version: 66.06
glider: 180
mission: 1
dive: 21
start: 2 3 110 13 51 16
data:
$ID,180
$MISSION,1
$DIVE,21
$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,-5304.3857
$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,45
$R_STBD_OVSHOOT,37
$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,9
$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
$GPS1,134438,4807.353,-12223.568,16,1.5,16,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.3
$GPS2,135022,4807.356,-12223.562,17,2.5,36,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.057,0.191
$KALMAN_X,-2835.5,425.7,-2.8,2007.0,-111.8
$KALMAN_Y,-2084.2,-252.1,-112.4,1553.6,52.8
$MHEAD_RNG_PITCHd_Wd,325.0,1310,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.65,-107.5,0.0,0.0,0,140,0.00,0.00,-121.12,0.000,2,0.000,0.000,153,2564,3225,0,0,0,0,0,0
$GC,142,-0.65,-107.5,3.2,-4.8,29,183,13.88,2.42,-19.30,0.000,4,0.324,0.056,2726,1008,3883,0,0,0,0,0,0
$GC,425,-0.65,-107.5,20.8,-6.4,90,430,0.00,2.45,0.00,0.000,6,0.000,0.057,2716,2535,3885,0,0,0,0,0,0
$GC,500,-0.65,-107.5,26.5,-7.5,106,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2535,3885,0,0,0,0,0,0
$GC,575,-0.65,-107.5,32.4,-8.1,122,579,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2536,3885,0,0,0,0,0,0
$GC,649,-0.65,-107.5,38.7,-8.5,138,654,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2535,3885,0,0,0,0,0,0
$GC,724,-0.65,-107.5,45.1,-8.8,154,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2535,3885,0,0,0,0,0,0
$GC,868,-0.65,-107.5,57.7,-8.5,185,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2535,3885,0,0,0,0,0,0
$GC,1012,-0.65,-107.5,69.2,-7.9,216,1016,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2535,3885,0,0,0,0,0,0
$GC,1155,-0.65,-107.5,81.2,-8.2,247,1160,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2535,3885,0,0,0,0,0,0
$GC,1299,-0.65,-107.5,92.8,-8.1,278,1303,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2536,3885,0,0,0,0,0,0
$STATE,1432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1432,begin apogee
$GC,1436,-0.18,0.0,103.1,7.6,307,1523,0.57,0.00,82.12,0.666,6,0.180,0.000,2885,2480,3444,0,0,0,0,0,0
$STATE,1524,end apogee,CONTROL_FINISHED_OK
$STATE,1524,begin climb
$GC,1525,0.65,107.5,104.9,0.0,327,1620,0.85,2.33,83.85,0.639,4,0.133,0.057,3148,3817,3005,0,0,0,0,0,0
$GC,1649,0.65,107.5,95.6,11.2,355,1654,0.00,2.12,0.00,0.000,6,0.000,0.034,3157,2466,3004,0,0,0,0,0,0
$GC,1792,0.65,107.5,79.6,11.1,386,1798,0.00,2.38,0.00,0.000,4,0.000,0.046,3168,935,3004,0,0,0,0,0,0
$GC,1831,0.65,107.5,75.4,10.9,394,1836,0.00,2.47,0.00,0.000,6,0.000,0.047,3160,2487,3004,0,0,0,0,0,0
$GC,1975,0.65,107.5,59.8,10.7,425,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2487,3004,0,0,0,0,0,0
$GC,2121,0.65,107.5,44.1,10.9,456,2126,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2487,3004,0,0,0,0,0,0
$GC,2266,0.65,107.5,29.5,10.2,487,2271,0.00,2.40,0.00,0.000,4,0.000,0.045,3170,931,3003,0,0,0,0,0,0
$GC,2315,0.65,107.5,24.6,10.0,497,2320,0.00,2.42,0.00,0.000,6,0.000,0.046,3160,2482,3004,0,0,0,0,0,0
$GC,2390,0.65,107.5,17.2,9.6,513,2395,0.00,2.10,0.00,0.000,4,0.000,0.058,3151,3815,3004,0,0,0,0,0,0
$GC,2438,0.65,107.5,12.0,11.0,523,2443,0.00,2.00,0.00,0.000,6,0.000,0.034,3160,2477,3004,0,0,0,0,0,0
$GC,2513,0.65,107.5,5.6,7.4,539,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,3160,2477,3004,0,0,0,0,0,0
$STATE,2554,end climb,SURFACE_DEPTH_REACHED
$STATE,2554,begin surface coast
$FINISH,4.7,1.020762
$STATE,2689,end surface coast,CONTROL_FINISHED_OK
$STATE,2689,begin surface
$SM_CCo,2692,341.17,0.565,4,0,420,741.79
$SM_GC,1.15,8.88,0.00,0.00,0.079,0.000,0.000,154,2564,417,-8.71,0.40,742.77
$IRIDIUM_FIX,4748.51,-12221.84,300499,121235
$TT8_MAMPS,0.027612
$HUMID,31.96
$INTERNAL_PRESSURE,9.04831
$TCM_TEMP,19.20
$XPDR_PINGS,9
$24V_AH,24.3,2.204
$10V_AH,10.6,1.669
$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,24.175,23.300,165.975,341.175,0.000,22.611,33.609,182.965,3.500,0.000,37.849,832.270,864.540,640.009,871.729,308.899,33.347,1127.290,0.000,833.734,0.000,9.029,0.000
$DEVICE_MAMPS,324.441,108.914,665.756,564.512,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.764,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324524
$DATA_FILE_SIZE,19004,577
$CAP_FILE_SIZE,60924,0
$CFSIZE,260165632,253960192
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,030210,144458,4807.653,-12223.798,9,4.5,28,18.3