version: 66.06
glider: 181
mission: 1
dive: 14
start: 2 3 110 5 47 53
data:
$ID,181
$MISSION,1
$DIVE,14
$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,0
$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,-34572.098
$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,31
$R_STBD_OVSHOOT,23
$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,7
$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,4
$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
$GPS1,053807,4805.705,-12221.485,33,1.5,33,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-74.2
$GPS2,054713,4805.697,-12221.456,9,2.0,14,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.027,0.101
$KALMAN_X,-3427.7,-138.9,-215.3,5888.6,-539.1
$KALMAN_Y,799.8,307.9,322.8,-5282.7,81.2
$MHEAD_RNG_PITCHd_Wd,326.4,876,-26.4,-6.024
$D_GRID,150
$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,-0.92,-29.6,0.0,0.0,0,91,0.00,0.00,-77.55,0.000,2,0.000,0.000,163,2108,3155,0,0,0,0,0,0
$GC,92,-0.94,-50.7,3.0,-3.2,15,124,11.57,2.22,-14.23,0.000,4,0.323,0.061,2309,712,3675,0,0,0,0,0,0
$GC,272,-0.95,-58.9,11.5,-4.9,55,278,0.00,2.25,-0.60,0.000,6,0.000,0.046,2302,2124,3708,0,0,0,0,0,0
$GC,343,-0.95,-58.9,18.2,-10.8,71,348,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2124,3709,0,0,0,0,0,0
$GC,413,-0.95,-58.9,26.1,-11.3,87,419,0.00,2.28,0.00,0.000,4,0.000,0.054,2291,3538,3709,0,0,0,0,0,0
$GC,492,-0.95,-58.9,37.4,-15.0,105,498,0.00,2.22,0.00,0.000,6,0.000,0.038,2290,2115,3709,0,0,0,0,0,0
$GC,563,-0.95,-58.9,47.5,-14.4,121,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2115,3709,0,0,0,0,0,0
$GC,697,-0.95,-58.9,68.8,-16.5,152,703,0.00,2.28,0.00,0.000,4,0.000,0.054,2281,3528,3710,0,0,0,0,0,0
$GC,790,-0.95,-58.9,84.4,-16.5,173,796,0.17,2.17,0.00,0.000,6,0.254,0.038,2317,2109,3709,0,0,0,0,0,0
$STATE,897,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,897,begin apogee
$GC,899,-0.17,0.0,98.9,12.7,197,948,0.90,0.00,44.45,0.648,6,0.212,0.000,2558,2107,3468,0,0,0,0,0,0
$STATE,948,end apogee,CONTROL_FINISHED_OK
$STATE,948,begin climb
$GC,949,0.95,58.9,100.8,0.0,207,997,1.12,0.00,45.08,0.624,6,0.114,0.000,2923,2103,3226,0,0,0,0,0,0
$GC,1127,0.95,58.9,78.0,15.1,247,1132,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2107,3225,0,0,0,0,0,0
$GC,1261,0.95,58.9,59.5,13.2,278,1267,0.00,2.33,0.00,0.000,4,0.000,0.055,2929,3531,3224,0,0,0,0,0,0
$GC,1270,0.95,58.9,58.2,13.4,280,1277,0.00,2.25,0.00,0.000,6,0.000,0.041,2934,2121,3225,0,0,0,0,0,0
$GC,1408,0.95,58.9,40.4,13.0,311,1413,0.00,2.30,0.00,0.000,4,0.000,0.056,2934,3542,3224,0,0,0,0,0,0
$GC,1416,0.95,58.9,39.1,13.0,313,1422,0.00,2.25,0.00,0.000,6,0.000,0.041,2945,2128,3224,0,0,0,0,0,0
$GC,1487,0.95,58.9,29.6,13.4,329,1493,0.00,2.28,0.00,0.000,4,0.000,0.056,2944,3529,3224,0,0,0,0,0,0
$GC,1523,0.95,58.9,24.7,13.6,337,1529,0.00,2.22,0.00,0.000,6,0.000,0.043,2955,2123,3225,0,0,0,0,0,0
$GC,1594,0.95,58.9,15.3,13.1,353,1600,0.00,2.28,0.00,0.000,4,0.000,0.056,2955,3527,3224,0,0,0,0,0,0
$GC,1634,0.95,58.9,9.9,13.4,362,1640,0.10,2.22,0.00,0.000,6,0.239,0.043,2942,2123,3225,0,0,0,0,0,0
$STATE,1678,end climb,SURFACE_DEPTH_REACHED
$STATE,1678,begin surface coast
$FINISH,5.2,1.021119
$STATE,1727,end surface coast,CONTROL_FINISHED_OK
$STATE,1727,begin surface
$SM_CCo,1728,388.20,0.550,0,0,440,742.52
$SM_GC,1.05,8.00,0.00,0.00,0.063,0.000,0.000,164,2120,436,-7.66,0.00,743.50
$IRIDIUM_FIX,4745.30,-12220.12,300499,050504
$TT8_MAMPS,0.052923
$HUMID,32.71
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.3,10.3
$24V_AH,24.5,1.516
$10V_AH,10.3,1.020
$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,21.875,31.550,89.525,388.200,0.000,58.006,54.079,297.765,2.000,0.000,16.469,0.000,760.943,560.637,962.350,477.309,33.302,912.895,0.000,803.108,0.000,19.604,0.000
$DEVICE_MAMPS,322.907,61.360,648.115,549.939,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,259.967,652.109,594.015,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,25554,383
$CAP_FILE_SIZE,54165,0
$CFSIZE,260165632,255606784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,062534,4805.749,-12221.461,6,3.5,25,18.3