version: 66.06
glider: 180
mission: 1
dive: 10
start: 2 3 110 2 51 23
data:
$ID,180
$MISSION,1
$DIVE,10
$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,-5065.8418
$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,2500
$C_ROLL_CLIMB,2450
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,32
$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,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
$GPS1,024446,4806.379,-12222.619,10,2.6,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-74.2
$GPS2,025028,4806.378,-12222.608,13,2.3,32,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.153,-0.129
$KALMAN_X,-2030.7,-490.5,-16.3,3310.5,-146.6
$KALMAN_Y,-86.0,-52.3,34.1,-2600.7,95.7
$MHEAD_RNG_PITCHd_Wd,111.8,1028,-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,-107.5,0.0,0.0,0,131,0.00,0.00,-111.85,0.000,2,0.000,0.000,147,2514,2980,0,0,0,0,0,0
$GC,133,-0.69,-107.5,3.2,-4.4,27,178,13.57,2.42,-25.45,0.000,4,0.319,0.057,2725,948,3883,0,0,0,0,0,0
$GC,252,-0.69,-107.5,10.1,-6.2,53,258,0.00,2.50,0.00,0.000,6,0.000,0.059,2715,2490,3884,0,0,0,0,0,0
$GC,330,-0.69,-107.5,14.7,-6.3,69,335,0.00,2.17,0.00,0.000,4,0.000,0.073,2705,3817,3884,0,0,0,0,0,0
$GC,433,-0.69,-107.5,23.2,-8.7,91,439,0.12,2.00,0.00,0.000,6,0.222,0.040,2731,2499,3884,0,0,0,0,0,0
$GC,510,-0.69,-107.5,28.8,-7.1,107,515,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2499,3884,0,0,0,0,0,0
$GC,586,-0.69,-107.5,34.2,-7.2,123,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2499,3885,0,0,0,0,0,0
$GC,662,-0.69,-107.5,40.2,-7.9,139,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2499,3885,0,0,0,0,0,0
$GC,806,-0.69,-107.5,51.3,-7.9,170,811,0.00,2.15,0.00,0.000,4,0.000,0.075,2723,3816,3885,0,0,0,0,0,0
$GC,849,-0.69,-107.5,54.8,-8.4,179,854,0.00,2.00,0.00,0.000,6,0.000,0.041,2723,2493,3884,0,0,0,0,0,0
$GC,993,-0.69,-107.5,65.8,-7.3,210,998,0.00,2.12,0.00,0.000,4,0.000,0.073,2713,3813,3884,0,0,0,0,0,0
$GC,1036,-0.69,-107.5,69.4,-8.5,219,1042,0.00,1.98,0.00,0.000,6,0.000,0.041,2713,2502,3884,0,0,0,0,0,0
$GC,1180,-0.69,-107.5,81.0,-7.8,250,1186,0.00,2.12,0.00,0.000,4,0.000,0.073,2703,3813,3884,0,0,0,0,0,0
$GC,1219,-0.69,-107.5,84.3,-8.5,258,1225,0.12,1.98,0.00,0.000,6,0.227,0.040,2730,2498,3885,0,0,0,0,0,0
$GC,1367,-0.69,-107.5,95.2,-7.4,289,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2499,3885,0,0,0,0,0,0
$STATE,1477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1477,begin apogee
$GC,1481,-0.19,0.0,103.3,7.1,313,1567,0.52,0.00,81.90,0.665,6,0.182,0.000,2885,2498,3444,0,0,0,0,0,0
$STATE,1568,end apogee,CONTROL_FINISHED_OK
$STATE,1568,begin climb
$GC,1570,0.69,107.5,104.9,0.0,333,1660,0.93,0.00,83.70,0.637,6,0.134,0.000,3173,2499,3005,0,0,0,0,0,0
$GC,1799,0.69,107.5,82.9,11.6,384,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2499,3004,0,0,0,0,0,0
$GC,1944,0.69,107.5,66.4,10.9,415,1949,0.00,2.10,0.00,0.000,4,0.000,0.058,3165,3820,3005,0,0,0,0,0,0
$GC,1963,0.69,107.5,64.0,11.2,419,1969,0.00,2.10,0.00,0.000,6,0.000,0.035,3174,2440,3005,0,0,0,0,0,0
$GC,2107,0.69,107.5,47.9,11.1,450,2113,0.00,2.20,0.00,0.000,4,0.000,0.058,3165,3820,3004,0,0,0,0,0,0
$GC,2146,0.69,107.5,43.3,11.9,458,2151,0.00,2.08,0.00,0.000,6,0.000,0.034,3174,2448,3004,0,0,0,0,0,0
$GC,2290,0.69,107.5,28.0,10.1,489,2295,0.00,2.40,0.00,0.000,4,0.000,0.050,3186,903,3004,0,0,0,0,0,0
$GC,2319,0.69,107.5,25.0,10.3,495,2325,0.00,2.45,0.00,0.000,6,0.000,0.048,3176,2464,3004,0,0,0,0,0,0
$GC,2395,0.69,107.5,17.1,10.2,511,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2464,3004,0,0,0,0,0,0
$GC,2469,0.69,107.5,9.9,9.8,527,2475,0.00,2.12,0.00,0.000,4,0.000,0.058,3166,3815,3005,0,0,0,0,0,0
$GC,2503,0.69,107.5,6.9,8.8,534,2508,0.00,2.05,0.00,0.000,6,0.000,0.035,3174,2447,3004,0,0,0,0,0,0
$GC,2578,0.90,275.2,5.1,-0.4,550,2715,0.22,2.33,127.75,0.591,4,0.110,0.060,3253,3799,2321,0,0,0,0,0,0
$STATE,2719,end climb,SURFACE_DEPTH_REACHED
$STATE,2719,begin surface coast
$FINISH,3.7,1.018701
$STATE,2863,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2863,begin surface
$SM_CCo,2882,133.10,0.069,0,0,1079,580.13
$SM_GC,1.19,0.00,0.00,133.10,0.000,0.000,0.069,148,2493,1079,-8.79,-0.20,580.13
$IRIDIUM_FIX,4748.51,-12233.46,300499,010157
$TT8_MAMPS,0.027612
$HUMID,32.47
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,19.10
$XPDR_PINGS,6
$24V_AH,24.3,1.140
$10V_AH,10.6,1.309
$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,25.150,43.325,293.350,133.100,0.000,22.973,25.154,189.434,2.750,0.000,33.248,859.084,770.591,506.328,915.790,321.556,33.339,1052.639,0.000,886.648,0.000,9.029,0.000
$DEVICE_MAMPS,319.072,75.166,664.989,69.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,407.301,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,18989,614
$CAP_FILE_SIZE,68281,0
$CFSIZE,260165632,254349312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,034237,4806.158,-12222.396,25,1.3,25,18.3