version: 66.06
glider: 181
mission: 1
dive: 21
start: 2 3 110 11 17 29
data:
$ID,181
$MISSION,1
$DIVE,21
$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,-34682.773
$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,35
$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
$GPS1,111044,4806.101,-12222.014,9,1.5,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-76.9
$GPS2,111650,4806.051,-12221.977,14,1.4,14,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.076,0.181
$KALMAN_X,-2824.2,1872.4,840.1,1577.0,186.7
$KALMAN_Y,-996.1,-547.5,-692.1,-963.1,-623.5
$MHEAD_RNG_PITCHd_Wd,318.9,4392,-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,-117.3,0.0,0.0,0,81,0.00,0.00,-66.75,0.000,2,0.000,0.000,167,2229,2914,0,0,0,0,0,0
$GC,82,-0.53,-117.3,3.3,-4.2,13,125,13.05,2.28,-24.67,0.000,4,0.335,0.057,2442,791,3945,0,0,0,0,0,0
$GC,181,-0.53,-117.3,11.7,-6.4,34,187,0.00,2.30,0.00,0.000,6,0.000,0.049,2435,2209,3946,0,0,0,0,0,0
$GC,251,-0.53,-117.3,16.3,-6.8,50,257,0.00,2.33,0.00,0.000,4,0.000,0.057,2424,3628,3947,0,0,0,0,0,0
$GC,340,-0.53,-117.3,25.6,-11.0,70,346,0.00,2.25,0.00,0.000,6,0.000,0.039,2424,2203,3947,0,0,0,0,0,0
$GC,410,-0.53,-117.3,33.6,-11.3,86,416,0.00,2.20,0.00,0.000,4,0.000,0.046,2424,808,3947,0,0,0,0,0,0
$GC,455,-0.53,-117.3,38.7,-11.4,96,461,0.10,2.25,0.00,0.000,6,0.194,0.049,2441,2212,3947,0,0,0,0,0,0
$GC,525,-0.53,-117.3,46.0,-9.8,112,532,0.00,2.30,0.00,0.000,4,0.000,0.058,2433,3627,3947,0,0,0,0,0,0
$GC,587,-0.53,-117.3,52.7,-10.9,126,593,0.00,2.22,0.00,0.000,6,0.000,0.039,2433,2207,3947,0,0,0,0,0,0
$GC,724,-0.53,-117.3,67.0,-10.7,157,728,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2206,3947,0,0,0,0,0,0
$GC,859,-0.53,-117.3,81.0,-10.2,188,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2206,3947,0,0,0,0,0,0
$STATE,962,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,962,begin apogee
$GC,965,-0.17,0.0,90.8,9.4,212,1057,0.43,0.00,86.97,0.636,6,0.170,0.000,2558,2102,3467,0,0,0,0,0,0
$STATE,1058,end apogee,CONTROL_FINISHED_OK
$STATE,1058,begin climb
$GC,1059,0.53,117.3,93.7,0.0,231,1154,0.73,2.28,88.65,0.611,4,0.120,0.048,2798,718,2987,0,0,0,0,0,0
$GC,1157,0.53,117.3,87.6,7.7,252,1164,0.00,2.35,0.00,0.000,6,0.000,0.047,2798,2118,2986,0,0,0,0,0,0
$GC,1294,0.53,117.3,73.3,10.5,283,1299,0.00,2.35,0.00,0.000,4,0.000,0.057,2798,3534,2986,0,0,0,0,0,0
$GC,1303,0.53,117.3,72.3,10.4,285,1308,0.00,2.25,0.00,0.000,6,0.000,0.042,2809,2128,2986,0,0,0,0,0,0
$GC,1438,0.53,117.3,57.1,11.0,316,1444,0.00,2.30,0.00,0.000,4,0.000,0.057,2809,3525,2986,0,0,0,0,0,0
$GC,1447,0.53,117.3,55.9,11.0,318,1454,0.00,2.25,0.00,0.000,6,0.000,0.042,2819,2123,2984,0,0,0,0,0,0
$GC,1584,0.53,117.3,39.8,11.8,349,1589,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2123,2986,0,0,0,0,0,0
$GC,1654,0.53,117.3,31.7,11.5,365,1660,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2127,2990,0,0,0,0,0,0
$GC,1724,0.53,117.3,23.5,11.7,381,1730,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2123,2986,0,0,0,0,0,0
$GC,1795,0.53,117.3,15.1,11.9,397,1800,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2123,2986,0,0,0,0,0,0
$GC,1865,0.53,117.3,7.8,9.6,413,1870,0.00,2.30,0.00,0.000,4,0.000,0.058,2819,3536,2986,0,0,0,0,0,0
$GC,1970,0.77,308.8,6.8,-0.7,437,2112,0.10,2.25,136.10,0.570,2,0.091,0.041,2873,2111,2234,0,0,0,0,0,0
$STATE,2113,end climb,SURFACE_DEPTH_REACHED
$STATE,2113,begin surface coast
$FINISH,3.6,1.017142
$STATE,2329,end surface coast,CONTROL_FINISHED_OK
$STATE,2329,begin surface
$SM_CCo,2341,136.23,0.522,1,0,1225,550.21
$SM_GC,1.12,0.00,0.00,136.23,0.000,0.000,0.522,168,2230,1225,-7.68,0.45,550.21
$IRIDIUM_FIX,4748.51,-12227.28,300499,101008
$TT8_MAMPS,0.054457
$HUMID,32.67
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,7.5
$24V_AH,24.5,2.133
$10V_AH,10.3,1.447
$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,22.550,36.750,311.725,136.225,0.000,31.172,24.253,236.559,1.500,0.000,16.782,0.000,761.922,453.220,1264.123,365.454,33.299,967.993,0.000,1080.798,0.000,14.329,0.000
$DEVICE_MAMPS,335.179,83.603,635.843,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,346.012,899.111,822.507,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,35017,514
$CAP_FILE_SIZE,60217,0
$CFSIZE,260165632,255328256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,115941,4806.253,-12222.083,12,2.9,31,18.3