506,0.65,107.5,9.0,10.1,534,2511,0.00,0.00,0.00,0.000,6,0.000,0.000,3154,2472,3004,0,0,0,0,0,0
$GC,2581,0.90,304.5,8.0,-1.7,550,2739,0.22,2.50,150.20,0.589,4,0.092,0.045,3252,934,2201,0,0,0,0,0,0
$GC,3003,1.09,461.5,5.5,0.1,644,3015,0.15,2.45,6.15,0.492,2,0.105,0.048,3307,2486,2173,0,0,0,0,0,0
$STATE,3016,end climb,NO_VERTICAL_VELOCITY
$STATE,3016,begin surface
$SM_CCo,3018,222.20,0.555,3,0,420,741.79
$SM_GC,1.15,9.45,0.00,0.00,0.087,0.000,0.000,149,2562,416,-8.73,0.34,742.52
$IRIDIUM_FIX,4748.51,-12224.57,300499,070706
$TT8_MAMPS,0.027612
$HUMID,32.12
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,18.90
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,70.1,29.9
$24V_AH,24.3,1.707
$10V_AH,10.6,1.504
$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,25.375,35.675,322.150,222.200,0.000,27.726,26.679,212.676,2.000,0.000,13.587,905.951,920.690,608.718,944.803,351.475,33.343,1176.032,0.000,931.081,0.000,5.805,0.000
$DEVICE_MAMPS,323.674,106.613,668.057,555.308,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,429.324,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324580
$DATA_FILE_SIZE,22111,646
$CAP_FILE_SIZE,71353,0
$CFSIZE,260165632,254128128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030210,094036,4806.523,-12222.718,11,1.0,27,18.3