version: 66.06
glider: 181
mission: 1
dive: 18
start: 2 3 110 8 50 35
data:
$ID,181
$MISSION,1
$DIVE,18
$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,-34634.348
$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,33
$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
$GPS1,084404,4806.071,-12221.581,12,2.8,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-76.5
$GPS2,084956,4806.047,-12221.560,15,0.9,15,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.167,0.104
$KALMAN_X,-2621.8,411.2,118.1,4075.4,634.5
$KALMAN_Y,704.8,-616.8,-815.6,-2482.7,-282.7
$MHEAD_RNG_PITCHd_Wd,283.7,4709,-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,12,-0.53,-117.3,0.0,0.0,0,91,0.00,0.00,-76.90,0.000,2,0.000,0.000,168,2227,3176,0,0,0,0,0,0
$GC,92,-0.53,-117.3,3.2,-3.9,15,129,12.75,0.00,-22.38,0.000,6,0.331,0.000,2439,2227,3947,0,0,0,0,0,0
$GC,195,-0.53,-117.3,10.0,-7.1,37,200,0.00,2.28,0.00,0.000,4,0.000,0.056,2431,3619,3948,0,0,0,0,0,0
$GC,261,-0.53,-117.3,15.6,-9.0,52,267,0.00,2.22,0.00,0.000,6,0.000,0.039,2431,2208,3948,0,0,0,0,0,0
$GC,332,-0.53,-117.3,22.7,-10.0,68,337,0.00,2.22,0.00,0.000,4,0.000,0.047,2430,799,3948,0,0,0,0,0,0
$GC,350,-0.53,-117.3,24.8,-10.4,72,356,0.00,2.28,0.00,0.000,6,0.000,0.049,2422,2214,3948,0,0,0,0,0,0
$GC,421,-0.53,-117.3,32.7,-11.3,88,426,0.12,0.00,0.00,0.000,6,0.223,0.000,2448,2214,3949,0,0,0,0,0,0
$GC,492,-0.53,-117.3,39.5,-9.1,104,497,0.00,2.30,0.00,0.000,4,0.000,0.058,2440,3620,3948,0,0,0,0,0,0
$GC,552,-0.53,-117.3,45.3,-9.7,118,559,0.00,2.22,0.00,0.000,6,0.000,0.040,2439,2206,3948,0,0,0,0,0,0
$GC,689,-0.53,-117.3,58.6,-10.0,149,693,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2206,3949,0,0,0,0,0,0
$GC,823,-0.53,-117.3,72.0,-9.6,180,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2208,3948,0,0,0,0,0,0
$STATE,940,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,940,begin apogee
$GC,943,-0.17,0.0,83.1,9.6,207,1034,0.43,0.00,87.00,0.634,6,0.168,0.000,2565,2104,3468,0,0,0,0,0,0
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1036,0.53,117.3,85.8,0.0,226,1132,0.70,2.30,88.53,0.606,4,0.117,0.048,2800,714,2987,0,0,0,0,0,0
$GC,1144,0.53,117.3,78.5,8.7,249,1149,0.00,2.30,0.00,0.000,6,0.000,0.048,2800,2114,2987,0,0,0,0,0,0
$GC,1278,0.53,117.3,63.3,11.2,280,1285,0.00,2.35,0.00,0.000,4,0.000,0.058,2805,3526,2989,0,0,0,0,0,0
$GC,1302,0.53,117.3,60.6,11.6,285,1307,0.00,2.22,0.00,0.000,6,0.000,0.043,2810,2132,2986,0,0,0,0,0,0
$GC,1437,0.53,117.3,45.1,11.1,316,1437,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2131,2986,0,0,0,0,0,0
$GC,1568,0.53,117.3,30.7,10.9,346,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,2130,2986,0,0,0,0,0,0
$GC,1638,0.53,117.3,23.0,12.1,362,1644,0.00,2.28,0.00,0.000,4,0.000,0.057,2810,3527,2986,0,0,0,0,0,0
$GC,1661,0.53,117.3,20.1,12.4,367,1667,0.00,2.25,0.00,0.000,6,0.000,0.043,2821,2113,2984,0,0,0,0,0,0
$GC,1732,0.53,117.3,12.6,10.8,383,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2113,2986,0,0,0,0,0,0
$GC,1802,0.53,117.3,5.3,7.9,399,1808,0.00,2.30,0.00,0.000,4,0.000,0.058,2821,3525,2986,0,0,0,0,0,0
$GC,1877,0.88,397.8,9.1,-3.8,416,2059,0.20,2.22,176.23,0.568,2,0.080,0.042,2909,2115,2016,0,0,0,0,0,0
$STATE,2060,end climb,SURFACE_DEPTH_REACHED
$STATE,2060,begin surface coast
$FINISH,0.8,1.017144
$STATE,2172,end surface coast,CONTROL_FINISHED_OK
$STATE,2172,begin surface
$SM_CCo,2184,105.85,0.510,1,0,1224,550.21
$SM_GC,1.18,0.00,0.00,105.85,0.000,0.000,0.510,168,2233,1224,-7.69,0.51,550.21
$IRIDIUM_FIX,4745.30,-12218.40,300499,080812
$TT8_MAMPS,0.055224
$HUMID,32.91
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,9.5
$24V_AH,24.5,1.857
$10V_AH,10.3,1.249
$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,22.500,32.050,351.750,105.850,0.000,27.279,24.077,230.849,0.500,0.000,17.768,0.000,680.484,440.895,1176.873,346.914,33.293,942.340,0.000,1005.630,0.000,5.715,0.000
$DEVICE_MAMPS,330.577,83.603,634.309,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,319.320,843.615,774.052,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,31886,477
$CAP_FILE_SIZE,57003,0
$CFSIZE,260165632,255451136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,092920,4806.084,-12221.700,12,1.8,12,18.3