version: 66.06
glider: 180
mission: 1
dive: 18
start: 2 3 110 10 48 32
data:
$ID,180
$MISSION,1
$DIVE,18
$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,-5216.1729
$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,46
$R_STBD_OVSHOOT,20
$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,9
$ALTIM_PULSE,9
$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
$GPS1,104214,4806.631,-12222.915,13,1.3,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-72.2
$GPS2,104737,4806.602,-12222.880,10,1.2,15,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.071,0.187
$KALMAN_X,-2614.8,309.4,86.0,2657.2,13.8
$KALMAN_Y,-1797.5,-171.3,-239.8,-82.4,-184.5
$MHEAD_RNG_PITCHd_Wd,320.8,2936,-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,15,-0.65,-107.5,0.0,0.0,0,122,0.00,0.00,-103.10,0.000,2,0.000,0.000,152,2556,2805,0,0,0,0,0,0
$GC,124,-0.65,-107.5,3.2,-4.4,25,173,13.98,2.45,-25.90,0.000,4,0.325,0.056,2727,1011,3885,0,0,0,0,0,0
$GC,295,-0.65,-107.5,15.8,-6.0,62,301,0.00,2.47,0.00,0.000,6,0.000,0.056,2718,2551,3886,0,0,0,0,0,0
$GC,371,-0.65,-107.5,20.5,-6.2,78,376,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2551,3886,0,0,0,0,0,0
$GC,445,-0.65,-107.5,25.6,-6.9,94,451,0.00,2.05,0.00,0.000,4,0.000,0.070,2708,3814,3886,0,0,0,0,0,0
$GC,479,-0.65,-107.5,28.5,-8.2,101,485,0.12,1.90,0.00,0.000,6,0.222,0.039,2734,2552,3886,0,0,0,0,0,0
$GC,555,-0.65,-107.5,34.5,-7.6,117,560,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2553,3886,0,0,0,0,0,0
$GC,630,-0.65,-107.5,40.0,-7.5,133,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2552,3886,0,0,0,0,0,0
$GC,773,-0.65,-107.5,51.0,-7.8,164,778,0.00,2.38,0.00,0.000,4,0.000,0.044,2735,1002,3886,0,0,0,0,0,0
$GC,802,-0.65,-107.5,53.5,-8.2,170,808,0.00,2.47,0.00,0.000,6,0.000,0.059,2726,2559,3886,0,0,0,0,0,0
$GC,947,-0.65,-107.5,65.1,-8.0,201,952,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2559,3886,0,0,0,0,0,0
$GC,1092,-0.65,-107.5,76.3,-7.6,232,1097,0.00,2.03,0.00,0.000,4,0.000,0.071,2716,3819,3886,0,0,0,0,0,0
$GC,1182,-0.65,-107.5,84.0,-8.8,251,1188,0.00,1.92,0.00,0.000,6,0.000,0.039,2716,2537,3886,0,0,0,0,0,0
$GC,1326,-0.65,-107.5,95.8,-8.0,282,1330,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2536,3886,0,0,0,0,0,0
$STATE,1417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1417,begin apogee
$GC,1421,-0.18,0.0,103.0,7.9,302,1508,0.57,0.00,81.97,0.663,6,0.183,0.000,2883,2488,3444,0,0,0,0,0,0
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1509,begin climb
$GC,1510,0.65,107.5,104.8,0.0,322,1600,0.88,0.00,83.32,0.636,6,0.136,0.000,3154,2488,3006,0,0,0,0,0,0
$GC,1739,0.65,107.5,84.9,10.7,373,1745,0.00,2.47,0.00,0.000,4,0.000,0.046,3165,921,3005,0,0,0,0,0,0
$GC,1773,0.65,107.5,81.2,10.6,380,1779,0.00,2.53,0.00,0.000,6,0.000,0.048,3156,2494,3005,0,0,0,0,0,0
$GC,1917,0.65,107.5,66.2,10.2,411,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,3156,2494,3005,0,0,0,0,0,0
$GC,2062,0.65,107.5,51.4,10.1,442,2067,0.00,2.10,0.00,0.000,4,0.000,0.058,3146,3817,3005,0,0,0,0,0,0
$GC,2105,0.65,107.5,46.4,11.3,451,2110,0.00,2.05,0.00,0.000,6,0.000,0.034,3154,2458,3005,0,0,0,0,0,0
$GC,2249,0.65,107.5,32.1,9.8,482,2255,0.00,2.35,0.00,0.000,4,0.000,0.047,3166,930,3005,0,0,0,0,0,0
$GC,2320,0.65,107.5,25.5,9.4,497,2326,0.00,2.45,0.00,0.000,6,0.000,0.047,3156,2492,3006,0,0,0,0,0,0
$GC,2396,0.65,107.5,18.3,9.6,513,2401,0.00,2.08,0.00,0.000,4,0.000,0.058,3148,3811,3006,0,0,0,0,0,0
$GC,2439,0.65,107.5,13.9,10.4,522,2444,0.00,2.00,0.00,0.000,6,0.000,0.034,3157,2476,3006,0,0,0,0,0,0
$GC,2516,0.65,107.5,7.3,8.0,538,2520,0.00,0.00,0.00,0.000,6,0.000,0.000,3157,2476,3006,0,0,0,0,0,0
$GC,2590,0.90,310.6,6.8,-1.9,554,2753,0.25,2.58,154.93,0.588,4,0.102,0.046,3265,936,2177,0,0,0,0,0,0
$STATE,2918,end climb,NO_VERTICAL_VELOCITY
$STATE,2918,begin surface
$SM_CCo,2920,241.27,0.555,3,0,420,741.79
$SM_GC,1.09,9.20,0.00,0.00,0.081,0.000,0.000,150,2547,417,-8.72,-0.08,742.77
$IRIDIUM_FIX,4748.51,-12224.57,300499,090943
$TT8_MAMPS,0.028379
$HUMID,32.55
$INTERNAL_PRESSURE,9.03854
$TCM_TEMP,19.10
$XPDR_PINGS,8
$24V_AH,24.3,1.926
$10V_AH,10.6,1.571
$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,25.000,41.000,320.225,241.275,0.000,28.229,26.679,185.652,3.250,0.000,15.547,867.731,878.285,639.635,919.396,319.093,33.348,1197.038,0.000,906.144,0.000,9.028,0.000
$DEVICE_MAMPS,325.208,213.993,663.455,555.308,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,416.511,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324540
$DATA_FILE_SIZE,19032,628
$CAP_FILE_SIZE,68247,0
$CFSIZE,260165632,254062592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,030210,114422,4806.827,-12223.072,12,2.6,31,18.3