version: 66.06
glider: 180
mission: 1
dive: 22
start: 2 3 110 14 51 22
data:
$ID,180
$MISSION,1
$DIVE,22
$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,-5339.5864
$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,33
$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,10
$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
$GPS1,144458,4807.653,-12223.798,9,4.5,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-74.8
$GPS2,145028,4807.681,-12223.799,14,5.3,33,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.039,0.175
$KALMAN_X,-2893.5,407.1,-48.2,1836.0,-134.3
$KALMAN_Y,-2167.7,-246.2,-0.1,2120.1,70.9
$MHEAD_RNG_PITCHd_Wd,329.3,642,-16.8,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.71,-84.5,0.0,0.0,0,147,0.00,0.00,-129.43,0.000,2,0.000,0.000,154,2565,3352,0,0,0,0,0,0
$GC,150,-0.73,-107.5,3.1,-4.2,31,186,13.85,2.42,-15.57,0.000,4,0.327,0.056,2700,1010,3884,0,0,0,0,0,0
$GC,394,-0.73,-107.5,21.8,-7.7,84,400,0.00,2.45,0.00,0.000,6,0.000,0.056,2690,2539,3886,0,0,0,0,0,0
$GC,470,-0.73,-107.5,27.3,-7.6,100,475,0.00,2.33,0.00,0.000,4,0.000,0.042,2690,1012,3885,0,0,0,0,0,0
$GC,499,-0.73,-107.5,29.9,-8.4,106,505,0.15,2.47,0.00,0.000,6,0.244,0.057,2710,2557,3885,0,0,0,0,0,0
$GC,575,-0.73,-107.5,36.1,-8.1,122,580,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2557,3885,0,0,0,0,0,0
$GC,649,-0.73,-107.5,42.4,-8.4,138,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2557,3885,0,0,0,0,0,0
$GC,793,-0.73,-107.5,54.9,-8.4,169,798,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2557,3885,0,0,0,0,0,0
$GC,937,-0.73,-107.5,67.6,-8.9,200,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2557,3886,0,0,0,0,0,0
$GC,1082,-0.73,-107.5,80.5,-8.8,231,1087,0.00,2.38,0.00,0.000,4,0.000,0.043,2710,1000,3885,0,0,0,0,0,0
$GC,1125,-0.73,-107.5,84.3,-8.8,240,1131,0.00,2.47,0.00,0.000,6,0.000,0.056,2700,2559,3885,0,0,0,0,0,0
$GC,1267,-0.73,-107.5,96.5,-8.4,271,1272,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2559,3885,0,0,0,0,0,0
$STATE,1344,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1344,begin apogee
$GC,1348,-0.18,0.0,103.2,8.4,288,1438,0.62,0.00,82.05,0.667,6,0.186,0.000,2881,2481,3444,0,0,0,0,0,0
$STATE,1439,end apogee,CONTROL_FINISHED_OK
$STATE,1439,begin climb
$GC,1441,0.73,107.5,104.7,0.0,309,1536,0.95,2.58,83.62,0.637,4,0.136,0.044,3188,935,3005,0,0,0,0,0,0
$GC,1555,0.73,107.5,95.8,10.2,335,1561,0.00,2.55,0.00,0.000,6,0.000,0.045,3178,2490,3004,0,0,0,0,0,0
$GC,1699,0.73,107.5,78.5,12.1,366,1705,0.00,2.12,0.00,0.000,4,0.000,0.055,3168,3813,3004,0,0,0,0,0,0
$GC,1738,0.73,107.5,73.6,12.7,374,1744,0.00,2.03,0.00,0.000,6,0.000,0.032,3177,2468,3004,0,0,0,0,0,0
$GC,1882,0.73,107.5,57.1,11.0,405,1888,0.00,2.38,0.00,0.000,4,0.000,0.046,3188,934,3004,0,0,0,0,0,0
$GC,1935,0.73,107.5,51.2,10.8,416,1940,0.00,2.45,0.00,0.000,6,0.000,0.045,3178,2489,3004,0,0,0,0,0,0
$GC,2079,0.73,107.5,34.3,11.5,447,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2489,3004,0,0,0,0,0,0
$GC,2154,0.73,107.5,26.2,10.8,463,2159,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2489,3004,0,0,0,0,0,0
$GC,2228,0.73,107.5,18.1,10.8,479,2234,0.00,2.08,0.00,0.000,4,0.000,0.055,3168,3811,3004,0,0,0,0,0,0
$GC,2262,0.73,107.5,14.1,11.7,486,2268,0.00,2.00,0.00,0.000,6,0.000,0.032,3177,2473,3004,0,0,0,0,0,0
$GC,2338,0.73,107.5,6.4,9.2,502,2343,0.00,2.10,0.00,0.000,4,0.000,0.055,3168,3808,3004,0,0,0,0,0,0
$STATE,2379,end climb,SURFACE_DEPTH_REACHED
$STATE,2379,begin surface coast
$FINISH,4.5,1.020893
$STATE,2458,end surface coast,CONTROL_FINISHED_OK
$STATE,2459,begin surface
$SM_CCo,2461,310.20,0.562,2,0,419,741.79
$SM_GC,1.10,8.98,0.00,0.00,0.084,0.000,0.000,150,2552,416,-8.73,0.06,742.77
$IRIDIUM_FIX,4748.51,-12219.12,300499,131343
$TT8_MAMPS,0.027612
$HUMID,31.45
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.20
$XPDR_PINGS,6
$24V_AH,24.3,2.297
$10V_AH,10.6,1.700
$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,24.550,36.900,165.675,310.200,0.000,25.042,25.587,178.752,2.750,0.000,34.575,760.463,770.763,608.834,798.537,295.429,33.344,1070.950,0.000,764.323,0.000,9.031,0.000
$DEVICE_MAMPS,326.742,89.739,666.523,562.211,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324532
$DATA_FILE_SIZE,15885,528
$CAP_FILE_SIZE,59822,0
$CFSIZE,260165632,253931520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,030210,154036,4807.954,-12223.920,32,1.1,32,18.3