version: 66.06
glider: 161
mission: 1
dive: 5
start: 2 1 110 22 36 52
data:
$ID,161
$MISSION,1
$DIVE,5
$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,72
$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,-7
$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,570
$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,-25372.398
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,151
$PITCH_MAX,3948
$C_PITCH,3245
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,222904,4806.705,-12222.762,8,4.0,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-76.6
$GPS2,223613,4806.642,-12222.751,11,1.7,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.142,-0.140
$KALMAN_X,-524.8,-252.3,-117.3,1385.3,-143.8
$KALMAN_Y,224.6,199.4,104.8,-1734.5,-0.1
$MHEAD_RNG_PITCHd_Wd,116.2,1508,-14.6,-6.944
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-107.1,0.0,0.0,0,100,0.00,0.00,-81.78,0.000,2,0.000,0.000,146,1979,2496,0,0,0,0,0,0
$GC,103,-0.74,-107.1,3.3,-3.1,16,162,11.20,2.45,-38.28,0.000,4,0.239,0.074,3002,452,3881,0,0,0,0,0,0
$GC,396,-0.74,-107.1,23.0,-7.9,83,403,0.00,2.38,0.00,0.000,6,0.000,0.048,2993,1989,3881,0,0,0,0,0,0
$GC,466,-0.74,-107.1,28.9,-8.6,99,473,0.00,2.42,0.00,0.000,4,0.000,0.060,2993,452,3881,0,0,0,0,0,0
$GC,621,-0.74,-107.1,43.7,-9.6,136,628,0.00,2.38,0.00,0.000,6,0.000,0.048,2983,1988,3881,0,0,0,0,0,0
$GC,752,-0.74,-107.1,55.3,-8.8,167,759,0.00,2.47,0.00,0.000,4,0.000,0.066,2972,3531,3881,0,0,0,0,0,0
$GC,822,-0.74,-107.1,62.1,-9.6,183,828,0.08,2.33,0.00,0.000,6,0.143,0.043,2998,2003,3881,0,0,0,0,0,0
$GC,952,-0.74,-107.1,72.9,-8.1,214,959,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2004,3881,0,0,0,0,0,0
$GC,1086,-0.74,-107.1,83.5,-7.8,245,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2004,3881,0,0,0,0,0,0
$GC,1217,-0.74,-107.1,93.2,-7.3,276,1224,0.00,2.45,0.00,0.000,4,0.000,0.066,2990,3531,3881,0,0,0,0,0,0
$GC,1259,-0.74,-107.1,96.6,-7.8,285,1266,0.00,2.35,0.00,0.000,6,0.000,0.044,2990,1990,3881,0,0,0,0,0,0
$GC,1390,-0.74,-107.1,106.8,-7.5,316,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1990,3881,0,0,0,0,0,0
$STATE,1486,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1486,begin apogee
$GC,1492,-0.29,0.0,113.8,6.7,339,1575,0.45,0.00,77.70,0.775,6,0.124,0.000,3143,1988,3441,0,0,0,0,0,0
$STATE,1576,end apogee,CONTROL_FINISHED_OK
$STATE,1576,begin climb
$GC,1578,0.74,107.1,115.7,0.0,352,1666,0.95,2.58,79.78,0.749,4,0.079,0.060,3490,450,3004,0,0,0,0,0,0
$GC,1687,0.74,107.1,107.3,10.2,370,1694,0.00,2.47,0.00,0.000,6,0.000,0.044,3490,1988,3003,0,0,0,0,0,0
$GC,1819,0.74,107.1,91.7,11.4,401,1825,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1988,3001,0,0,0,0,0,0
$GC,1950,0.74,107.1,76.8,11.6,432,1957,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1988,3001,0,0,0,0,0,0
$GC,2081,0.74,107.1,62.7,10.9,463,2088,0.00,2.45,0.00,0.000,4,0.000,0.061,3501,447,3001,0,0,0,0,0,0
$GC,2115,0.74,107.1,58.8,10.7,470,2122,0.00,2.38,0.00,0.000,6,0.000,0.044,3501,1986,3001,0,0,0,0,0,0
$GC,2247,0.74,107.1,43.7,11.3,501,2254,0.00,2.47,0.00,0.000,4,0.000,0.060,3501,3539,3001,0,0,0,0,0,0
$GC,2329,0.74,107.1,34.1,12.2,520,2336,0.00,2.38,0.00,0.000,6,0.000,0.042,3512,1991,3001,0,0,0,0,0,0
$GC,2399,0.74,107.1,25.8,11.1,536,2405,0.00,2.40,0.00,0.000,4,0.000,0.059,3524,454,3001,0,0,0,0,0,0
$GC,2436,0.74,107.1,21.7,11.0,544,2443,0.12,2.35,0.00,0.000,6,0.160,0.044,3484,1985,3001,0,0,0,0,0,0
$GC,2507,0.74,107.1,15.1,8.7,560,2513,0.00,2.45,0.00,0.000,4,0.000,0.060,3485,3532,3001,0,0,0,0,0,0
$GC,2536,0.74,107.1,12.4,8.9,566,2543,0.00,2.35,0.00,0.000,6,0.000,0.041,3494,1993,3001,0,0,0,0,0,0
$GC,2606,0.79,150.0,8.3,5.1,582,2645,0.00,0.00,31.62,0.662,6,0.000,0.000,3494,1994,2829,0,0,0,0,0,0
$GC,2708,1.00,321.7,7.4,-0.6,603,2848,0.20,2.58,128.15,0.686,4,0.076,0.059,3591,447,2128,0,0,0,0,0,0
$STATE,2860,end climb,SURFACE_DEPTH_REACHED
$STATE,2860,begin surface coast
$FINISH,3.4,1.016933
$STATE,2974,end surface coast,CONTROL_FINISHED_OK
$STATE,2974,begin surface
$SM_CCo,2994,193.25,0.640,1,0,1117,570.08
$SM_GC,1.61,0.00,0.00,193.25,0.000,0.000,0.640,149,1994,1117,-9.68,0.11,570.08
$IRIDIUM_FIX,4751.72,-12340.51,280499,212115
$TT8_MAMPS,0.050622
$HUMID,29.09
$INTERNAL_PRESSURE,8.9718
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,43.3
$24V_AH,24.1,0.891
$10V_AH,10.5,0.663
$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,22.525,48.500,317.250,193.250,0.000,25.751,26.768,245.489,0.500,0.000,13.302,0.000,177.977,488.313,2430.218,513.096,33.341,1198.445,0.000,2241.702,0.000,5.516,0.000
$DEVICE_MAMPS,238.537,74.399,774.670,640.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,440.342,2138.646,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324576
$DATA_FILE_SIZE,31785,656
$CAP_FILE_SIZE,70076,0
$CFSIZE,260165632,256925696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010210,233038,4806.492,-12222.544,10,1.5,10,18.3