version: 66.06
glider: 181
mission: 1
dive: 23
start: 2 3 110 12 54 22
data:
$ID,181
$MISSION,1
$DIVE,23
$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,-34741.5
$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,35
$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
$GPS1,124804,4806.408,-12221.962,12,2.3,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-74.0
$GPS2,125343,4806.373,-12221.919,11,1.3,16,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.089,0.175
$KALMAN_X,-2610.4,2566.0,329.0,1253.5,-189.6
$KALMAN_Y,-2447.0,-1542.0,485.2,897.3,-1673.7
$MHEAD_RNG_PITCHd_Wd,314.8,3962,-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,-117.3,0.0,0.0,0,116,0.00,0.00,-102.32,0.000,2,0.000,0.000,168,2207,3000,0,0,0,0,0,0
$GC,118,-0.53,-117.3,3.0,-3.6,20,161,13.02,2.20,-24.10,0.000,4,0.337,0.058,2440,805,3946,1,0,0,0,0,0
$GC,183,-0.53,-117.3,8.6,-4.5,33,189,0.00,2.28,0.00,0.000,6,0.000,0.048,2432,2213,3947,0,0,0,0,0,0
$GC,253,-0.53,-117.3,13.3,-6.8,49,259,0.00,2.30,0.00,0.000,4,0.000,0.057,2422,3621,3947,0,0,0,0,0,0
$GC,498,-0.53,-117.3,39.8,-12.2,105,504,0.00,2.22,0.00,0.000,6,0.000,0.039,2424,2206,3947,0,0,0,0,0,0
$GC,569,-0.53,-117.3,48.0,-11.3,121,574,0.12,0.00,0.00,0.000,6,0.204,0.000,2450,2205,3947,0,0,0,0,0,0
$GC,703,-0.53,-117.3,60.2,-8.7,152,709,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2205,3947,0,0,0,0,0,0
$GC,839,-0.53,-117.3,72.7,-9.3,183,844,0.00,2.28,0.00,0.000,4,0.000,0.058,2442,3627,3947,0,0,0,0,0,0
$GC,903,-0.53,-117.3,79.3,-10.2,198,910,0.00,2.20,0.00,0.000,6,0.000,0.040,2442,2219,3947,0,0,0,0,0,0
$STATE,978,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,978,begin apogee
$GC,981,-0.17,0.0,86.5,9.6,215,1072,0.40,0.00,86.90,0.637,6,0.165,0.000,2560,2098,3467,0,0,0,0,0,0
$STATE,1072,end apogee,CONTROL_FINISHED_OK
$STATE,1072,begin climb
$GC,1073,0.53,117.3,89.4,0.0,234,1165,0.73,0.00,87.90,0.610,6,0.122,0.000,2789,2099,2986,0,0,0,0,0,0
$GC,1295,0.53,117.3,71.4,9.7,283,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2098,2987,0,0,0,0,0,0
$GC,1428,0.53,117.3,57.9,10.1,314,1435,0.00,2.35,0.00,0.000,4,0.000,0.057,2789,3522,2987,0,0,0,0,0,0
$GC,1460,0.53,117.3,54.4,11.1,321,1465,0.00,2.22,0.00,0.000,6,0.000,0.042,2801,2119,2987,0,0,0,0,0,0
$GC,1595,0.53,117.3,40.2,10.3,352,1601,0.00,2.30,0.00,0.000,4,0.000,0.056,2800,3527,2987,0,0,0,0,0,0
$GC,1614,0.53,117.3,38.2,10.3,356,1620,0.00,2.25,0.00,0.000,6,0.000,0.043,2811,2121,2987,0,0,0,0,0,0
$GC,1684,0.53,117.3,30.5,10.9,372,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2120,2987,0,0,0,0,0,0
$GC,1755,0.53,117.3,22.9,10.9,388,1761,0.00,2.25,0.00,0.000,4,0.000,0.051,2822,706,2985,0,0,0,0,0,0
$GC,1765,0.53,117.3,21.9,10.7,390,1771,0.00,2.25,0.00,0.000,6,0.000,0.048,2822,2108,2987,0,0,0,0,0,0
$GC,1836,0.53,117.3,14.2,10.5,406,1841,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2108,2987,0,0,0,0,0,0
$GC,1906,0.53,117.3,6.9,10.1,422,1912,0.00,2.30,0.00,0.000,4,0.000,0.057,2822,3529,2987,0,0,0,0,0,0
$STATE,1928,end climb,SURFACE_DEPTH_REACHED
$STATE,1928,begin surface coast
$FINISH,4.6,1.019176
$STATE,1989,end surface coast,CONTROL_FINISHED_OK
$STATE,1990,begin surface
$SM_CCo,2004,245.95,0.560,0,0,1223,550.21
$SM_GC,1.45,0.00,0.00,245.95,0.000,0.000,0.560,170,2201,1223,-7.67,-0.40,550.21
$IRIDIUM_FIX,4748.51,-12220.12,300499,121236
$TT8_MAMPS,0.052156
$HUMID,32.83
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.3,8.2
$24V_AH,24.5,2.330
$10V_AH,10.3,1.557
$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,22.375,31.650,174.800,245.950,0.000,28.525,25.942,214.130,1.000,0.000,18.046,0.000,680.244,492.876,1084.902,329.233,33.300,918.804,0.000,917.051,0.000,10.000,0.000
$DEVICE_MAMPS,336.713,75.166,636.610,559.910,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,297.785,737.209,672.222,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,28724,441
$CAP_FILE_SIZE,53623,0
$CFSIZE,260165632,255258624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,030210,133220,4806.605,-12222.078,10,1.4,10,18.3