version: 66.06
glider: 180
mission: 1
dive: 19
start: 2 3 110 11 51 0
data:
$ID,180
$MISSION,1
$DIVE,19
$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,-5248.397
$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,48
$R_STBD_OVSHOOT,22
$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
$GPS1,114422,4806.827,-12223.072,12,2.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.7
$GPS2,115006,4806.800,-12223.032,15,1.4,31,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,0.186
$KALMAN_X,-2645.9,377.7,70.0,2446.5,-33.4
$KALMAN_Y,-1931.1,-215.4,-249.0,471.1,-90.5
$MHEAD_RNG_PITCHd_Wd,320.6,2524,-14.6,-6.944
$D_GRID,101
$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,-107.5,0.0,0.0,0,127,0.00,0.00,-107.78,0.000,2,0.000,0.000,150,2548,2894,0,0,0,0,0,0
$GC,130,-0.65,-107.5,3.4,-5.0,26,178,13.88,2.42,-26.17,0.000,4,0.324,0.057,2730,1020,3885,0,0,0,0,0,0
$GC,199,-0.65,-107.5,7.9,-2.7,41,204,0.00,2.50,0.00,0.000,6,0.000,0.058,2720,2559,3885,0,0,0,0,0,0
$GC,274,-0.65,-107.5,11.5,-5.4,57,280,0.00,2.03,0.00,0.000,4,0.000,0.071,2711,3812,3886,0,0,0,0,0,0
$GC,410,-0.65,-107.5,21.0,-7.3,86,416,0.00,1.92,0.00,0.000,6,0.000,0.038,2711,2543,3886,0,0,0,0,0,0
$GC,486,-0.65,-107.5,27.1,-8.1,102,491,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2543,3886,0,0,0,0,0,0
$GC,560,-0.65,-107.5,33.5,-8.7,118,566,0.00,2.08,0.00,0.000,4,0.000,0.071,2701,3818,3886,0,0,0,0,0,0
$GC,589,-0.65,-107.5,36.1,-8.9,124,595,0.15,1.92,0.00,0.000,6,0.216,0.039,2735,2546,3886,0,0,0,0,0,0
$GC,665,-0.65,-107.5,42.1,-7.5,140,671,0.00,2.35,0.00,0.000,4,0.000,0.044,2735,1012,3886,0,0,0,0,0,0
$GC,699,-0.65,-107.5,44.9,-8.0,147,705,0.00,2.47,0.00,0.000,6,0.000,0.059,2726,2555,3886,0,0,0,0,0,0
$GC,844,-0.65,-107.5,56.5,-8.4,178,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2555,3886,0,0,0,0,0,0
$GC,988,-0.65,-107.5,68.0,-8.1,209,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2555,3886,0,0,0,0,0,0
$GC,1132,-0.65,-107.5,79.3,-7.7,240,1138,0.00,2.03,0.00,0.000,4,0.000,0.071,2716,3816,3886,0,0,0,0,0,0
$GC,1175,-0.65,-107.5,83.0,-8.4,249,1181,0.00,1.90,0.00,0.000,6,0.000,0.039,2716,2548,3886,0,0,0,0,0,0
$GC,1320,-0.65,-107.5,94.2,-7.5,280,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2548,3886,0,0,0,0,0,0
$STATE,1411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1411,begin apogee
$GC,1415,-0.18,0.0,101.0,7.3,300,1502,0.57,0.00,82.20,0.665,6,0.178,0.000,2885,2483,3444,0,0,0,0,0,0
$STATE,1503,end apogee,CONTROL_FINISHED_OK
$STATE,1503,begin climb
$GC,1504,0.65,107.5,102.4,0.0,320,1594,0.85,0.00,83.72,0.637,6,0.134,0.000,3149,2483,3005,0,0,0,0,0,0
$GC,1733,0.65,107.5,82.4,10.5,371,1738,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2483,3004,0,0,0,0,0,0
$GC,1879,0.65,107.5,68.1,9.6,402,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2483,3004,0,0,0,0,0,0
$GC,2023,0.65,107.5,53.5,9.8,433,2028,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2483,3003,0,0,0,0,0,0
$GC,2167,0.65,107.5,40.2,9.3,464,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2483,3004,0,0,0,0,0,0
$GC,2313,0.65,107.5,26.4,9.3,495,2319,0.00,2.40,0.00,0.000,4,0.000,0.046,3161,922,3004,0,0,0,0,0,0
$GC,2361,0.65,107.5,22.0,9.0,505,2366,0.00,2.45,0.00,0.000,6,0.000,0.048,3152,2487,3004,0,0,0,0,0,0
$GC,2436,0.65,107.5,15.1,9.1,521,2442,0.00,2.10,0.00,0.000,4,0.000,0.058,3148,3818,3004,0,0,0,0,0,0
$GC,2493,0.65,107.5,9.5,10.0,533,2499,0.00,2.03,0.00,0.000,6,0.000,0.035,3157,2469,3004,0,0,0,0,0,0
$GC,2569,0.82,241.6,6.2,1.1,549,2676,0.15,0.00,101.82,0.595,6,0.116,0.000,3211,2469,2459,0,0,0,0,0,0
$GC,2747,0.95,353.1,4.1,2.1,589,2758,0.12,0.00,8.12,0.515,2,0.117,0.000,3257,2468,2419,0,0,0,0,0,0
$STATE,2758,end climb,SURFACE_DEPTH_REACHED
$STATE,2758,begin surface coast
$FINISH,3.9,1.018167
$STATE,2911,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2911,begin surface
$SM_CCo,2927,114.18,0.538,1,0,1405,500.17
$SM_GC,1.36,0.00,0.00,114.18,0.000,0.000,0.538,149,2563,1405,-8.76,0.37,500.17
$IRIDIUM_FIX,4748.51,-12220.12,300499,101016
$TT8_MAMPS,0.027612
$HUMID,32.35
$INTERNAL_PRESSURE,9.14597
$TCM_TEMP,19.10
$XPDR_PINGS,2
$24V_AH,24.3,2.007
$10V_AH,10.6,1.604
$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,25.300,30.800,275.875,114.175,0.000,30.384,25.434,188.866,1.750,0.000,31.594,875.462,806.775,471.464,932.493,318.319,33.352,1015.715,0.000,900.160,0.000,9.030,0.000
$DEVICE_MAMPS,323.674,111.982,664.989,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.012,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324540
$DATA_FILE_SIZE,18976,624
$CAP_FILE_SIZE,66775,0
$CFSIZE,260165632,254025728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,124232,4807.074,-12223.281,12,1.6,12,18.3