version: 66.06
glider: 181
mission: 1
dive: 7
start: 2 2 110 23 31 34
data:
$ID,181
$MISSION,1
$DIVE,7
$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,-34438.82
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,232424,4806.781,-12222.863,29,0.8,47,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-76.3
$GPS2,233055,4806.754,-12222.896,8,1.0,13,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,-0.096
$KALMAN_X,-1187.9,-490.0,-94.5,2105.8,-235.6
$KALMAN_Y,-156.9,64.2,5.9,-1814.2,-116.0
$MHEAD_RNG_PITCHd_Wd,100.9,1782,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.53,-117.3,0.0,0.0,0,92,0.00,0.00,-77.57,0.000,2,0.000,0.000,161,2125,3164,0,0,0,0,0,0
$GC,93,-0.53,-117.3,3.4,-3.3,15,126,12.30,2.25,-15.88,0.000,4,0.321,0.061,2441,709,3944,0,0,0,0,0,0
$GC,373,-0.53,-117.3,37.4,-9.7,78,379,0.00,2.28,0.00,0.000,6,0.000,0.051,2434,2121,3949,0,0,0,0,0,0
$GC,443,-0.53,-117.3,44.4,-9.8,94,448,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2121,3947,0,0,0,0,0,0
$GC,579,-0.53,-117.3,57.8,-9.8,125,583,0.00,2.28,0.00,0.000,4,0.000,0.058,2424,3545,3947,0,0,0,0,0,0
$GC,666,-0.53,-117.3,67.2,-10.6,142,673,0.00,2.25,0.00,0.000,6,0.000,0.041,2423,2114,3944,0,0,0,0,0,0
$GC,859,-0.53,-117.3,85.2,-10.1,173,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2113,3947,0,0,0,0,0,0
$STATE,1022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1022,begin apogee
$GC,1024,-0.17,0.0,103.0,9.7,198,1114,0.45,0.00,87.03,0.658,6,0.165,0.000,2559,2110,3469,0,0,0,0,0,0
$STATE,1114,end apogee,CONTROL_FINISHED_OK
$STATE,1115,begin climb
$GC,1115,0.53,117.3,105.6,0.0,210,1214,0.73,2.38,88.97,0.626,4,0.113,0.051,2804,715,2989,0,0,0,0,0,0
$GC,1230,0.53,117.3,96.8,9.6,228,1237,0.00,2.35,0.00,0.000,6,0.000,0.050,2804,2114,2988,0,0,0,0,0,0
$GC,1367,0.53,117.3,79.9,12.5,259,1371,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,2114,2991,0,0,0,0,0,0
$GC,1501,0.53,117.3,63.2,12.2,290,1506,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2114,2988,0,0,0,0,0,0
$GC,1637,0.53,117.3,47.5,11.4,321,1642,0.00,2.28,0.00,0.000,4,0.000,0.058,2804,3540,2988,0,0,0,0,0,0
$GC,1728,0.53,117.3,36.6,12.1,342,1734,0.00,2.25,0.00,0.000,6,0.000,0.044,2814,2126,2988,0,0,0,0,0,0
$GC,1799,0.53,117.3,28.7,10.9,358,1805,0.00,2.25,0.00,0.000,4,0.000,0.053,2825,712,2986,0,0,0,0,0,0
$GC,1840,0.53,117.3,24.6,10.5,367,1845,0.00,2.28,0.00,0.000,6,0.000,0.051,2823,2129,2988,0,0,0,0,0,0
$GC,1910,0.53,117.3,16.6,11.3,383,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2126,2988,0,0,0,0,0,0
$GC,1981,0.53,117.3,11.1,7.1,399,1987,0.00,2.25,0.00,0.000,4,0.000,0.051,2832,713,2988,0,0,0,0,0,0
$GC,1991,0.53,117.3,10.6,6.2,401,1997,0.10,2.25,0.00,0.000,6,0.175,0.051,2806,2118,2988,0,0,0,0,0,0
$GC,2062,0.69,248.7,9.0,1.4,417,2167,0.12,2.35,97.00,0.589,4,0.120,0.051,2858,712,2454,0,0,0,0,0,0
$GC,2215,0.81,345.1,6.7,2.7,448,2293,0.00,2.30,73.78,0.568,6,0.000,0.048,2858,2113,2060,0,0,0,0,0,0
$STATE,2314,end climb,SURFACE_DEPTH_REACHED
$STATE,2314,begin surface coast
$FINISH,0.5,1.017267
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2491,117.20,0.523,1,0,1223,550.21
$SM_GC,0.98,0.00,0.00,117.20,0.000,0.000,0.523,165,2115,1223,-7.69,-0.17,550.21
$IRIDIUM_FIX,4754.94,-12222.57,290499,222205
$TT8_MAMPS,0.052923
$HUMID,33.10
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,81.2,12.7
$24V_AH,24.4,0.878
$10V_AH,10.3,0.565
$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,21.475,31.975,346.775,117.200,0.000,22.820,27.134,267.311,0.500,0.000,15.589,0.000,768.180,406.487,1439.901,384.395,33.327,965.378,0.000,1063.121,0.000,5.427,0.000
$DEVICE_MAMPS,321.373,61.360,658.086,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,341.236,1082.030,803.794,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324524
$DATA_FILE_SIZE,35081,506
$CAP_FILE_SIZE,62744,0
$CFSIZE,260165632,255877120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,001538,4806.697,-12222.700,12,1.2,12,18.3