version: 66.07
glider: 23
mission: 12
dive: 7
start: 3 3 110 23 59 4
data:
$ID,23
$MISSION,12
$DIVE,7
$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,100
$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,0
$CAPMAXSIZE,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-39323.035
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$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
$GPS1,030310,235431,4806.371,-12222.509,10,2.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-65.9
$GPS2,030310,235814,4806.345,-12222.451,9,1.8,9,18.3
$SPEED_LIMITS,0.173,0.196
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.102,-0.167
$KALMAN_X,-258.0,-196.5,-62.5,1485.1,15.3
$KALMAN_Y,-1120.5,-635.7,-235.1,-1810.2,89.4
$MHEAD_RNG_PITCHd_Wd,130.3,849,-23.4,-10.000
$D_GRID,107
$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,16,-1.57,-97.8,0.0,0.0,0,160,0.00,0.00,-140.25,0.000,2,0.000,0.000,368,1993,2964,0,0,0,0,0,0
$GC,163,-1.57,-97.8,3.1,-6.9,28,205,10.10,2.60,-23.80,0.000,4,0.160,0.057,2126,3466,3648,0,0,0,0,0,0
$GC,457,-1.57,-97.8,31.0,-12.1,73,463,0.00,2.45,0.00,0.000,6,0.000,0.031,2126,2026,3649,0,0,0,0,0,0
$GC,655,-1.57,-97.8,54.8,-12.6,92,659,0.00,2.80,0.00,0.000,4,0.000,0.045,2125,635,3648,0,0,0,0,0,0
$GC,896,-1.57,-97.8,86.0,-12.5,113,900,0.00,2.83,0.00,0.000,6,0.000,0.034,2125,2066,3650,0,0,0,0,0,0
$STATE,1080,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1080,begin apogee
$GC,1085,-0.31,0.0,108.2,12.1,130,1165,1.40,0.00,75.20,0.821,6,0.117,0.000,2398,2066,3248,0,0,0,0,0,0
$STATE,1166,end apogee,CONTROL_FINISHED_OK
$STATE,1166,begin climb
$GC,1168,1.57,97.8,110.6,0.0,138,1255,1.92,3.00,74.90,0.798,4,0.055,0.044,2817,632,2848,0,0,0,0,0,0
$GC,1283,1.57,97.8,97.5,16.8,149,1288,0.00,2.83,0.00,0.000,6,0.000,0.031,2816,2051,2848,0,0,0,0,0,0
$GC,1608,1.57,97.8,43.8,15.3,179,1612,0.00,2.45,0.00,0.000,4,0.000,0.048,2817,3456,2849,0,0,0,0,0,0
$GC,1866,1.60,122.3,5.7,8.3,211,1892,0.00,2.40,19.65,0.725,6,0.000,0.030,2817,2031,2749,0,0,0,0,0,0
$GC,1960,1.74,256.7,4.5,0.8,228,2012,0.17,0.00,48.58,0.733,2,0.061,0.000,2859,2031,2431,0,0,0,0,0,0
$STATE,2013,end climb,SURFACE_DEPTH_REACHED
$STATE,2013,begin surface coast
$FINISH,2.9,1.019351
$STATE,2193,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2193,begin surface
$SM_CCo,2214,230.82,0.706,0,0,525,667.95
$SM_CCo,2448,0.00,0.000,0,0,524,668.20
$SM_GC,0.48,0.00,0.00,0.00,0.000,0.000,0.000,369,2027,524,-9.69,-0.65,668.20
$IRIDIUM_FIX,4748.51,-12224.57,270811,171728
$TT8_MAMPS,0.03068
$HUMID,1078069023
$TCM_TEMP,19.80
$XPDR_PINGS,0
$24V_AH,23.8,3.554
$10V_AH,9.8,0.502
$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,25.125,21.350,218.325,230.825,0.000,24.176,24.899,91.419,0.000,0.000,13.139,406.548,1016.932,558.101,608.539,94.248,33.321,865.251,0.000,481.026,0.000,0.539,0.000
$DEVICE_MAMPS,160.303,56.758,821.457,706.407,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,179.771,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324072
$DATA_FILE_SIZE,6801,270
$CAP_FILE_SIZE,36562,0
$CFSIZE,260034560,256593920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040310,004108,4806.311,-12222.281,31,1.7,38,18.3