version: 66.06
glider: 180
mission: 1
dive: 6
start: 2 2 110 22 55 11
data:
$ID,180
$MISSION,1
$DIVE,6
$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,580
$N_FILEKB,4
$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,-4962.2983
$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,2960
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$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,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,27
$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,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$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
$GPS1,224826,4806.970,-12223.074,11,1.8,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-73.6
$GPS2,225416,4806.929,-12223.111,12,2.3,31,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.159,-0.121
$KALMAN_X,-701.1,-459.4,-182.8,1496.8,-88.1
$KALMAN_Y,-371.1,-74.6,-2.1,-1235.6,-124.9
$MHEAD_RNG_PITCHd_Wd,108.9,2202,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-107.5,0.0,0.0,0,113,0.00,0.00,-95.10,0.000,2,0.000,0.000,147,2200,3210,0,0,0,0,0,0
$GC,115,-0.69,-107.5,3.6,-5.3,23,152,13.15,2.47,-14.62,0.000,4,0.311,0.066,2726,665,3885,0,0,0,0,0,0
$GC,416,-0.69,-107.5,32.0,-8.2,88,422,0.00,2.42,0.00,0.000,6,0.000,0.054,2716,2196,3887,0,0,0,0,0,0
$GC,492,-0.69,-107.5,38.2,-8.3,104,497,0.00,2.58,0.00,0.000,4,0.000,0.072,2704,3754,3887,0,0,0,0,0,0
$GC,567,-0.69,-107.5,45.7,-10.3,120,573,0.12,2.38,0.00,0.000,6,0.219,0.041,2731,2198,3887,0,0,0,0,0,0
$GC,712,-0.69,-107.5,57.8,-8.0,151,717,0.00,2.55,0.00,0.000,4,0.000,0.074,2721,3754,3887,0,0,0,0,0,0
$GC,769,-0.69,-107.5,62.9,-9.1,163,774,0.00,2.35,0.00,0.000,6,0.000,0.041,2721,2199,3887,0,0,0,0,0,0
$GC,914,-0.69,-107.5,74.5,-7.7,194,919,0.00,2.58,0.00,0.000,4,0.000,0.074,2709,3756,3887,0,0,0,0,0,0
$GC,976,-0.69,-107.5,80.3,-9.3,207,981,0.00,2.38,0.00,0.000,6,0.000,0.041,2709,2194,3888,0,0,0,0,0,0
$GC,1120,-0.69,-107.5,92.1,-7.8,238,1125,0.00,2.58,0.00,0.000,4,0.000,0.073,2697,3757,3887,0,0,0,0,0,0
$GC,1185,-0.69,-107.5,98.1,-9.4,252,1191,0.15,2.38,0.00,0.000,6,0.224,0.041,2730,2190,3887,0,0,0,0,0,0
$STATE,1255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1255,begin apogee
$GC,1259,-0.19,0.0,103.2,7.0,267,1345,0.55,0.00,82.43,0.666,6,0.185,0.000,2891,2190,3443,0,0,0,0,0,0
$STATE,1346,end apogee,CONTROL_FINISHED_OK
$STATE,1346,begin climb
$GC,1348,0.69,107.5,104.9,0.0,287,1443,0.90,2.60,83.75,0.637,4,0.127,0.053,3186,656,3005,0,0,0,0,0,0
$GC,1467,0.69,107.5,95.6,10.6,314,1472,0.00,2.53,0.00,0.000,6,0.000,0.048,3184,2208,3005,0,0,0,0,0,0
$GC,1612,0.69,107.5,78.3,11.8,345,1617,0.00,2.53,0.00,0.000,4,0.000,0.060,3172,3754,3005,0,0,0,0,0,0
$GC,1636,0.69,107.5,75.2,12.1,350,1642,0.00,2.40,0.00,0.000,6,0.000,0.036,3183,2204,3005,0,0,0,0,0,0
$GC,1781,0.69,107.5,58.6,11.0,381,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2203,3005,0,0,0,0,0,0
$GC,1926,0.69,107.5,43.0,10.3,412,1931,0.00,2.47,0.00,0.000,4,0.000,0.057,3173,3758,3004,0,0,0,0,0,0
$GC,2010,0.69,107.5,32.7,12.5,430,2015,0.00,2.38,0.00,0.000,6,0.000,0.036,3183,2197,3005,0,0,0,0,0,0
$GC,2087,0.69,107.5,25.3,9.3,446,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,3183,2196,3005,0,0,0,0,0,0
$GC,2162,0.69,107.5,18.1,9.7,462,2168,0.00,2.47,0.00,0.000,4,0.000,0.057,3173,3762,3005,0,0,0,0,0,0
$GC,2182,0.69,107.5,16.2,9.3,466,2188,0.00,2.38,0.00,0.000,6,0.000,0.035,3183,2189,3005,0,0,0,0,0,0
$GC,2258,0.74,145.2,11.6,5.3,482,2293,0.00,0.00,29.58,0.600,6,0.000,0.000,3183,2188,2851,0,0,0,0,0,0
$GC,2364,1.01,361.8,8.9,-2.5,505,2539,0.25,2.67,166.43,0.583,4,0.099,0.060,3268,3753,1969,0,0,0,0,0,0
$STATE,2552,end climb,SURFACE_DEPTH_REACHED
$STATE,2552,begin surface coast
$FINISH,0.2,1.015818
$STATE,2664,end surface coast,CONTROL_FINISHED_OK
$STATE,2664,begin surface
$SM_CCo,2683,96.03,0.071,0,0,1079,580.13
$SM_GC,0.99,0.00,0.00,96.03,0.000,0.000,0.071,147,2204,1079,-8.80,0.11,580.13
$IRIDIUM_FIX,4754.94,-12232.48,290499,222243
$TT8_MAMPS,0.027612
$HUMID,32.83
$INTERNAL_PRESSURE,9.11667
$TCM_TEMP,19.00
$XPDR_PINGS,5
$24V_AH,24.3,0.763
$10V_AH,10.6,1.175
$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,24.475,49.525,362.175,96.025,0.000,22.128,25.322,198.614,2.500,0.000,32.606,775.013,697.272,489.493,859.249,323.945,33.315,1012.226,0.000,827.643,0.000,9.541,0.000
$DEVICE_MAMPS,310.635,74.399,665.756,71.331,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,378.370,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,19070,573
$CAP_FILE_SIZE,64323,0
$CFSIZE,260165632,254496768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,234214,4806.778,-12222.979,11,1.5,11,18.3