version: 66.06
glider: 161
mission: 1
dive: 3
start: 2 1 110 20 37 20
data:
$ID,161
$MISSION,1
$DIVE,3
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,200
$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,63
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51740
$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,28
$TGT_DEFAULT_LON,126
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-25343.459
$T_RSLEEP,5
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,151
$PITCH_MAX,3948
$C_PITCH,3251
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,192
$ROLL_MAX,3769
$ROLL_DEG,44
$C_ROLL_DIVE,1990
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,3442
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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,-20.086386
$PRESSURE_SLOPE,0.0001162844
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$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,0.0043783197
$SEABIRD_T_H,0.00063994242
$SEABIRD_T_I,2.6557553e-05
$SEABIRD_T_J,3.0025926e-06
$SEABIRD_C_G,-9.9079208
$SEABIRD_C_H,1.1131756
$SEABIRD_C_I,-0.00045004685
$SEABIRD_C_J,0.00012324764
$GPS1,203308,4807.209,-12223.317,8,1.6,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-76.0
$GPS2,203643,4807.203,-12223.307,9,1.6,14,18.3
$SPEED_LIMITS,0.137,0.209
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.147,-0.133
$KALMAN_X,-203.4,-154.8,-142.8,304.9,-177.8
$KALMAN_Y,142.7,120.6,114.0,-543.0,126.4
$MHEAD_RNG_PITCHd_Wd,113.9,534,-17.9,-7.937
$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,13,-1.01,-95.1,0.0,0.0,0,91,0.00,0.00,-75.90,0.000,2,0.000,0.000,147,1992,2296,0,0,0,0,0,0
$GC,94,-1.03,-107.1,3.4,-4.1,12,152,11.00,2.45,-39.78,0.000,4,0.253,0.076,2912,445,3881,0,0,0,0,0,0
$GC,394,-1.03,-107.1,28.7,-10.9,78,401,0.00,2.40,0.00,0.000,6,0.000,0.051,2903,1988,3882,0,0,0,0,0,0
$GC,464,-1.03,-107.1,37.5,-13.7,94,471,0.00,2.42,0.00,0.000,4,0.000,0.062,2902,445,3882,0,0,0,0,0,0
$GC,530,-1.03,-107.1,46.8,-13.8,109,537,0.00,2.40,0.00,0.000,6,0.000,0.051,2892,1989,3882,0,0,0,0,0,0
$GC,662,-1.03,-107.1,64.4,-13.2,140,669,0.00,2.47,0.00,0.000,4,0.000,0.071,2879,3541,3882,0,0,0,0,0,0
$GC,696,-1.03,-107.1,69.6,-14.2,147,704,0.10,2.38,0.00,0.000,6,0.165,0.047,2911,1994,3882,0,0,0,0,0,0
$GC,831,-1.03,-107.1,86.4,-11.5,178,838,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,1994,3882,0,0,0,0,0,0
$GC,963,-1.03,-107.1,101.4,-11.2,209,968,0.00,2.45,0.00,0.000,4,0.000,0.069,2902,3546,3882,0,0,0,0,0,0
$GC,1028,-1.03,-107.1,109.5,-12.3,224,1035,0.00,2.38,0.00,0.000,6,0.000,0.044,2902,1983,3882,0,0,0,0,0,0
$STATE,1040,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1040,begin apogee
$GC,1045,-0.25,0.0,111.0,11.6,226,1129,0.80,0.00,77.82,0.772,6,0.143,0.000,3161,1980,3441,0,0,0,0,0,0
$STATE,1130,end apogee,CONTROL_FINISHED_OK
$STATE,1130,begin climb
$GC,1132,1.03,107.1,113.3,0.0,239,1221,1.17,2.55,79.97,0.755,4,0.072,0.061,3593,458,3004,0,0,0,0,0,0
$GC,1249,1.03,107.1,101.1,14.8,259,1256,0.00,2.47,0.00,0.000,6,0.000,0.048,3593,1996,3002,0,0,0,0,0,0
$GC,1379,1.03,107.1,80.3,15.8,290,1386,0.00,2.53,0.00,0.000,4,0.000,0.064,3593,3541,3001,0,0,0,0,0,0
$GC,1409,1.03,107.1,75.3,16.4,296,1416,0.00,2.42,0.00,0.000,6,0.000,0.044,3604,1995,3001,0,0,0,0,0,0
$GC,1541,1.03,107.1,54.1,16.2,327,1546,0.00,2.42,0.00,0.000,4,0.000,0.061,3615,445,3001,0,0,0,0,0,0
$GC,1574,1.03,107.1,48.8,16.6,334,1579,0.12,2.38,0.00,0.000,6,0.199,0.045,3587,1996,3001,0,0,0,0,0,0
$GC,1703,1.03,107.1,29.8,13.4,365,1710,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1997,3001,0,0,0,0,0,0
$GC,1773,1.03,107.1,20.0,14.2,381,1779,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,1996,3001,0,0,0,0,0,0
$GC,1842,1.03,107.1,10.3,12.9,397,1849,0.00,2.45,0.00,0.000,4,0.000,0.063,3587,3532,3001,0,0,0,0,0,0
$GC,1864,1.03,107.1,7.6,11.9,401,1871,0.00,2.38,0.00,0.000,6,0.000,0.044,3596,1985,3001,0,0,0,0,0,0
$GC,1934,1.29,317.8,6.8,-3.9,417,2096,0.20,0.00,155.45,0.683,6,0.083,0.000,3679,1985,2145,0,0,0,0,0,0
$STATE,2100,end climb,SURFACE_DEPTH_REACHED
$STATE,2101,begin surface coast
$FINISH,6.1,1.018360
$STATE,2191,end surface coast,CONTROL_FINISHED_OK
$STATE,2191,begin surface
$SM_CCo,2194,306.58,0.660,0,0,500,721.67
$SM_GC,1.31,9.65,0.00,0.00,0.041,0.000,0.000,145,1981,496,-9.65,-0.25,722.65
$IRIDIUM_FIX,4751.72,-12340.51,280499,202027
$TT8_MAMPS,0.049088
$HUMID,29.87
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,39.6
$24V_AH,24.1,0.640
$10V_AH,10.5,0.446
$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,23.050,38.950,313.250,306.575,0.000,0.000,0.000,0.000,0.500,0.000,15.985,0.000,248.966,562.150,1736.373,106.658,31.400,1148.538,0.000,1587.493,0.000,5.497,0.000
$DEVICE_MAMPS,253.110,75.933,772.369,660.387,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,310.135,1502.215,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324592
$DATA_FILE_SIZE,22279,465
$CAP_FILE_SIZE,68097,0
$CFSIZE,260165632,257015808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010210,212136,4807.032,-12223.010,10,1.4,26,18.3