version: 66.06
glider: 180
mission: 1
dive: 23
start: 2 3 110 15 47 10
data:
$ID,180
$MISSION,1
$DIVE,23
$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,-5353.0786
$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,48
$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,10
$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
$GPS1,154036,4807.954,-12223.920,32,1.1,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-73.1
$GPS2,154614,4807.962,-12223.926,12,1.6,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.200,-0.001
$KALMAN_X,-2848.6,355.8,-91.8,1726.9,-93.7
$KALMAN_Y,-2292.4,-223.1,107.4,2636.2,34.2
$MHEAD_RNG_PITCHd_Wd,72.0,1147,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.65,-107.5,0.0,0.0,0,146,0.00,0.00,-128.80,0.000,2,0.000,0.000,150,2552,3354,0,0,0,0,0,0
$GC,149,-0.65,-107.5,3.0,-3.6,31,185,14.00,2.38,-16.20,0.000,4,0.326,0.052,2727,1009,3883,0,0,0,0,0,0
$GC,449,-0.65,-107.5,21.3,-7.2,96,455,0.00,2.47,0.00,0.000,6,0.000,0.057,2717,2552,3884,0,0,0,0,0,0
$GC,525,-0.65,-107.5,26.6,-7.1,112,530,0.00,2.38,0.00,0.000,4,0.000,0.043,2717,1012,3884,0,0,0,0,0,0
$GC,568,-0.65,-107.5,29.8,-7.5,121,574,0.12,2.47,0.00,0.000,6,0.226,0.058,2732,2560,3884,0,0,0,0,0,0
$GC,645,-0.65,-107.5,35.7,-7.4,137,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2560,3884,0,0,0,0,0,0
$GC,721,-0.65,-107.5,41.2,-7.4,153,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2560,3884,0,0,0,0,0,0
$GC,865,-0.65,-107.5,52.2,-7.7,184,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2560,3884,0,0,0,0,0,0
$GC,1009,-0.65,-107.5,63.0,-7.5,215,1015,0.00,2.00,0.00,0.000,4,0.000,0.071,2724,3816,3884,0,0,0,0,0,0
$GC,1071,-0.65,-107.5,67.9,-8.1,228,1076,0.00,1.90,0.00,0.000,6,0.000,0.039,2725,2551,3884,0,0,0,0,0,0
$GC,1216,-0.65,-107.5,79.6,-8.1,259,1224,0.00,2.05,0.00,0.000,4,0.000,0.071,2715,3821,3883,0,0,0,0,0,0
$GC,1276,-0.65,-107.5,85.0,-9.0,271,1282,0.00,1.90,0.00,0.000,6,0.000,0.039,2715,2538,3884,0,0,0,0,0,0
$GC,1420,-0.65,-107.5,96.4,-7.6,302,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2538,3884,0,0,0,0,0,0
$STATE,1540,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1541,begin apogee
$GC,1545,-0.18,0.0,105.2,7.3,328,1632,0.57,0.00,81.80,0.666,6,0.186,0.000,2882,2489,3444,0,0,0,0,0,0
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1634,0.65,107.5,106.8,0.0,348,1729,0.88,2.58,83.68,0.638,4,0.140,0.044,3161,936,3005,0,0,0,0,0,0
$GC,1794,0.65,107.5,93.7,10.9,384,1799,0.00,2.53,0.00,0.000,6,0.000,0.047,3154,2489,3004,0,0,0,0,0,0
$GC,1938,0.65,107.5,78.0,10.6,415,1943,0.00,2.12,0.00,0.000,4,0.000,0.057,3154,3813,3003,0,0,0,0,0,0
$GC,1972,0.65,107.5,73.8,11.8,422,1977,0.00,2.05,0.00,0.000,6,0.000,0.033,3163,2462,3004,0,0,0,0,0,0
$GC,2116,0.65,107.5,58.0,10.4,453,2121,0.00,2.15,0.00,0.000,4,0.000,0.056,3157,3813,3003,0,0,0,0,0,0
$GC,2177,0.65,107.5,50.8,12.1,466,2183,0.00,2.00,0.00,0.000,6,0.000,0.033,3166,2478,3004,0,0,0,0,0,0
$GC,2322,0.65,107.5,35.3,10.6,497,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2478,3003,0,0,0,0,0,0
$GC,2396,0.65,107.5,27.5,10.7,513,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2478,3004,0,0,0,0,0,0
$GC,2471,0.65,107.5,19.5,10.8,529,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2478,3004,0,0,0,0,0,0
$GC,2545,0.65,107.5,12.0,10.0,545,2551,0.00,2.33,0.00,0.000,4,0.000,0.045,3177,940,3004,0,0,0,0,0,0
$GC,2593,0.65,107.5,7.4,9.6,555,2599,0.00,2.40,0.00,0.000,6,0.000,0.045,3168,2484,3004,0,0,0,0,0,0
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,3.1,1.019635
$STATE,2697,end surface coast,CONTROL_FINISHED_OK
$STATE,2697,begin surface
$SM_CCo,2714,177.02,0.551,1,0,1405,500.17
$SM_GC,1.21,0.00,0.00,177.02,0.000,0.000,0.551,154,2567,1405,-8.74,0.48,500.17
$IRIDIUM_FIX,4748.51,-12226.29,300499,141456
$TT8_MAMPS,0.027612
$HUMID,32.04
$INTERNAL_PRESSURE,9.15573
$TCM_TEMP,19.20
$XPDR_PINGS,7
$24V_AH,24.3,2.371
$10V_AH,10.6,1.731
$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,24.725,35.850,165.475,177.025,0.000,29.476,33.232,193.061,3.250,0.000,12.862,834.780,771.643,471.222,846.991,327.428,33.351,966.668,0.000,835.040,0.000,10.582,0.000
$DEVICE_MAMPS,325.975,142.662,665.756,551.473,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,385.392,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324532
$DATA_FILE_SIZE,18997,577
$CAP_FILE_SIZE,61783,0
$CFSIZE,260165632,253890560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,163614,4807.914,-12223.517,14,1.7,14,18.3