version: 66.06
glider: 181
mission: 1
dive: 15
start: 2 3 110 6 32 5
data:
$ID,181
$MISSION,1
$DIVE,15
$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,-34592.926
$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,26
$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
$GPS1,062534,4805.749,-12221.461,6,3.5,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-72.0
$GPS2,063125,4805.733,-12221.441,12,1.9,18,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.030,0.194
$KALMAN_X,-3165.1,-97.7,-289.3,5675.1,-319.3
$KALMAN_Y,48.3,568.6,323.0,-4724.4,-635.3
$MHEAD_RNG_PITCHd_Wd,333.1,849,-11.7,-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,-0.53,-117.3,0.0,0.0,0,121,0.00,0.00,-108.05,0.000,2,0.000,0.000,165,2120,3155,0,0,0,0,0,0
$GC,123,-0.53,-117.3,3.2,-3.3,21,166,12.43,2.28,-21.73,0.000,4,0.325,0.061,2445,711,3947,0,0,0,0,0,0
$GC,257,-0.53,-117.3,10.9,-6.6,50,262,0.00,2.25,0.00,0.000,6,0.000,0.048,2435,2114,3948,0,0,0,0,0,0
$GC,327,-0.53,-117.3,17.0,-9.1,66,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2114,3948,0,0,0,0,0,0
$GC,398,-0.53,-117.3,23.6,-9.4,82,403,0.00,2.30,0.00,0.000,4,0.000,0.057,2424,3530,3948,0,0,0,0,0,0
$GC,534,-0.53,-117.3,38.4,-10.8,113,540,0.00,2.22,0.00,0.000,6,0.000,0.040,2425,2117,3948,0,0,0,0,0,0
$GC,604,-0.53,-117.3,46.2,-10.6,129,609,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2115,3948,0,0,0,0,0,0
$GC,738,-0.53,-117.3,60.9,-11.1,160,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2115,3948,0,0,0,0,0,0
$GC,874,-0.53,-117.3,75.8,-10.8,191,878,0.00,2.25,0.00,0.000,4,0.000,0.057,2414,3538,3948,0,0,0,0,0,0
$GC,952,-0.53,-117.3,84.4,-10.9,209,957,0.15,2.20,0.00,0.000,6,0.197,0.040,2450,2115,3948,0,0,0,0,0,0
$GC,1087,-0.53,-117.3,95.6,-8.1,240,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2113,3947,0,0,0,0,0,0
$GC,1222,-0.53,-117.3,106.4,-8.0,271,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2113,3948,0,0,0,0,0,0
$STATE,1356,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1356,begin apogee
$GC,1358,-0.17,0.0,116.7,7.6,302,1451,0.35,0.00,86.93,0.653,6,0.156,0.000,2560,2112,3468,0,0,0,0,0,0
$STATE,1451,end apogee,CONTROL_FINISHED_OK
$STATE,1451,begin climb
$GC,1452,0.53,117.3,118.7,0.0,321,1548,0.70,2.30,88.55,0.624,4,0.112,0.048,2799,716,2988,0,0,0,0,0,0
$GC,1577,0.53,117.3,107.9,11.3,348,1584,0.00,2.33,0.00,0.000,6,0.000,0.048,2799,2108,2987,0,0,0,0,0,0
$GC,1714,0.53,117.3,91.1,12.6,379,1719,0.00,2.35,0.00,0.000,4,0.000,0.058,2798,3542,2987,0,0,0,0,0,0
$GC,1723,0.53,117.3,90.0,12.5,381,1728,0.00,2.28,0.00,0.000,6,0.000,0.043,2809,2125,2987,0,0,0,0,0,0
$GC,1858,0.53,117.3,73.6,11.8,412,1864,0.00,2.33,0.00,0.000,4,0.000,0.058,2809,3540,2987,0,0,0,0,0,0
$GC,1867,0.53,117.3,72.3,11.9,414,1874,0.00,2.30,0.00,0.000,6,0.000,0.042,2821,2112,2985,0,0,0,0,0,0
$GC,2004,0.53,117.3,55.5,12.0,445,2009,0.00,2.30,0.00,0.000,4,0.000,0.057,2820,3536,2987,0,0,0,0,0,0
$GC,2013,0.53,117.3,54.4,12.0,447,2018,0.12,2.25,0.00,0.000,6,0.209,0.042,2803,2106,2987,0,0,0,0,0,0
$GC,2148,0.53,117.3,38.9,10.9,478,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2105,2987,0,0,0,0,0,0
$GC,2218,0.53,117.3,31.2,11.2,494,2224,0.00,2.33,0.00,0.000,4,0.000,0.057,2809,3536,2987,0,0,0,0,0,0
$GC,2276,0.53,117.3,23.9,12.6,507,2282,0.00,2.25,0.00,0.000,6,0.000,0.043,2812,2118,2987,0,0,0,0,0,0
$GC,2347,0.53,117.3,15.7,11.5,523,2352,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2118,2987,0,0,0,0,0,0
$GC,2417,0.53,117.3,8.1,10.5,539,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2118,2991,0,0,0,0,0,0
$STATE,2452,end climb,SURFACE_DEPTH_REACHED
$STATE,2452,begin surface coast
$FINISH,4.5,1.019723
$STATE,2508,end surface coast,CONTROL_FINISHED_OK
$STATE,2509,begin surface
$SM_CCo,2520,241.27,0.556,0,0,1223,550.21
$SM_GC,1.07,0.00,0.00,241.27,0.000,0.000,0.556,163,2117,1223,-7.68,-0.08,550.21
$IRIDIUM_FIX,4745.30,-12221.12,300499,050504
$TT8_MAMPS,0.052156
$HUMID,32.24
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,43.6
$24V_AH,24.5,1.602
$10V_AH,10.3,1.085
$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,21.675,36.500,175.475,241.275,0.000,28.843,30.899,214.449,0.500,0.000,20.200,0.000,911.028,506.305,1345.560,349.315,33.329,1018.031,0.000,1144.479,0.000,5.816,0.000
$DEVICE_MAMPS,325.208,61.360,653.484,556.075,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,378.925,884.868,803.180,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324516
$DATA_FILE_SIZE,38108,560
$CAP_FILE_SIZE,62202,0
$CFSIZE,260165632,255549440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,071832,4805.916,-12221.397,7,2.0,7,18.3