version: 66.06
glider: 181
mission: 1
dive: 10
start: 2 3 110 2 14 16
data:
$ID,181
$MISSION,1
$DIVE,10
$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,-34494.145
$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,2120
$C_ROLL_CLIMB,2120
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,29
$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,4
$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
$GPS1,020707,4806.458,-12222.326,36,0.9,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-74.6
$GPS2,021337,4806.465,-12222.294,12,1.0,17,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,-0.157
$KALMAN_X,-2292.8,-493.0,84.3,3774.1,-409.3
$KALMAN_Y,626.6,-56.0,-22.4,-2983.0,351.7
$MHEAD_RNG_PITCHd_Wd,124.6,935,-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,-71.85,0.000,2,0.000,0.000,162,2116,3031,0,0,0,0,0,0
$GC,87,-0.53,-117.3,3.3,-4.0,14,125,12.45,2.30,-20.50,0.000,4,0.324,0.068,2436,3529,3947,0,0,0,0,0,0
$GC,372,-0.53,-117.3,32.5,-10.0,78,378,0.00,2.22,0.00,0.000,6,0.000,0.041,2436,2120,3949,0,0,0,0,0,0
$GC,443,-0.53,-117.3,39.5,-9.7,94,449,0.00,2.30,0.00,0.000,4,0.000,0.058,2426,3533,3952,0,0,0,0,0,0
$GC,634,-0.53,-117.3,59.2,-10.2,138,641,0.00,2.22,0.00,0.000,6,0.000,0.041,2427,2115,3948,0,0,0,0,0,0
$GC,772,-0.53,-117.3,73.1,-10.4,169,776,0.00,2.28,0.00,0.000,4,0.000,0.058,2415,3536,3949,0,0,0,0,0,0
$GC,798,-0.53,-117.3,75.9,-10.5,175,803,0.15,2.20,0.00,0.000,6,0.194,0.041,2452,2118,3949,0,0,0,0,0,0
$GC,933,-0.53,-117.3,87.5,-8.1,206,940,0.00,2.28,0.00,0.000,4,0.000,0.058,2443,3528,3949,0,0,0,0,0,0
$GC,987,-0.53,-117.3,92.2,-8.7,218,993,0.00,2.20,0.00,0.000,6,0.000,0.041,2443,2122,3949,0,0,0,0,0,0
$GC,1123,-0.53,-117.3,103.7,-8.3,249,1128,0.00,2.28,0.00,0.000,4,0.000,0.058,2433,3535,3949,0,0,0,0,0,0
$GC,1167,-0.53,-117.3,107.5,-8.8,259,1172,0.00,2.20,0.00,0.000,6,0.000,0.041,2433,2112,3949,0,0,0,0,0,0
$GC,1301,-0.53,-117.3,119.0,-8.1,290,1308,0.00,2.28,0.00,0.000,4,0.000,0.058,2423,3526,3949,0,0,0,0,0,0
$STATE,1325,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1325,begin apogee
$GC,1329,-0.17,0.0,120.9,8.1,295,1421,0.47,0.00,87.25,0.668,6,0.160,0.000,2567,2107,3469,0,0,0,0,0,0
$STATE,1421,end apogee,CONTROL_FINISHED_OK
$STATE,1421,begin climb
$GC,1422,0.53,117.3,123.1,0.0,314,1518,0.68,0.00,89.07,0.634,6,0.110,0.000,2788,2106,2986,0,0,0,0,0,0
$GC,1647,0.53,117.3,100.3,11.6,364,1654,0.00,2.38,0.00,0.000,4,0.000,0.057,2788,3531,2986,0,0,0,0,0,0
$GC,1674,0.53,117.3,96.9,12.1,370,1681,0.00,2.28,0.00,0.000,6,0.000,0.043,2798,2125,2986,0,0,0,0,0,0
$GC,1811,0.53,117.3,80.3,12.1,401,1815,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2125,2986,0,0,0,0,0,0
$GC,1945,0.53,117.3,64.4,11.8,432,1952,0.00,2.30,0.00,0.000,4,0.000,0.057,2798,3532,2986,0,0,0,0,0,0
$GC,2012,0.53,117.3,55.5,13.5,447,2017,0.00,2.22,0.00,0.000,6,0.000,0.043,2809,2115,2986,0,0,0,0,0,0
$GC,2147,0.53,117.3,39.2,11.9,478,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2115,2986,0,0,0,0,0,0
$GC,2218,0.53,117.3,31.2,11.2,494,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2116,2986,0,0,0,0,0,0
$GC,2288,0.53,117.3,23.7,10.7,510,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2115,2986,0,0,0,0,0,0
$GC,2358,0.53,117.3,16.6,10.0,526,2364,0.00,2.28,0.00,0.000,4,0.000,0.057,2810,3519,2987,0,0,0,0,0,0
$GC,2416,0.53,117.3,10.1,11.5,539,2422,0.00,2.22,0.00,0.000,6,0.000,0.044,2819,2115,2987,0,0,0,0,0,0
$GC,2487,0.61,179.3,6.0,3.9,555,2539,0.00,2.28,45.53,0.583,4,0.000,0.052,2830,713,2737,0,0,0,0,0,0
$STATE,2725,end climb,SURFACE_DEPTH_REACHED
$STATE,2725,begin surface coast
$FINISH,4.8,1.019808
$STATE,2942,end surface coast,CONTROL_FINISHED_OK
$STATE,2942,begin surface
$SM_CCo,2956,214.50,0.561,0,0,1224,550.21
$SM_GC,1.09,0.00,0.00,214.50,0.000,0.000,0.561,166,2119,1224,-7.69,-0.03,550.21
$IRIDIUM_FIX,4751.72,-12226.29,300499,010131
$TT8_MAMPS,0.051389
$HUMID,33.38
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,47.8
$24V_AH,24.4,1.158
$10V_AH,10.3,0.787
$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,21.625,45.175,221.850,214.500,0.000,26.094,32.788,252.577,0.500,0.000,19.866,0.000,1102.448,486.181,1576.770,388.693,33.307,1057.916,0.000,1357.664,0.000,5.825,0.000
$DEVICE_MAMPS,324.441,68.263,668.057,561.444,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,447.413,1085.413,989.645,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,44594,658
$CAP_FILE_SIZE,68487,0
$CFSIZE,260165632,255737856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030210,030732,4806.257,-12222.205,8,1.5,8,18.3