version: 66.06
glider: 180
mission: 1
dive: 12
start: 2 3 110 4 46 34
data:
$ID,180
$MISSION,1
$DIVE,12
$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,-5110.311
$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,45
$R_STBD_OVSHOOT,28
$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
$GPS1,044008,4805.953,-12222.040,13,1.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-72.3
$GPS2,044538,4805.947,-12222.013,14,1.3,14,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.084,0.181
$KALMAN_X,-2403.6,-360.9,-16.0,4289.4,-64.3
$KALMAN_Y,-321.4,7.1,110.9,-3299.1,-57.3
$MHEAD_RNG_PITCHd_Wd,316.7,4527,-14.6,-6.944
$D_GRID,108
$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,-107.5,0.0,0.0,0,135,0.00,0.00,-115.97,0.000,2,0.000,0.000,150,2491,3067,0,0,0,0,0,0
$GC,137,-0.69,-107.5,3.4,-5.0,28,182,13.57,2.40,-23.83,0.000,4,0.319,0.061,2726,953,3885,0,0,0,0,0,0
$GC,304,-0.69,-107.5,11.5,-4.7,64,310,0.00,2.47,0.00,0.000,6,0.000,0.057,2716,2493,3885,0,0,0,0,0,0
$GC,380,-0.69,-107.5,16.0,-6.0,80,385,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2493,3886,0,0,0,0,0,0
$GC,454,-0.69,-107.5,21.2,-7.0,96,459,0.00,2.15,0.00,0.000,4,0.000,0.071,2706,3815,3886,0,0,0,0,0,0
$GC,497,-0.69,-107.5,24.6,-7.8,105,503,0.12,2.00,0.00,0.000,6,0.225,0.039,2732,2496,3886,0,0,0,0,0,0
$GC,573,-0.69,-107.5,30.2,-7.3,121,578,0.00,2.15,0.00,0.000,4,0.000,0.074,2724,3811,3886,0,0,0,0,0,0
$GC,597,-0.69,-107.5,32.2,-7.6,126,603,0.00,2.00,0.00,0.000,6,0.000,0.040,2724,2490,3886,0,0,0,0,0,0
$GC,672,-0.69,-107.5,38.3,-8.3,142,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,2489,3885,0,0,0,0,0,0
$GC,747,-0.69,-107.5,44.0,-7.4,158,752,0.00,2.12,0.00,0.000,4,0.000,0.073,2714,3811,3886,0,0,0,0,0,0
$GC,808,-0.69,-107.5,49.6,-9.5,171,814,0.00,1.98,0.00,0.000,6,0.000,0.039,2714,2498,3886,0,0,0,0,0,0
$GC,952,-0.69,-107.5,61.9,-8.2,202,956,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2498,3886,0,0,0,0,0,0
$GC,1096,-0.69,-107.5,74.2,-8.5,233,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2498,3885,0,0,0,0,0,0
$GC,1240,-0.69,-107.5,86.4,-8.3,264,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2498,3886,0,0,0,0,0,0
$GC,1383,-0.69,-107.5,98.0,-8.1,295,1388,0.00,2.10,0.00,0.000,4,0.000,0.071,2704,3811,3886,0,0,0,0,0,0
$GC,1416,-0.69,-107.5,100.7,-8.2,302,1422,0.12,1.98,0.00,0.000,6,0.229,0.040,2730,2495,3885,0,0,0,0,0,0
$STATE,1518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1518,begin apogee
$GC,1522,-0.19,0.0,108.1,6.8,324,1609,0.52,0.00,82.10,0.669,6,0.179,0.000,2887,2494,3443,0,0,0,0,0,0
$STATE,1609,end apogee,CONTROL_FINISHED_OK
$STATE,1609,begin climb
$GC,1611,0.69,107.5,109.3,0.0,344,1701,0.93,0.00,83.65,0.638,6,0.133,0.000,3175,2495,3005,0,0,0,0,0,0
$GC,1841,0.69,107.5,86.4,12.2,395,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2495,3005,0,0,0,0,0,0
$GC,1985,0.69,107.5,69.0,11.7,426,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2494,3005,0,0,0,0,0,0
$GC,2130,0.69,107.5,52.5,11.4,457,2135,0.00,2.47,0.00,0.000,4,0.000,0.048,3186,906,3005,0,0,0,0,0,0
$GC,2173,0.69,107.5,47.8,10.8,466,2178,0.00,2.45,0.00,0.000,6,0.000,0.048,3177,2462,3005,0,0,0,0,0,0
$GC,2317,0.69,107.5,32.0,10.4,497,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2462,3005,0,0,0,0,0,0
$GC,2392,0.69,107.5,23.9,11.0,513,2396,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2462,3004,0,0,0,0,0,0
$GC,2466,0.69,107.5,16.1,10.5,529,2472,0.00,2.12,0.00,0.000,4,0.000,0.058,3166,3813,3005,0,0,0,0,0,0
$GC,2523,0.69,107.5,9.5,12.0,541,2529,0.00,2.05,0.00,0.000,6,0.000,0.034,3175,2443,3005,0,0,0,0,0,0
$STATE,2598,end climb,SURFACE_DEPTH_REACHED
$STATE,2598,begin surface coast
$FINISH,4.6,1.020792
$STATE,2713,end surface coast,CONTROL_FINISHED_OK
$STATE,2713,begin surface
$SM_CCo,2715,315.75,0.566,1,0,421,741.79
$SM_GC,1.07,8.90,0.00,0.00,0.078,0.000,0.000,149,2512,418,-8.76,0.34,742.28
$IRIDIUM_FIX,4748.51,-12229.01,300499,030340
$TT8_MAMPS,0.027612
$HUMID,32.55
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.20
$XPDR_PINGS,7
$24V_AH,24.3,1.336
$10V_AH,10.6,1.372
$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,24.175,30.550,165.750,315.750,0.000,23.423,29.023,191.866,3.250,0.000,14.888,847.335,860.988,604.041,854.369,322.677,33.352,1099.774,0.000,841.046,0.000,10.575,0.000
$DEVICE_MAMPS,319.072,107.380,668.824,566.046,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,388.923,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324524
$DATA_FILE_SIZE,19003,582
$CAP_FILE_SIZE,64412,0
$CFSIZE,260165632,254283776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,053958,4806.101,-12222.166,8,2.7,27,18.3