version: 66.06
glider: 180
mission: 1
dive: 15
start: 2 3 110 7 45 16
data:
$ID,180
$MISSION,1
$DIVE,15
$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,-5170.2168
$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,46
$R_STBD_OVSHOOT,21
$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,70
$ALTIM_PING_DELTA,3
$ALTIM_FREQUENCY,10
$ALTIM_PULSE,9
$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
$GPS1,073902,4806.343,-12222.420,13,1.0,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-74.2
$GPS2,074420,4806.324,-12222.425,11,1.5,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.092,0.177
$KALMAN_X,-2447.9,-35.5,14.7,3467.6,122.4
$KALMAN_Y,-1080.6,-36.6,-14.2,-1674.1,-284.8
$MHEAD_RNG_PITCHd_Wd,314.1,3665,-14.6,-6.944
$D_GRID,105
$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,-0.65,-107.5,0.0,0.0,0,135,0.00,0.00,-116.18,0.000,2,0.000,0.000,151,2494,3057,0,0,0,0,0,0
$GC,137,-0.65,-107.5,3.3,-4.4,28,182,13.88,2.15,-24.58,0.000,4,0.324,0.083,2719,3811,3882,0,0,0,0,0,0
$GC,445,-0.65,-107.5,23.8,-8.3,95,451,0.00,1.92,0.00,0.000,6,0.000,0.038,2719,2540,3884,0,0,0,0,0,0
$GC,521,-0.65,-107.5,29.9,-8.0,111,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2539,3883,0,0,0,0,0,0
$GC,595,-0.65,-107.5,36.4,-8.6,127,600,0.00,2.35,0.00,0.000,4,0.000,0.045,2718,1010,3884,0,0,0,0,0,0
$GC,633,-0.65,-107.5,39.8,-9.0,135,639,0.12,2.47,0.00,0.000,6,0.219,0.058,2734,2557,3884,0,0,0,0,0,0
$GC,710,-0.65,-107.5,45.7,-7.6,151,714,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2557,3884,0,0,0,0,0,0
$GC,853,-0.65,-107.5,56.5,-7.8,182,858,0.00,2.03,0.00,0.000,4,0.000,0.071,2726,3813,3884,0,0,0,0,0,0
$GC,911,-0.65,-107.5,61.2,-8.4,194,917,0.00,1.90,0.00,0.000,6,0.000,0.040,2726,2543,3884,0,0,0,0,0,0
$GC,1057,-0.65,-107.5,72.9,-7.9,225,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2542,3884,0,0,0,0,0,0
$GC,1207,-0.65,-107.5,84.3,-7.4,256,1212,0.00,2.05,0.00,0.000,4,0.000,0.071,2717,3811,3884,0,0,0,0,0,0
$GC,1240,-0.65,-107.5,87.2,-8.0,263,1246,0.00,1.90,0.00,0.000,6,0.000,0.040,2717,2544,3884,0,0,0,0,0,0
$GC,1384,-0.65,-107.5,98.4,-7.7,294,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2544,3884,0,0,0,0,0,0
$STATE,1472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1472,begin apogee
$GC,1477,-0.18,0.0,105.1,7.5,313,1563,0.57,0.00,81.72,0.667,6,0.184,0.000,2883,2481,3443,0,0,0,0,0,0
$STATE,1564,end apogee,CONTROL_FINISHED_OK
$STATE,1564,begin climb
$GC,1566,0.65,107.5,106.8,0.0,333,1656,0.85,0.00,83.68,0.639,6,0.135,0.000,3148,2481,3004,0,0,0,0,0,0
$GC,1795,0.65,107.5,87.2,10.1,384,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2481,3003,0,0,0,0,0,0
$GC,1939,0.65,107.5,72.5,10.0,415,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2480,3003,0,0,0,0,0,0
$GC,2083,0.65,107.5,58.4,9.6,446,2088,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2481,3003,0,0,0,0,0,0
$GC,2228,0.65,107.5,44.2,9.6,477,2233,0.00,2.15,0.00,0.000,4,0.000,0.059,3148,3817,3004,0,0,0,0,0,0
$GC,2286,0.65,107.5,38.0,11.3,489,2291,0.00,2.00,0.00,0.000,6,0.000,0.035,3157,2472,3004,0,0,0,0,0,0
$GC,2361,0.65,107.5,30.9,8.7,505,2367,0.00,2.38,0.00,0.000,4,0.000,0.048,3169,930,3003,0,0,0,0,0,0
$GC,2404,0.65,107.5,26.6,10.1,514,2410,0.00,2.45,0.00,0.000,6,0.000,0.048,3159,2491,3004,0,0,0,0,0,0
$GC,2480,0.65,107.5,18.2,10.9,530,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2491,3004,0,0,0,0,0,0
$GC,2554,0.65,107.5,10.7,10.1,546,2559,0.00,2.08,0.00,0.000,4,0.000,0.057,3149,3814,3004,0,0,0,0,0,0
$GC,2606,0.65,107.5,5.3,10.6,557,2612,0.00,2.00,0.00,0.000,6,0.000,0.034,3158,2476,3004,0,0,0,0,0,0
$GC,2682,0.93,334.0,6.0,-3.0,573,2832,0.25,0.00,144.98,0.590,2,0.103,0.000,3252,2476,2229,0,0,0,0,0,0
$STATE,2832,end climb,SURFACE_DEPTH_REACHED
$STATE,2832,begin surface coast
$FINISH,2.7,1.018501
$STATE,2907,end surface coast,CONTROL_FINISHED_OK
$STATE,2907,begin surface
$SM_CCo,2924,120.75,0.067,0,0,1078,580.13
$SM_GC,1.12,0.00,0.00,120.75,0.000,0.000,0.067,149,2566,1078,-8.76,0.45,580.13
$IRIDIUM_FIX,4748.51,-12220.12,300499,060644
$TT8_MAMPS,0.027612
$HUMID,32.24
$INTERNAL_PRESSURE,9.1069
$TCM_TEMP,19.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,79.0,28.3
$24V_AH,24.3,1.600
$10V_AH,10.6,1.470
$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,25.350,30.025,310.375,120.750,0.000,23.456,27.315,185.552,3.500,0.000,11.527,860.404,785.168,497.889,918.656,318.035,33.343,1052.128,0.000,900.257,0.000,18.936,0.000
$DEVICE_MAMPS,323.674,111.982,666.523,67.496,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,413.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324512
$DATA_FILE_SIZE,18998,624
$CAP_FILE_SIZE,66737,0
$CFSIZE,260165632,254173184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,083644,4806.459,-12222.571,10,1.2,10,18.3