version: 66.06
glider: 181
mission: 1
dive: 17
start: 2 3 110 8 7 17
data:
$ID,181
$MISSION,1
$DIVE,17
$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,-34615.949
$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,2215
$C_ROLL_CLIMB,2115
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,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,2
$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
$GPS1,080116,4805.998,-12221.420,5,2.2,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-76.0
$GPS2,080638,4805.981,-12221.396,8,1.9,8,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.156,0.120
$KALMAN_X,-2371.6,-107.8,-177.0,4838.7,734.9
$KALMAN_Y,-216.1,225.0,-319.1,-3024.1,-1096.0
$MHEAD_RNG_PITCHd_Wd,289.2,748,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.53,-117.3,0.0,0.0,0,97,0.00,0.00,-82.03,0.000,2,0.000,0.000,168,2222,3302,0,0,0,0,0,0
$GC,98,-0.53,-117.3,3.4,-3.4,16,136,12.25,2.30,-18.20,0.000,4,0.321,0.061,2442,798,3948,0,0,0,0,0,0
$GC,140,-0.53,-117.3,5.9,-6.2,24,145,0.00,2.33,0.00,0.000,6,0.000,0.051,2435,2222,3947,0,0,0,0,0,0
$GC,210,-0.53,-117.3,10.4,-6.6,40,216,0.00,2.33,0.00,0.000,4,0.000,0.058,2424,3639,3948,0,0,0,0,0,0
$GC,316,-0.53,-117.3,20.9,-10.6,64,322,0.00,2.28,0.00,0.000,6,0.000,0.040,2424,2204,3948,0,0,0,0,0,0
$GC,387,-0.53,-117.3,28.5,-10.9,80,392,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2202,3948,0,0,0,0,0,0
$GC,457,-0.53,-117.3,36.4,-11.1,96,463,0.00,2.35,0.00,0.000,4,0.000,0.058,2413,3640,3948,0,0,0,0,0,0
$GC,524,-0.53,-117.3,44.2,-11.9,111,529,0.15,2.22,0.00,0.000,6,0.201,0.040,2449,2210,3948,0,0,0,0,0,0
$GC,658,-0.53,-117.3,56.9,-8.8,142,659,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2209,3948,0,0,0,0,0,0
$GC,788,-0.53,-117.3,68.5,-8.9,172,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2208,3948,0,0,0,0,0,0
$GC,927,-0.53,-117.3,80.1,-8.1,203,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2209,3948,0,0,0,0,0,0
$STATE,955,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,955,begin apogee
$GC,958,-0.17,0.0,82.9,8.4,210,1051,0.38,0.00,86.80,0.632,6,0.160,0.000,2564,2109,3469,0,0,0,0,0,0
$STATE,1051,end apogee,CONTROL_FINISHED_OK
$STATE,1051,begin climb
$GC,1052,0.53,117.3,85.5,0.0,229,1148,0.70,0.00,88.57,0.607,6,0.116,0.000,2789,2109,2987,0,0,0,0,0,0
$GC,1278,0.53,117.3,66.5,10.9,279,1283,0.00,2.35,0.00,0.000,4,0.000,0.057,2794,3538,2986,0,0,0,0,0,0
$GC,1295,0.53,117.3,64.4,11.3,283,1300,0.00,2.28,0.00,0.000,6,0.000,0.043,2799,2122,2986,0,0,0,0,0,0
$GC,1430,0.53,117.3,49.2,11.3,314,1430,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2121,2986,0,0,0,0,0,0
$GC,1561,0.53,117.3,35.7,10.3,344,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2121,2986,0,0,0,0,0,0
$GC,1631,0.53,117.3,28.6,10.0,360,1637,0.00,2.30,0.00,0.000,4,0.000,0.058,2795,3528,2985,0,0,0,0,0,0
$GC,1658,0.53,117.3,25.6,10.6,366,1664,0.00,2.25,0.00,0.000,6,0.000,0.044,2810,2121,2986,0,0,0,0,0,0
$GC,1729,0.53,117.3,18.1,10.2,382,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2120,2986,0,0,0,0,0,0
$GC,1800,0.53,117.3,10.8,10.4,398,1805,0.00,2.25,0.00,0.000,4,0.000,0.052,2821,704,2986,0,0,0,0,0,0
$GC,1813,0.53,117.3,9.2,10.6,401,1819,0.00,2.28,0.00,0.000,6,0.000,0.050,2821,2122,2986,0,0,0,0,0,0
$STATE,1853,end climb,SURFACE_DEPTH_REACHED
$STATE,1853,begin surface coast
$FINISH,3.9,1.019714
$STATE,1901,end surface coast,CONTROL_FINISHED_OK
$STATE,1901,begin surface
$SM_CCo,1913,238.77,0.537,1,0,1223,550.21
$SM_GC,1.05,0.00,0.00,238.77,0.000,0.000,0.537,168,2227,1223,-7.68,0.34,550.21
$IRIDIUM_FIX,4748.51,-12201.35,300499,070728
$TT8_MAMPS,0.051389
$HUMID,32.63
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,9.5
$24V_AH,24.5,1.766
$10V_AH,10.3,1.188
$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,21.450,27.775,175.375,238.775,0.000,30.772,22.471,202.689,0.500,0.000,10.633,0.000,652.632,472.575,1027.164,325.515,33.297,879.269,0.000,873.376,0.000,6.055,0.000
$DEVICE_MAMPS,320.606,86.671,632.008,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,284.304,703.773,644.698,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324528
$DATA_FILE_SIZE,28704,421
$CAP_FILE_SIZE,51957,0
$CFSIZE,260165632,255496192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,084404,4806.071,-12221.581,12,2.8,31,18.3