version: 66.06
glider: 161
mission: 1
dive: 9
start: 2 2 110 2 59 37
data:
$ID,161
$MISSION,1
$DIVE,9
$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,-4
$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,-25469.133
$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,38
$R_STBD_OVSHOOT,31
$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,7
$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
$GPS1,025152,4806.042,-12222.049,12,3.9,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-72.4
$GPS2,025858,4806.063,-12222.082,13,3.7,32,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.072,0.186
$KALMAN_X,-2361.1,-211.1,50.9,3837.0,-348.3
$KALMAN_Y,1751.6,140.0,-27.6,-4140.6,287.9
$MHEAD_RNG_PITCHd_Wd,320.6,4300,-14.6,-6.944
$D_GRID,107
$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,-107.1,0.0,0.0,0,116,0.00,0.00,-98.68,0.000,2,0.000,0.000,147,1983,2843,0,0,0,0,0,0
$GC,119,-0.74,-107.1,3.2,-2.9,16,171,11.18,2.45,-32.62,0.000,4,0.240,0.071,2998,451,3881,0,0,0,0,0,0
$GC,406,-0.74,-107.1,23.1,-8.4,81,412,0.00,2.38,0.00,0.000,6,0.000,0.047,2989,1987,3880,0,0,0,0,0,0
$GC,475,-0.74,-107.1,29.2,-8.8,97,482,0.00,2.40,0.00,0.000,4,0.000,0.056,2989,454,3881,0,0,0,0,0,0
$GC,581,-0.74,-107.1,38.9,-8.9,122,588,0.00,2.38,0.00,0.000,6,0.000,0.047,2979,1988,3881,0,0,0,0,0,0
$GC,651,-0.74,-107.1,45.4,-9.2,138,658,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1988,3881,0,0,0,0,0,0
$GC,781,-0.74,-107.1,56.7,-8.7,169,788,0.00,2.45,0.00,0.000,4,0.000,0.064,2967,3538,3881,0,0,0,0,0,0
$GC,822,-0.74,-107.1,60.7,-9.6,178,828,0.10,2.35,0.00,0.000,6,0.140,0.041,3000,1994,3881,0,0,0,0,0,0
$GC,953,-0.74,-107.1,71.3,-7.6,209,960,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1994,3881,0,0,0,0,0,0
$GC,1085,-0.74,-107.1,81.3,-7.4,240,1092,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1994,3881,0,0,0,0,0,0
$GC,1218,-0.74,-107.1,90.9,-6.9,271,1225,0.00,2.47,0.00,0.000,4,0.000,0.063,2993,3543,3881,0,0,0,0,0,0
$GC,1293,-0.74,-107.1,96.6,-7.7,288,1299,0.00,2.35,0.00,0.000,6,0.000,0.041,2993,1989,3881,0,0,0,0,0,0
$GC,1426,-0.74,-107.1,106.3,-7.1,319,1433,0.00,2.45,0.00,0.000,4,0.000,0.062,2982,3543,3880,0,0,0,0,0,0
$STATE,1438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1438,begin apogee
$GC,1445,-0.29,0.0,107.2,7.1,321,1528,0.47,0.00,77.53,0.769,6,0.130,0.000,3141,1975,3441,0,0,0,0,0,0
$STATE,1528,end apogee,CONTROL_FINISHED_OK
$STATE,1528,begin climb
$GC,1531,0.74,107.1,109.5,0.0,334,1619,0.95,2.53,79.72,0.745,4,0.079,0.057,3488,462,3006,0,0,0,0,0,0
$GC,1651,0.74,107.1,99.9,10.8,355,1658,0.00,2.45,0.00,0.000,6,0.000,0.042,3488,1994,3004,0,0,0,0,0,0
$GC,1783,0.74,107.1,84.6,11.4,386,1790,0.00,2.50,0.00,0.000,4,0.000,0.058,3488,3536,3002,0,0,0,0,0,0
$GC,1821,0.74,107.1,79.8,12.6,394,1828,0.00,2.40,0.00,0.000,6,0.000,0.040,3499,1999,3002,0,0,0,0,0,0
$GC,1952,0.74,107.1,64.4,11.8,425,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2000,3002,0,0,0,0,0,0
$GC,2084,0.74,107.1,49.5,11.3,456,2090,0.00,2.42,0.00,0.000,4,0.000,0.057,3511,453,3002,0,0,0,0,0,0
$GC,2137,0.74,107.1,42.8,12.5,468,2144,0.00,2.38,0.00,0.000,6,0.000,0.043,3511,1996,3002,0,0,0,0,0,0
$GC,2269,0.74,107.1,28.1,10.8,499,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,1996,3002,0,0,0,0,0,0
$GC,2338,0.74,107.1,20.5,10.6,515,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,3511,1996,3002,0,0,0,0,0,0
$GC,2408,0.74,107.1,13.1,10.5,531,2415,0.00,2.42,0.00,0.000,4,0.000,0.058,3511,3532,3001,0,0,0,0,0,0
$GC,2499,0.74,107.1,4.3,7.8,552,2506,0.10,2.35,0.00,0.000,6,0.158,0.041,3489,1988,3001,0,0,0,0,0,0
$GC,2569,0.96,284.8,4.9,-0.9,568,2635,0.17,0.00,63.45,0.675,2,0.084,0.000,3563,1987,2650,0,0,0,0,0,0
$STATE,2635,end climb,SURFACE_DEPTH_REACHED
$STATE,2635,begin surface coast
$FINISH,3.6,1.019717
$STATE,2793,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2793,begin surface
$SM_CCo,2811,288.30,0.667,1,0,1117,570.08
$SM_GC,1.21,0.00,0.00,288.30,0.000,0.000,0.667,144,1987,1117,-9.70,-0.08,570.08
$IRIDIUM_FIX,4751.72,-12056.72,290499,020218
$TT8_MAMPS,0.051389
$HUMID,28.93
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,24.0,1.390
$10V_AH,10.5,1.126
$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,22.400,43.500,220.700,288.300,0.000,23.903,26.060,227.556,1.250,0.000,34.995,0.000,168.717,529.500,2341.072,480.338,33.304,1182.245,0.000,2134.490,0.000,11.246,0.000
$DEVICE_MAMPS,240.071,70.564,769.301,666.523,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,415.700,2035.584,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,28572,617
$CAP_FILE_SIZE,65401,0
$CFSIZE,260165632,256774144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,035156,4806.268,-12222.272,11,1.5,11,18.3