version: 66.06
glider: 180
mission: 1
dive: 17
start: 2 3 110 9 47 3
data:
$ID,180
$MISSION,1
$DIVE,17
$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,-5199.9961
$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,45
$R_STBD_OVSHOOT,34
$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
$GPS1,094036,4806.523,-12222.718,11,1.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.4
$GPS2,094608,4806.456,-12222.701,14,1.0,14,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.083,0.182
$KALMAN_X,-2533.8,210.3,75.5,2906.6,77.5
$KALMAN_Y,-1613.6,-130.5,-195.2,-619.7,-241.2
$MHEAD_RNG_PITCHd_Wd,317.3,3280,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.65,-107.5,0.0,0.0,0,132,0.00,0.00,-112.00,0.000,2,0.000,0.000,149,2562,2976,0,0,0,0,0,0
$GC,134,-0.65,-107.5,3.5,-4.9,27,174,14.02,2.03,-20.05,0.000,4,0.326,0.084,2722,3802,3884,0,0,0,0,0,0
$GC,338,-0.65,-107.5,20.3,-7.6,71,343,0.00,1.90,0.00,0.000,6,0.000,0.038,2722,2546,3886,0,0,0,0,0,0
$GC,414,-0.65,-107.5,25.3,-6.4,87,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2545,3886,0,0,0,0,0,0
$GC,488,-0.65,-107.5,30.7,-7.9,103,493,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2545,3886,0,0,0,0,0,0
$GC,563,-0.65,-107.5,36.5,-7.8,119,568,0.00,2.38,0.00,0.000,4,0.000,0.045,2722,1002,3886,0,0,0,0,0,0
$GC,605,-0.65,-107.5,40.1,-8.3,128,611,0.00,2.45,0.00,0.000,6,0.000,0.057,2711,2537,3886,0,0,0,0,0,0
$GC,750,-0.65,-107.5,52.9,-9.2,159,755,0.00,2.05,0.00,0.000,4,0.000,0.070,2701,3811,3886,0,0,0,0,0,0
$GC,793,-0.65,-107.5,57.1,-9.9,168,799,0.15,1.90,0.00,0.000,6,0.214,0.039,2736,2542,3886,0,0,0,0,0,0
$GC,936,-0.65,-107.5,68.2,-7.8,199,941,0.00,2.08,0.00,0.000,4,0.000,0.074,2728,3819,3886,0,0,0,0,0,0
$GC,966,-0.65,-107.5,70.7,-7.9,205,971,0.00,1.92,0.00,0.000,6,0.000,0.041,2728,2543,3886,0,0,0,0,0,0
$GC,1111,-0.65,-107.5,81.6,-7.4,236,1117,0.00,2.05,0.00,0.000,4,0.000,0.072,2718,3810,3886,0,0,0,0,0,0
$GC,1140,-0.65,-107.5,84.0,-7.8,242,1146,0.00,1.90,0.00,0.000,6,0.000,0.040,2718,2547,3886,0,0,0,0,0,0
$GC,1284,-0.65,-107.5,95.4,-7.7,273,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2547,3886,0,0,0,0,0,0
$STATE,1385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1385,begin apogee
$GC,1389,-0.18,0.0,103.2,7.2,295,1477,0.57,0.00,82.15,0.667,6,0.186,0.000,2884,2483,3443,0,0,0,0,0,0
$STATE,1477,end apogee,CONTROL_FINISHED_OK
$STATE,1477,begin climb
$GC,1479,0.65,107.5,105.1,0.0,315,1569,0.85,0.00,83.70,0.639,6,0.137,0.000,3148,2483,3005,0,0,0,0,0,0
$GC,1708,0.65,107.5,85.4,10.5,366,1713,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2483,3003,0,0,0,0,0,0
$GC,1854,0.65,107.5,70.4,10.1,397,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2483,3003,0,0,0,0,0,0
$GC,1999,0.65,107.5,55.9,10.0,428,2004,0.00,2.12,0.00,0.000,4,0.000,0.058,3141,3815,3004,0,0,0,0,0,0
$GC,2056,0.65,107.5,49.7,10.8,440,2061,0.00,2.03,0.00,0.000,6,0.000,0.034,3149,2475,3003,0,0,0,0,0,0
$GC,2200,0.65,107.5,36.1,9.1,471,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2474,3003,0,0,0,0,0,0
$GC,2274,0.65,107.5,29.0,9.4,487,2280,0.00,2.38,0.00,0.000,4,0.000,0.048,3161,930,3003,0,0,0,0,0,0
$GC,2326,0.65,107.5,24.2,9.2,498,2332,0.00,2.45,0.00,0.000,6,0.000,0.048,3151,2491,3004,0,0,0,0,0,0
$GC,2402,0.65,107.5,17.1,9.6,514,2408,0.00,2.08,0.00,0.000,4,0.000,0.058,3141,3811,3004,0,0,0,0,0,0
$GC,2459,0.65,107.5,11.3,10.2,526,2464,0.00,2.00,0.00,0.000,6,0.000,0.034,3150,2475,3004,0,0,0,0,0,0
$GC,2535,0.71,156.2,6.8,4.8,542,2579,0.00,2.42,37.05,0.599,4,0.000,0.047,3161,934,2806,0,0,0,0,0,0
$STATE,2716,end climb,NO_VERTICAL_VELOCITY
$STATE,2716,begin surface
$SM_CCo,2719,376.95,0.548,12,0,419,741.79
$SM_GC,1.08,8.88,0.00,0.00,0.081,0.000,0.000,152,2556,416,-8.72,0.17,742.77
$IRIDIUM_FIX,4748.51,-12220.12,300499,080853
$TT8_MAMPS,0.027612
$HUMID,32.16
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.20
$XPDR_PINGS,8
$ALTIM_BOTTOM_PING,70.1,34.0
$24V_AH,24.3,1.817
$10V_AH,10.6,1.537
$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,24.475,38.925,202.900,376.950,0.000,30.251,27.054,192.386,2.500,0.000,14.935,835.418,856.910,742.378,854.510,322.506,33.345,1244.093,0.000,840.232,0.000,5.816,0.000
$DEVICE_MAMPS,325.975,112.749,666.523,548.405,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,18972,582
$CAP_FILE_SIZE,64679,0
$CFSIZE,260165632,254103552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,030210,104214,4806.631,-12222.915,13,1.3,13,18.3