version: 66.06
glider: 181
mission: 1
dive: 20
start: 2 3 110 10 28 29
data:
$ID,181
$MISSION,1
$DIVE,20
$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,-34665.367
$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,38
$R_STBD_OVSHOOT,36
$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
$GPS1,102108,4806.034,-12221.852,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-77.3
$GPS2,102750,4805.985,-12221.843,11,1.6,11,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.149,0.129
$KALMAN_X,-3015.8,1567.3,755.5,2327.0,347.1
$KALMAN_Y,250.5,-839.3,-1112.4,-1620.6,-89.7
$MHEAD_RNG_PITCHd_Wd,292.5,4586,-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,-117.3,0.0,0.0,0,86,0.00,0.00,-71.90,0.000,2,0.000,0.000,166,2227,3053,0,0,0,0,0,0
$GC,87,-0.53,-117.3,3.6,-3.5,14,125,13.07,2.28,-19.92,0.000,4,0.337,0.067,2431,3621,3946,0,0,0,0,0,0
$GC,342,-0.53,-117.3,28.5,-10.6,71,347,0.00,2.22,0.00,0.000,6,0.000,0.039,2431,2210,3947,0,0,0,0,0,0
$GC,412,-0.53,-117.3,36.0,-10.3,87,418,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2209,3947,0,0,0,0,0,0
$GC,483,-0.53,-117.3,43.3,-10.5,103,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2208,3947,0,0,0,0,0,0
$GC,616,-0.53,-117.3,57.3,-10.0,134,624,0.00,2.30,0.00,0.000,4,0.000,0.058,2420,3622,3947,0,0,0,0,0,0
$GC,661,-0.53,-117.3,62.3,-10.9,144,668,0.08,2.20,0.00,0.000,6,0.190,0.039,2442,2217,3947,0,0,0,0,0,0
$GC,798,-0.53,-117.3,75.5,-9.4,175,803,0.00,2.17,0.00,0.000,4,0.000,0.047,2442,810,3947,0,0,0,0,0,0
$GC,833,-0.53,-117.3,78.9,-9.7,183,838,0.00,2.20,0.00,0.000,6,0.000,0.049,2437,2208,3947,0,0,0,0,0,0
$STATE,876,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,876,begin apogee
$GC,879,-0.17,0.0,83.0,9.3,193,969,0.43,0.00,86.97,0.634,6,0.167,0.000,2561,2113,3467,0,0,0,0,0,0
$STATE,970,end apogee,CONTROL_FINISHED_OK
$STATE,970,begin climb
$GC,971,0.53,117.3,86.2,0.0,212,1063,0.73,0.00,88.35,0.610,6,0.120,0.000,2793,2113,2988,0,0,0,0,0,0
$GC,1193,0.53,117.3,68.2,10.3,261,1198,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2113,2987,0,0,0,0,0,0
$GC,1327,0.53,117.3,54.4,10.5,292,1333,0.00,2.33,0.00,0.000,4,0.000,0.057,2792,3525,2986,0,0,0,0,0,0
$GC,1345,0.53,117.3,52.4,10.8,296,1352,0.00,2.25,0.00,0.000,6,0.000,0.042,2802,2132,2987,0,0,0,0,0,0
$GC,1482,0.53,117.3,37.7,10.4,327,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2131,2986,0,0,0,0,0,0
$GC,1553,0.53,117.3,30.6,9.9,343,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2131,2987,0,0,0,0,0,0
$GC,1623,0.53,117.3,23.3,10.3,359,1629,0.00,2.28,0.00,0.000,4,0.000,0.051,2813,700,2987,0,0,0,0,0,0
$GC,1655,0.53,117.3,19.9,10.8,366,1661,0.00,2.28,0.00,0.000,6,0.000,0.049,2814,2118,2987,0,0,0,0,0,0
$GC,1726,0.53,117.3,11.6,11.8,382,1732,0.00,2.28,0.00,0.000,4,0.000,0.058,2813,3520,2987,0,0,0,0,0,0
$GC,1980,0.75,295.2,8.0,-0.2,440,2120,0.10,2.22,131.07,0.574,6,0.094,0.042,2867,2110,2262,0,0,0,0,0,0
$STATE,2163,end climb,SURFACE_DEPTH_REACHED
$STATE,2163,begin surface coast
$FINISH,3.8,1.018178
$STATE,2345,end surface coast,CONTROL_FINISHED_OK
$STATE,2345,begin surface
$SM_CCo,2358,144.57,0.526,1,0,1222,550.45
$SM_GC,1.17,0.00,0.00,144.57,0.000,0.000,0.526,167,2229,1222,-7.69,0.37,550.45
$IRIDIUM_FIX,4748.51,-12215.68,300499,090921
$TT8_MAMPS,0.05369
$HUMID,32.55
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,9.5
$24V_AH,24.4,2.043
$10V_AH,10.3,1.383
$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,22.500,27.300,306.400,144.575,0.000,29.133,25.351,276.187,0.500,0.000,13.717,0.000,783.819,445.533,1276.492,398.804,33.299,951.429,0.000,1102.415,0.000,5.719,0.000
$DEVICE_MAMPS,336.713,82.836,633.542,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,350.400,938.225,858.741,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,35105,519
$CAP_FILE_SIZE,57367,0
$CFSIZE,260165632,255365120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,111044,4806.101,-12222.014,9,1.5,9,18.3