version: 66.06
glider: 181
mission: 1
dive: 6
start: 2 2 110 22 34 32
data:
$ID,181
$MISSION,1
$DIVE,6
$D_SURF,5
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,550
$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,-34422.602
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,162
$PITCH_MAX,3972
$C_PITCH,2625
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2120
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3467
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$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,-59.206589
$PRESSURE_SLOPE,0.000116609
$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,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,35
$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,0.0043203235
$SEABIRD_T_H,0.00062277901
$SEABIRD_T_I,2.2452641e-05
$SEABIRD_T_J,2.2905836e-06
$SEABIRD_C_G,-10.17854
$SEABIRD_C_H,1.1531147
$SEABIRD_C_I,-0.0013870052
$SEABIRD_C_J,0.0002016264
$GPS1,222809,4806.981,-12223.014,8,2.3,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-72.2
$GPS2,223352,4806.931,-12223.056,12,3.7,31,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,-0.104
$KALMAN_X,-792.8,-442.9,-169.0,1538.7,-217.6
$KALMAN_Y,-198.4,51.0,40.6,-1462.7,-112.8
$MHEAD_RNG_PITCHd_Wd,103.6,2163,-11.7,-6.024
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.53,-117.3,0.0,0.0,0,116,0.00,0.00,-102.45,0.000,2,0.000,0.000,159,2118,3017,0,0,0,0,0,0
$GC,117,-0.53,-117.3,3.4,-4.4,20,155,12.07,2.25,-21.15,0.000,4,0.318,0.061,2440,703,3947,0,0,0,0,0,0
$GC,281,-0.53,-117.3,23.8,-10.5,56,286,0.00,2.28,0.00,0.000,6,0.000,0.049,2433,2120,3948,0,0,0,0,0,0
$GC,351,-0.53,-117.3,30.6,-10.1,72,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2120,3949,0,0,0,0,0,0
$GC,422,-0.53,-117.3,38.2,-11.0,88,443,0.00,2.30,0.00,0.000,4,0.000,0.058,2423,3538,3949,0,0,0,0,0,0
$GC,492,-0.53,-117.3,46.5,-11.7,94,513,0.00,2.25,0.00,0.000,6,0.000,0.041,2423,2112,3949,0,0,0,0,0,0
$GC,825,-0.53,-117.3,81.5,-10.8,125,831,0.12,2.30,0.00,0.000,4,0.193,0.058,2444,3538,3949,0,0,0,0,0,0
$GC,891,-0.53,-117.3,87.8,-10.0,133,895,0.00,2.20,0.00,0.000,6,0.000,0.041,2443,2118,3949,0,0,0,0,0,0
$STATE,1044,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1044,begin apogee
$GC,1047,-0.17,0.0,103.1,8.8,159,1140,0.38,0.00,87.93,0.660,6,0.159,0.000,2557,2117,3466,0,0,0,0,0,0
$STATE,1140,end apogee,CONTROL_FINISHED_OK
$STATE,1141,begin climb
$GC,1141,0.53,117.3,106.2,0.0,175,1238,0.73,2.38,88.78,0.627,4,0.115,0.052,2801,712,2988,0,0,0,0,0,0
$GC,1251,0.53,117.3,99.0,9.1,195,1256,0.00,2.35,0.00,0.000,6,0.000,0.050,2801,2126,2987,0,0,0,0,0,0
$GC,1386,0.53,117.3,84.1,10.9,226,1392,0.00,2.33,0.00,0.000,4,0.000,0.058,2801,3526,2987,0,0,0,0,0,0
$GC,1413,0.53,117.3,80.8,11.7,232,1419,0.00,2.28,0.00,0.000,6,0.000,0.044,2811,2119,2987,0,0,0,0,0,0
$GC,1549,0.53,117.3,64.9,11.7,263,1554,0.00,2.25,0.00,0.000,4,0.000,0.053,2822,707,2986,0,0,0,0,0,0
$GC,1567,0.53,117.3,62.8,11.8,267,1572,0.00,2.28,0.00,0.000,6,0.000,0.051,2822,2128,2987,0,0,0,0,0,0
$GC,1701,0.53,117.3,46.7,11.2,298,1708,0.00,2.28,0.00,0.000,4,0.000,0.058,2822,3524,2987,0,0,0,0,0,0
$GC,1782,0.53,117.3,36.1,13.8,316,1788,0.10,2.25,0.00,0.000,6,0.193,0.044,2805,2117,2987,0,0,0,0,0,0
$GC,1853,0.53,117.3,28.1,10.7,332,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2117,2987,0,0,0,0,0,0
$GC,1923,0.53,117.3,21.4,9.5,348,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2117,2987,0,0,0,0,0,0
$GC,1994,0.53,117.3,15.1,9.2,364,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2117,2987,0,0,0,0,0,0
$GC,2064,0.53,117.3,9.7,7.1,380,2070,0.00,2.22,0.00,0.000,4,0.000,0.053,2814,710,2987,0,0,0,0,0,0
$GC,2317,0.68,234.3,7.8,1.9,438,2411,0.00,2.22,85.97,0.592,6,0.000,0.050,2814,2111,2511,0,0,0,0,0,0
$GC,2477,0.78,318.4,5.6,3.1,471,2550,0.17,2.45,64.00,0.575,4,0.090,0.056,2885,3539,2169,0,0,0,0,0,0
$GC,2559,0.96,461.2,5.1,1.0,487,2566,0.08,2.33,3.17,0.329,2,0.087,0.044,2928,2124,2160,0,0,0,0,0,0
$STATE,2566,end climb,SURFACE_DEPTH_REACHED
$STATE,2566,begin surface coast
$FINISH,0.1,1.015923
$STATE,2783,end surface coast,CONTROL_FINISHED_OK
$STATE,2783,begin surface
$SM_CCo,2795,126.12,0.531,1,0,1224,550.21
$SM_GC,1.06,0.00,0.00,126.12,0.000,0.000,0.531,161,2125,1224,-7.70,0.11,550.21
$IRIDIUM_FIX,4751.72,-12216.40,290499,212129
$TT8_MAMPS,0.052923
$HUMID,33.02
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.5,39.3
$24V_AH,24.4,0.782
$10V_AH,10.3,0.498
$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,21.800,41.175,329.850,126.125,0.000,29.538,25.599,201.360,0.500,0.000,34.398,0.000,762.095,454.542,1717.341,334.770,33.308,1052.380,0.000,1145.325,0.000,5.502,0.000
$DEVICE_MAMPS,318.305,61.360,659.620,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,362.199,1358.718,905.495,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,35053,538
$CAP_FILE_SIZE,70757,0
$CFSIZE,260165632,255913984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,232424,4806.781,-12222.863,29,0.8,47,18.3