version: 66.06
glider: 181
mission: 1
dive: 24
start: 2 3 110 13 38 53
data:
$ID,181
$MISSION,1
$DIVE,24
$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,-34757.305
$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,36
$R_STBD_OVSHOOT,20
$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
$GPS1,133220,4806.605,-12222.078,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-76.3
$GPS2,133814,4806.583,-12222.032,13,1.5,13,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.067,0.185
$KALMAN_X,-1275.5,2190.6,-304.3,785.4,531.4
$KALMAN_Y,-1133.2,-3495.1,695.3,1711.5,-1135.2
$MHEAD_RNG_PITCHd_Wd,321.8,3579,-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,-71.85,0.000,2,0.000,0.000,170,2201,3055,0,0,0,0,0,0
$GC,87,-0.53,-117.3,3.5,-3.5,14,130,12.85,2.33,-25.62,0.000,4,0.332,0.065,2427,3633,3946,0,0,0,0,0,0
$GC,160,-0.53,-117.3,7.6,-4.6,29,166,0.00,2.25,0.00,0.000,6,0.000,0.036,2427,2206,3948,0,0,0,0,0,0
$GC,231,-0.53,-117.3,13.0,-8.4,45,237,0.00,2.33,0.00,0.000,4,0.000,0.055,2416,3627,3947,0,0,0,0,0,0
$GC,302,-0.53,-117.3,20.6,-11.2,61,308,0.12,2.20,0.00,0.000,6,0.199,0.037,2450,2229,3948,0,0,0,0,0,0
$GC,373,-0.53,-117.3,27.5,-9.2,77,378,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2229,3948,0,0,0,0,0,0
$GC,443,-0.53,-117.3,33.9,-9.3,93,449,0.00,2.22,0.00,0.000,4,0.000,0.045,2450,814,3946,0,0,0,0,0,0
$GC,505,-0.53,-117.3,39.7,-9.6,107,511,0.00,2.25,0.00,0.000,6,0.000,0.048,2443,2218,3946,0,0,0,0,0,0
$GC,576,-0.53,-117.3,46.4,-9.4,123,581,0.00,2.25,0.00,0.000,4,0.000,0.058,2434,3635,3948,0,0,0,0,0,0
$GC,654,-0.53,-117.3,54.3,-10.4,141,659,0.00,2.20,0.00,0.000,6,0.000,0.038,2433,2214,3945,0,0,0,0,0,0
$GC,788,-0.53,-117.3,67.5,-9.6,172,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2213,3948,0,0,0,0,0,0
$GC,921,-0.53,-117.3,80.0,-9.6,202,927,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2213,3948,0,0,0,0,0,0
$STATE,946,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,946,begin apogee
$GC,949,-0.17,0.0,82.9,9.7,208,1041,0.43,0.00,86.90,0.635,6,0.165,0.000,2563,2092,3467,0,0,0,0,0,0
$STATE,1041,end apogee,CONTROL_FINISHED_OK
$STATE,1042,begin climb
$GC,1043,0.53,117.3,85.1,0.0,227,1138,0.73,0.00,87.82,0.608,6,0.122,0.000,2788,2091,2988,0,0,0,0,0,0
$GC,1268,0.53,117.3,65.8,10.4,277,1273,0.00,2.38,0.00,0.000,4,0.000,0.056,2788,3533,2986,0,0,0,0,0,0
$GC,1277,0.53,117.3,64.9,10.4,279,1282,0.00,2.25,0.00,0.000,6,0.000,0.041,2799,2133,2986,0,0,0,0,0,0
$GC,1411,0.53,117.3,49.8,11.2,310,1418,0.00,2.30,0.00,0.000,4,0.000,0.057,2798,3527,2986,0,0,0,0,0,0
$GC,1430,0.53,117.3,47.5,11.6,314,1436,0.00,2.28,0.00,0.000,6,0.000,0.042,2812,2112,2986,0,0,0,0,0,0
$GC,1566,0.53,117.3,31.6,11.5,345,1572,0.00,2.33,0.00,0.000,4,0.000,0.058,2808,3527,2986,0,0,0,0,0,0
$GC,1576,0.53,117.3,30.4,11.5,347,1582,0.00,2.25,0.00,0.000,6,0.000,0.042,2820,2117,2986,0,0,0,0,0,0
$GC,1647,0.53,117.3,22.1,11.8,363,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2117,2986,0,0,0,0,0,0
$GC,1718,0.53,117.3,14.2,10.8,379,1723,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2116,2986,0,0,0,0,0,0
$GC,1788,0.53,117.3,6.7,10.0,395,1793,0.00,2.30,0.00,0.000,4,0.000,0.057,2820,3528,2989,0,0,0,0,0,0
$STATE,1806,end climb,SURFACE_DEPTH_REACHED
$STATE,1806,begin surface coast
$FINISH,4.4,1.019330
$STATE,1861,end surface coast,CONTROL_FINISHED_OK
$STATE,1862,begin surface
$SM_CCo,1876,258.40,0.559,0,0,1223,550.21
$SM_GC,1.28,0.00,0.00,258.40,0.000,0.000,0.559,167,2205,1223,-7.68,-0.28,550.21
$IRIDIUM_FIX,4745.30,-12222.84,300499,121259
$TT8_MAMPS,0.052923
$HUMID,32.20
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,9.5
$24V_AH,24.5,2.419
$10V_AH,10.3,1.609
$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,22.225,36.350,174.725,258.400,0.000,25.133,26.939,233.150,0.500,0.000,15.175,0.000,627.004,493.370,1019.279,346.320,33.304,896.898,0.000,859.108,0.000,6.250,0.000
$DEVICE_MAMPS,332.111,75.166,635.076,559.143,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,278.134,697.718,638.305,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324792
$DATA_FILE_SIZE,28641,412
$CAP_FILE_SIZE,53663,0
$CFSIZE,260165632,255225856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,141515,4806.818,-12222.191,10,2.2,29,18.3