version: 66.06
glider: 181
mission: 1
dive: 9
start: 2 3 110 1 17 17
data:
$ID,181
$MISSION,1
$DIVE,9
$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,-34473.648
$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,26
$R_STBD_OVSHOOT,24
$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
$GPS1,011028,4806.585,-12222.526,7,2.9,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-76.7
$GPS2,011638,4806.583,-12222.519,15,1.9,15,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.144,-0.134
$KALMAN_X,-2043.3,-476.2,54.8,3261.4,-369.4
$KALMAN_Y,417.4,-59.7,-68.1,-2508.6,233.5
$MHEAD_RNG_PITCHd_Wd,114.5,1255,-11.7,-6.024
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.53,-117.3,0.0,0.0,0,80,0.00,0.00,-66.78,0.000,2,0.000,0.000,163,2127,2923,0,0,0,0,0,0
$GC,82,-0.53,-117.3,3.4,-4.5,13,125,11.98,2.30,-22.77,0.000,4,0.314,0.070,2433,3525,3948,0,0,0,0,0,0
$GC,137,-0.53,-117.3,11.7,-13.1,24,143,0.00,2.25,0.00,0.000,6,0.000,0.040,2432,2115,3948,0,0,0,0,0,0
$GC,208,-0.53,-117.3,18.8,-9.9,40,214,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2114,3949,0,0,0,0,0,0
$GC,279,-0.53,-117.3,25.7,-10.1,56,284,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2114,3950,0,0,0,0,0,0
$GC,349,-0.53,-117.3,33.0,-10.1,72,354,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2114,3950,0,0,0,0,0,0
$GC,418,-0.53,-117.3,40.6,-10.7,88,425,0.00,2.33,0.00,0.000,4,0.000,0.058,2422,3539,3950,0,0,0,0,0,0
$GC,428,-0.53,-117.3,41.8,-10.6,90,436,0.08,2.25,0.00,0.000,6,0.193,0.041,2446,2117,3950,0,0,0,0,0,0
$GC,565,-0.53,-117.3,55.2,-9.0,121,570,0.00,2.28,0.00,0.000,4,0.000,0.059,2433,3535,3950,0,0,0,0,0,0
$GC,644,-0.53,-117.3,62.8,-9.6,139,649,0.00,2.20,0.00,0.000,6,0.000,0.041,2433,2118,3950,0,0,0,0,0,0
$GC,779,-0.53,-117.3,75.7,-9.9,170,785,0.00,2.30,0.00,0.000,4,0.000,0.058,2423,3540,3950,0,0,0,0,0,0
$GC,802,-0.53,-117.3,77.9,-9.9,175,807,0.00,2.20,0.00,0.000,6,0.000,0.041,2424,2120,3950,0,0,0,0,0,0
$GC,936,-0.53,-117.3,91.8,-10.2,206,942,0.00,2.28,0.00,0.000,4,0.000,0.058,2413,3529,3952,0,0,0,0,0,0
$GC,954,-0.53,-117.3,93.8,-10.2,210,961,0.10,2.20,0.00,0.000,6,0.187,0.041,2441,2124,3950,0,0,0,0,0,0
$GC,1091,-0.53,-117.3,105.7,-8.0,241,1096,0.00,2.25,0.00,0.000,4,0.000,0.058,2433,3535,3950,0,0,0,0,0,0
$STATE,1108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1108,begin apogee
$GC,1112,-0.17,0.0,107.2,8.0,245,1203,0.43,0.00,87.88,0.658,6,0.153,0.000,2563,2107,3467,0,0,0,0,0,0
$STATE,1204,end apogee,CONTROL_FINISHED_OK
$STATE,1204,begin climb
$GC,1205,0.53,117.3,109.6,0.0,264,1297,0.70,0.00,88.57,0.626,6,0.113,0.000,2790,2107,2993,0,0,0,0,0,0
$GC,1427,0.53,117.3,89.5,10.8,313,1431,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2107,2988,0,0,0,0,0,0
$GC,1561,0.53,117.3,75.0,11.0,344,1567,0.00,2.35,0.00,0.000,4,0.000,0.057,2789,3532,2987,0,0,0,0,0,0
$GC,1619,0.53,117.3,68.1,12.2,357,1624,0.00,2.25,0.00,0.000,6,0.000,0.043,2800,2117,2988,0,0,0,0,0,0
$GC,1753,0.53,117.3,52.8,10.9,388,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2116,2988,0,0,0,0,0,0
$GC,1885,0.53,117.3,38.9,10.6,418,1891,0.00,2.30,0.00,0.000,4,0.000,0.058,2800,3530,2988,0,0,0,0,0,0
$GC,1956,0.53,117.3,30.9,11.6,434,1961,0.00,2.25,0.00,0.000,6,0.000,0.044,2811,2118,2988,0,0,0,0,0,0
$GC,2026,0.53,117.3,22.8,10.9,450,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2118,2986,0,0,0,0,0,0
$GC,2097,0.53,117.3,14.9,11.4,466,2103,0.00,2.22,0.00,0.000,4,0.000,0.051,2822,712,2988,0,0,0,0,0,0
$GC,2350,0.70,252.1,7.0,1.3,524,2455,0.00,2.22,98.82,0.584,6,0.000,0.048,2822,2115,2440,0,0,0,0,0,0
$GC,2520,0.88,402.1,5.8,0.8,559,2573,0.25,0.00,50.62,0.566,2,0.074,0.000,2926,2115,2170,0,0,0,0,0,0
$STATE,2573,end climb,SURFACE_DEPTH_REACHED
$STATE,2573,begin surface coast
$FINISH,1.4,1.017511
$STATE,2790,end surface coast,CONTROL_FINISHED_OK
$STATE,2790,begin surface
$SM_CCo,2802,128.70,0.525,1,0,1223,550.21
$SM_GC,1.07,0.00,0.00,128.70,0.000,0.000,0.525,162,2116,1223,-7.70,-0.11,550.21
$IRIDIUM_FIX,4754.94,-12229.76,300499,000037
$TT8_MAMPS,0.055224
$HUMID,32.75
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,47.4
$24V_AH,24.5,1.066
$10V_AH,10.3,0.710
$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,21.850,40.675,325.900,128.700,0.000,30.249,24.781,239.323,0.500,0.000,17.612,0.000,976.951,457.363,1492.888,373.423,33.322,1040.380,0.000,1284.538,0.000,5.525,0.000
$DEVICE_MAMPS,313.703,69.797,658.086,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,418.317,1047.984,960.205,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,41368,619
$CAP_FILE_SIZE,67813,0
$CFSIZE,260165632,255782912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,020707,4806.458,-12222.326,36,0.9,36,18.3