version: 66.06
glider: 181
mission: 1
dive: 22
start: 2 3 110 12 7 31
data:
$ID,181
$MISSION,1
$DIVE,22
$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,-34722.824
$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,32
$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
$GPS1,115941,4806.253,-12222.083,12,2.9,31,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.8
$GPS2,120652,4806.218,-12221.996,17,8.4,36,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.013,0.196
$KALMAN_X,-2570.8,2135.4,687.8,1189.7,39.6
$KALMAN_Y,-1976.7,-758.8,-94.7,-61.7,-1114.6
$MHEAD_RNG_PITCHd_Wd,345.4,4127,-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,-67.07,0.000,2,0.000,0.000,167,2230,2899,0,0,0,0,0,0
$GC,82,-0.53,-117.3,3.0,-3.6,13,130,13.12,2.28,-27.60,0.000,4,0.338,0.059,2443,807,3947,0,0,0,0,0,0
$GC,174,-0.53,-117.3,9.0,-5.3,32,179,0.00,2.25,0.00,0.000,6,0.000,0.048,2436,2200,3947,0,0,0,0,0,0
$GC,244,-0.53,-117.3,13.8,-7.6,48,250,0.00,2.33,0.00,0.000,4,0.000,0.056,2425,3625,3945,0,0,0,0,0,0
$GC,346,-0.53,-117.3,24.1,-10.7,71,351,0.00,2.22,0.00,0.000,6,0.000,0.038,2424,2214,3948,0,0,0,0,0,0
$GC,416,-0.53,-117.3,32.3,-11.4,87,422,0.00,2.22,0.00,0.000,4,0.000,0.047,2425,801,3948,0,0,0,0,0,0
$GC,474,-0.53,-117.3,39.3,-11.8,100,480,0.10,2.28,0.00,0.000,6,0.189,0.048,2442,2217,3948,0,0,0,0,0,0
$GC,544,-0.53,-117.3,46.5,-10.1,116,551,0.00,2.28,0.00,0.000,4,0.000,0.058,2434,3618,3948,0,0,0,0,0,0
$GC,615,-0.53,-117.3,54.2,-11.1,132,622,0.00,2.20,0.00,0.000,6,0.000,0.039,2434,2213,3948,0,0,0,0,0,0
$GC,752,-0.53,-117.3,68.4,-10.6,163,756,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2213,3948,0,0,0,0,0,0
$GC,886,-0.53,-117.3,82.4,-9.9,194,893,0.00,2.28,0.00,0.000,4,0.000,0.058,2426,3619,3947,0,0,0,0,0,0
$STATE,926,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,926,begin apogee
$GC,931,-0.17,0.0,86.6,10.4,203,1022,0.47,0.00,87.05,0.637,6,0.167,0.000,2564,2109,3467,0,0,0,0,0,0
$STATE,1023,end apogee,CONTROL_FINISHED_OK
$STATE,1023,begin climb
$GC,1024,0.53,117.3,89.7,0.0,222,1119,0.70,0.00,88.57,0.610,6,0.117,0.000,2788,2109,2987,0,0,0,0,0,0
$GC,1249,0.53,117.3,70.6,9.8,272,1255,0.00,2.38,0.00,0.000,4,0.000,0.057,2787,3531,2986,0,0,0,0,0,0
$GC,1293,0.53,117.3,65.4,11.9,282,1300,0.00,2.28,0.00,0.000,6,0.000,0.042,2798,2125,2986,0,0,0,0,0,0
$GC,1430,0.53,117.3,49.8,11.3,313,1434,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2125,2986,0,0,0,0,0,0
$GC,1565,0.53,117.3,35.2,10.6,344,1571,0.00,2.30,0.00,0.000,4,0.000,0.057,2798,3529,2986,0,0,0,0,0,0
$GC,1592,0.53,117.3,32.0,10.9,350,1598,0.00,2.25,0.00,0.000,6,0.000,0.043,2809,2117,2986,0,0,0,0,0,0
$GC,1663,0.53,117.3,24.1,10.8,366,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2117,2986,0,0,0,0,0,0
$GC,1734,0.53,117.3,16.3,11.1,382,1739,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2116,2986,0,0,0,0,0,0
$GC,1804,0.53,117.3,9.0,10.6,398,1809,0.00,2.30,0.00,0.000,4,0.000,0.058,2809,3527,2986,0,0,0,0,0,0
$STATE,1839,end climb,SURFACE_DEPTH_REACHED
$STATE,1839,begin surface coast
$FINISH,5.1,1.018577
$STATE,1891,end surface coast,CONTROL_FINISHED_OK
$STATE,1891,begin surface
$SM_CCo,1893,388.27,0.549,0,0,440,742.52
$SM_GC,0.96,7.60,0.00,0.00,0.061,0.000,0.000,168,2207,434,-7.65,-0.25,743.75
$IRIDIUM_FIX,4745.30,-12238.89,300499,111144
$TT8_MAMPS,0.051389
$HUMID,33.34
$INTERNAL_PRESSURE,8.71127
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,13.0
$24V_AH,24.4,2.245
$10V_AH,10.3,1.502
$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,22.000,36.375,175.625,388.275,0.000,23.099,25.311,285.847,0.500,0.000,39.424,0.000,732.613,623.565,1053.768,399.236,33.297,1028.463,0.000,871.985,0.000,5.730,0.000
$DEVICE_MAMPS,338.247,59.059,636.610,549.172,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.320,701.851,638.396,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,28770,418
$CAP_FILE_SIZE,54214,0
$CFSIZE,260165632,255295488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,124804,4806.408,-12221.962,12,2.3,31,18.3