version: 66.06
glider: 181
mission: 1
dive: 27
start: 2 3 110 15 59 41
data:
$ID,181
$MISSION,1
$DIVE,27
$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,-4
$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,8
$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,-34826.195
$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,30
$R_STBD_OVSHOOT,25
$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,0
$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
$GPS1,154904,4806.995,-12222.777,13,2.9,32,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-70.9
$GPS2,155902,4806.980,-12222.803,13,1.2,13,18.3
$SPEED_LIMITS,0.104,0.197
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.193,0.038
$KALMAN_X,-1690.3,4341.9,-1314.8,-886.3,402.5
$KALMAN_Y,911.8,-5802.2,237.1,3172.5,210.6
$MHEAD_RNG_PITCHd_Wd,262.9,2400,-11.7,-6.024
$D_GRID,105
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.53,-117.3,0.0,0.0,0,102,0.00,0.00,-87.55,0.000,2,0.000,0.000,168,2222,3391,0,0,0,0,0,0
$GC,103,-0.53,-117.3,3.2,-2.8,17,141,12.88,2.30,-16.83,0.000,4,0.334,0.070,2435,3617,3947,0,0,0,0,0,0
$GC,279,-0.53,-117.3,18.1,-9.6,56,286,0.00,2.22,0.00,0.000,6,0.000,0.038,2435,2204,3947,0,0,0,0,0,0
$GC,350,-0.53,-117.3,24.7,-9.1,72,356,0.00,2.33,0.00,0.000,4,0.000,0.057,2424,3628,3947,0,0,0,0,0,0
$GC,399,-0.53,-117.3,29.8,-10.7,83,405,0.08,2.22,0.00,0.000,6,0.200,0.038,2444,2214,3945,0,0,0,0,0,0
$GC,470,-0.53,-117.3,36.7,-9.4,99,476,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2216,3947,0,0,0,0,0,0
$GC,541,-0.53,-117.3,43.5,-9.5,115,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2213,3947,0,0,0,0,0,0
$GC,674,-0.53,-117.3,55.7,-9.1,146,680,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2213,3947,0,0,0,0,0,0
$GC,810,-0.53,-117.3,67.6,-8.8,177,814,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2213,3947,0,0,0,0,0,0
$GC,944,-0.53,-117.3,78.9,-8.3,208,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2213,3948,0,0,0,0,0,0
$GC,1080,-0.53,-117.3,90.6,-8.2,239,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2444,2213,3945,0,0,0,0,0,0
$GC,1214,-0.53,-117.3,101.6,-8.2,270,1220,0.00,2.28,0.00,0.000,4,0.000,0.058,2436,3623,3950,0,0,0,0,0,0
$STATE,1254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1254,begin apogee
$GC,1259,-0.17,0.0,105.2,8.9,279,1350,0.43,0.00,86.55,0.653,6,0.157,0.000,2564,2109,3468,0,0,0,0,0,0
$STATE,1351,end apogee,CONTROL_FINISHED_OK
$STATE,1351,begin climb
$GC,1352,0.53,117.3,107.8,0.0,298,1448,0.70,2.33,88.32,0.624,4,0.115,0.049,2799,709,2989,0,0,0,0,0,0
$GC,1469,0.53,117.3,98.7,10.1,323,1475,0.00,2.33,0.00,0.000,6,0.000,0.047,2799,2119,2987,0,0,0,0,0,0
$GC,1604,0.53,117.3,82.8,12.1,354,1610,0.00,2.33,0.00,0.000,4,0.000,0.056,2799,3526,2987,0,0,0,0,0,0
$GC,1666,0.53,117.3,74.6,13.4,368,1672,0.00,2.28,0.00,0.000,6,0.000,0.041,2809,2117,2987,0,0,0,0,0,0
$GC,1803,0.53,117.3,57.7,12.4,399,1807,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2117,2987,0,0,0,0,0,0
$GC,1937,0.53,117.3,41.4,12.0,430,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2117,2987,0,0,0,0,0,0
$GC,2073,0.53,117.3,26.0,11.1,461,2078,0.00,2.30,0.00,0.000,4,0.000,0.057,2809,3532,2987,0,0,0,0,0,0
$GC,2095,0.53,117.3,23.1,11.7,466,2101,0.00,2.25,0.00,0.000,6,0.000,0.043,2820,2115,2987,0,0,0,0,0,0
$GC,2166,0.53,117.3,14.7,11.5,482,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2115,2987,0,0,0,0,0,0
$GC,2236,0.53,117.3,7.0,11.0,498,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2116,2987,0,0,0,0,0,0
$STATE,2258,end climb,SURFACE_DEPTH_REACHED
$STATE,2258,begin surface coast
$FINISH,2.7,1.020695
$STATE,2310,end surface coast,CONTROL_FINISHED_OK
$STATE,2310,begin surface
$SM_CCo,2322,222.62,0.540,1,0,1224,550.21
$SM_GC,1.11,0.00,0.00,222.62,0.000,0.000,0.540,170,2231,1224,-7.67,0.45,550.21
$IRIDIUM_FIX,4748.51,-12215.68,300499,161604
$TT8_MAMPS,0.051389
$HUMID,32.63
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.60
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.0,9.5
$24V_AH,24.5,2.677
$10V_AH,10.3,1.788
$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,22.050,27.700,174.875,222.625,0.000,63.147,84.730,303.698,1.000,0.000,15.937,0.000,899.468,470.567,1238.102,535.399,33.306,939.806,0.000,1056.965,0.000,5.418,0.000
$DEVICE_MAMPS,333.645,75.933,652.717,539.968,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,348.720,821.290,743.950,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,35022,515
$CAP_FILE_SIZE,61049,0
$CFSIZE,260165632,255102976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030210,164238,4807.014,-12223.172,9,2.0,9,18.3