version: 66.07
glider: 23
mission: 12
dive: 5
start: 3 3 110 22 27 36
data:
$ID,23
$MISSION,12
$DIVE,5
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,30
$D_BOOST,0
$T_BOOST,0
$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,40
$T_MISSION,60
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51609
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0030006149
$HD_B,0.0123087
$HD_C,3.5261501e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.099998
$TGT_DEFAULT_LON,-122.36667
$TGT_AUTO_DEFAULT,0
$SM_CC,668
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-39294.184
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,370
$PITCH_MAX,3518
$C_PITCH,2475
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,105
$ROLL_MAX,3793
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,525
$VBD_MAX,3900
$C_VBD,3248
$VBD_DBAND,6
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,2
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,10
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-28.118189
$PRESSURE_SLOPE,0.000115925
$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,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,14
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004302158
$SEABIRD_T_H,0.00062748179
$SEABIRD_T_I,2.3117656e-05
$SEABIRD_T_J,2.3619712e-06
$SEABIRD_C_G,-10.29255
$SEABIRD_C_H,1.1599121
$SEABIRD_C_I,-0.0011831193
$SEABIRD_C_J,0.00020649709
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$GPS1,030310,222243,4806.664,-12222.862,8,1.3,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-69.0
$GPS2,030310,222644,4806.629,-12222.837,12,1.8,12,18.3
$SPEED_LIMITS,0.173,0.214
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.158,-0.145
$KALMAN_X,-126.3,-148.9,-109.0,870.2,35.4
$KALMAN_Y,-1052.6,-604.4,-374.8,-1234.7,-109.8
$MHEAD_RNG_PITCHd_Wd,114.2,1558,-21.2,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.45,-117.3,0.0,0.0,0,165,0.00,0.00,-146.18,0.000,2,0.000,0.000,363,1996,2976,0,0,0,0,0,0
$GC,168,-1.45,-117.3,3.7,-7.8,29,205,10.27,2.80,-20.20,0.000,4,0.163,0.053,2152,588,3727,0,0,0,0,0,0
$GC,350,-1.45,-117.3,20.8,-10.7,61,356,0.00,2.75,0.00,0.000,6,0.000,0.033,2153,2000,3727,0,0,0,0,0,0
$GC,547,-1.45,-117.3,42.6,-11.4,80,552,0.00,2.47,0.00,0.000,4,0.000,0.046,2152,3422,3728,0,0,0,0,0,0
$GC,804,-1.45,-117.3,77.3,-13.5,102,810,0.00,2.42,0.00,0.000,6,0.000,0.032,2152,2005,3728,0,0,0,0,0,0
$STATE,1010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1010,begin apogee
$GC,1016,-0.31,0.0,103.6,11.9,122,1113,1.23,0.00,89.88,0.824,6,0.104,0.000,2400,1921,3248,0,0,0,0,0,0
$STATE,1113,end apogee,CONTROL_FINISHED_OK
$STATE,1114,begin climb
$GC,1116,1.45,117.3,106.0,0.0,132,1219,1.77,2.75,89.20,0.799,4,0.054,0.048,2789,551,2768,0,0,0,0,0,0
$GC,1235,1.45,117.3,93.1,16.3,143,1242,0.00,2.75,0.00,0.000,6,0.000,0.031,2789,1962,2768,0,0,0,0,0,0
$GC,1562,1.45,117.3,39.7,15.9,174,1566,0.00,2.53,0.00,0.000,4,0.000,0.048,2789,3373,2767,0,0,0,0,0,0
$GC,1763,1.45,117.3,9.5,12.8,198,1769,0.00,2.47,0.00,0.000,6,0.000,0.035,2789,1971,2767,0,0,0,0,0,0
$GC,1837,1.65,297.4,6.3,-0.3,211,1980,0.20,2.55,135.27,0.738,4,0.058,0.047,2838,3364,2033,0,0,0,0,0,0
$STATE,1990,end climb,SURFACE_DEPTH_REACHED
$STATE,1990,begin surface coast
$FINISH,-0.2,1.017489
$STATE,2205,end surface coast,CONTROL_FINISHED_OK
$STATE,2205,begin surface
$SM_CCo,2228,185.18,0.703,0,0,525,667.95
$SM_CCo,2416,0.00,0.000,0,0,524,668.20
$SM_GC,0.53,0.00,0.00,0.00,0.000,0.000,0.000,365,1997,524,-9.71,-0.08,668.20
$IRIDIUM_FIX,4748.51,-12224.57,270811,161644
$TT8_MAMPS,0.03068
$HUMID,1078063861
$TCM_TEMP,19.90
$XPDR_PINGS,2
$24V_AH,23.9,3.338
$10V_AH,9.8,0.457
$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,24.625,26.050,314.350,185.175,0.000,0.000,0.000,0.000,0.500,0.000,14.169,390.146,965.123,591.792,486.546,51.932,33.315,915.628,0.000,481.474,0.000,0.540,0.000
$DEVICE_MAMPS,162.604,61.360,823.758,702.572,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,183.711,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324124
$DATA_FILE_SIZE,10125,279
$CAP_FILE_SIZE,49065,0
$CFSIZE,260034560,256626688
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030310,230901,4806.447,-12222.604,13,1.8,31,18.3