version: 66.06
glider: 161
mission: 1
dive: 12
start: 2 2 110 6 19 55
data:
$ID,161
$MISSION,1
$DIVE,12
$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,-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,-25533.051
$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,40
$R_STBD_OVSHOOT,36
$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,5
$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
$GPS1,060931,4806.792,-12222.706,12,1.9,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-74.9
$GPS2,061914,4806.831,-12222.773,12,1.4,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.082,0.182
$KALMAN_X,-2435.1,-75.6,-9.1,2979.3,61.8
$KALMAN_Y,1012.0,69.3,26.2,-1963.5,-371.9
$MHEAD_RNG_PITCHd_Wd,317.6,2644,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.74,-107.1,0.0,0.0,0,108,0.00,0.00,-92.78,0.000,2,0.000,0.000,138,1996,2717,0,0,0,0,0,0
$GC,110,-0.74,-107.1,3.1,-3.7,18,165,11.12,2.45,-38.97,0.000,4,0.236,0.073,2990,3541,3879,0,0,0,0,0,0
$GC,399,-0.74,-107.1,21.5,-8.2,84,406,0.00,2.38,0.00,0.000,6,0.000,0.040,2990,1985,3880,0,0,0,0,0,0
$GC,469,-0.74,-107.1,27.6,-8.9,100,476,0.00,2.47,0.00,0.000,4,0.000,0.061,2979,3526,3880,0,0,0,0,0,0
$GC,567,-0.74,-107.1,37.0,-9.6,123,574,0.00,2.35,0.00,0.000,6,0.000,0.040,2979,1984,3880,0,0,0,0,0,0
$GC,638,-0.74,-107.1,43.4,-9.2,139,644,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,1984,3881,0,0,0,0,0,0
$GC,767,-0.74,-107.1,54.9,-9.2,170,774,0.00,2.47,0.00,0.000,4,0.000,0.061,2969,3534,3881,0,0,0,0,0,0
$GC,817,-0.74,-107.1,59.8,-10.1,181,823,0.10,2.35,0.00,0.000,6,0.139,0.041,3002,1992,3880,0,0,0,0,0,0
$GC,948,-0.74,-107.1,70.3,-8.0,212,955,0.00,2.42,0.00,0.000,4,0.000,0.061,2993,3528,3880,0,0,0,0,0,0
$GC,974,-0.74,-107.1,72.4,-7.7,217,981,0.00,2.33,0.00,0.000,6,0.000,0.040,2993,1988,3880,0,0,0,0,0,0
$GC,1107,-0.74,-107.1,83.4,-8.5,248,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,1988,3881,0,0,0,0,0,0
$GC,1241,-0.74,-107.1,93.8,-7.6,279,1247,0.00,2.45,0.00,0.000,4,0.000,0.061,2982,3528,3880,0,0,0,0,0,0
$GC,1279,-0.74,-107.1,96.9,-7.8,287,1285,0.00,2.33,0.00,0.000,6,0.000,0.040,2982,1989,3880,0,0,0,0,0,0
$GC,1412,-0.74,-107.1,107.2,-7.6,318,1419,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,1989,3880,0,0,0,0,0,0
$STATE,1542,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1542,begin apogee
$GC,1548,-0.21,0.0,116.4,6.7,349,1631,0.57,0.00,77.03,0.769,6,0.123,0.000,3176,1988,3442,0,0,0,0,0,0
$STATE,1632,end apogee,CONTROL_FINISHED_OK
$STATE,1632,begin climb
$GC,1634,0.74,107.1,117.8,0.0,362,1723,0.82,2.55,79.88,0.752,4,0.063,0.056,3495,455,3004,0,0,0,0,0,0
$GC,1808,0.74,107.1,100.8,12.7,396,1814,0.00,2.42,0.00,0.000,6,0.000,0.042,3495,1989,3002,0,0,0,0,0,0
$GC,1942,0.74,107.1,84.6,11.8,427,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1989,3001,0,0,0,0,0,0
$GC,2072,0.74,107.1,69.6,11.2,458,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1989,3001,0,0,0,0,0,0
$GC,2204,0.74,107.1,55.3,11.0,489,2210,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1989,3001,0,0,0,0,0,0
$GC,2334,0.74,107.1,40.7,11.5,520,2341,0.00,2.45,0.00,0.000,4,0.000,0.057,3495,3537,3000,0,0,0,0,0,0
$GC,2401,0.74,107.1,32.6,11.8,535,2407,0.00,2.35,0.00,0.000,6,0.000,0.039,3506,1995,3000,0,0,0,0,0,0
$GC,2471,0.74,107.1,24.8,10.8,551,2477,0.00,0.00,0.00,0.000,6,0.000,0.000,3506,1995,3000,0,0,0,0,0,0
$GC,2540,0.74,107.1,17.5,10.7,567,2547,0.00,2.40,0.00,0.000,4,0.000,0.055,3518,449,3000,0,0,0,0,0,0
$GC,2581,0.74,107.1,13.0,10.7,576,2587,0.10,2.35,0.00,0.000,6,0.153,0.041,3486,1989,3000,0,0,0,0,0,0
$GC,2650,0.74,107.1,6.7,8.3,592,2656,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1989,3000,0,0,0,0,0,0
$STATE,2705,end climb,SURFACE_DEPTH_REACHED
$STATE,2705,begin surface coast
$FINISH,4.8,1.020812
$STATE,2840,end surface coast,CONTROL_FINISHED_OK
$STATE,2840,begin surface
$SM_CCo,2842,460.75,0.670,0,0,500,721.67
$SM_GC,1.20,9.05,0.00,0.00,0.033,0.000,0.000,142,1993,496,-9.62,0.08,722.65
$IRIDIUM_FIX,4751.72,-12340.51,290499,060622
$TT8_MAMPS,0.048321
$HUMID,28.50
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.2,21.1
$24V_AH,24.0,1.790
$10V_AH,10.5,1.480
$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,21.775,38.525,156.900,460.750,0.000,53.478,107.770,234.351,1.500,0.000,14.627,0.000,341.123,675.045,2359.869,605.778,33.309,1299.385,0.000,2167.197,0.000,14.160,0.000
$DEVICE_MAMPS,236.236,72.865,768.534,670.358,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.878,2065.718,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324540
$DATA_FILE_SIZE,28640,638
$CAP_FILE_SIZE,68648,0
$CFSIZE,260165632,256647168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,071720,4807.072,-12222.901,14,1.2,14,18.3