version: 66.06
glider: 161
mission: 1
dive: 13
start: 2 2 110 7 30 25
data:
$ID,161
$MISSION,1
$DIVE,13
$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,-25549.115
$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,32
$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
$GPS1,071720,4807.072,-12222.901,14,1.2,14,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-72.7
$GPS2,072944,4807.138,-12222.976,11,1.3,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.104,0.170
$KALMAN_X,-2576.5,91.7,69.1,2626.2,35.8
$KALMAN_Y,1149.3,-131.0,-127.8,-1179.3,-212.2
$MHEAD_RNG_PITCHd_Wd,310.2,2038,-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,-107.1,0.0,0.0,0,99,0.00,0.00,-84.12,0.000,2,0.000,0.000,142,1993,2503,0,0,0,0,0,0
$GC,102,-0.74,-107.1,3.1,-3.5,14,168,11.02,2.50,-45.60,0.000,4,0.234,0.075,2990,3535,3885,0,0,0,0,0,0
$GC,361,-0.74,-107.1,19.4,-7.6,72,366,0.00,2.35,0.00,0.000,6,0.000,0.041,2991,1975,3886,0,0,0,0,0,0
$GC,433,-0.74,-107.1,25.2,-8.2,88,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1975,3886,0,0,0,0,0,0
$GC,504,-0.74,-107.1,31.6,-9.4,104,511,0.00,0.00,0.00,0.000,6,0.000,0.000,2990,1974,3886,0,0,0,0,0,0
$GC,578,-0.74,-107.1,39.0,-10.3,120,582,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1974,3886,0,0,0,0,0,0
$GC,649,-0.74,-107.1,45.4,-7.6,136,656,0.00,2.47,0.00,0.000,4,0.000,0.061,2980,3528,3885,0,0,0,0,0,0
$GC,682,-0.74,-107.1,48.0,-7.5,143,687,0.00,2.30,0.00,0.000,6,0.000,0.039,2980,1992,3886,0,0,0,0,0,0
$GC,819,-0.74,-107.1,60.7,-9.8,174,823,0.00,2.45,0.00,0.000,4,0.000,0.060,2970,3543,3886,0,0,0,0,0,0
$GC,854,-0.74,-107.1,63.9,-9.0,182,862,0.10,2.35,0.00,0.000,6,0.139,0.039,3003,1988,3886,0,0,0,0,0,0
$GC,992,-0.74,-107.1,74.2,-7.2,213,996,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1988,3886,0,0,0,0,0,0
$GC,1130,-0.74,-107.1,83.7,-7.1,244,1135,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,1988,3886,0,0,0,0,0,0
$GC,1267,-0.74,-107.1,93.5,-7.5,275,1271,0.00,2.42,0.00,0.000,4,0.000,0.060,2993,3544,3886,0,0,0,0,0,0
$GC,1317,-0.74,-107.1,97.2,-7.5,286,1323,0.00,2.30,0.00,0.000,6,0.000,0.039,2994,1986,3886,0,0,0,0,0,0
$STATE,1338,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1338,begin apogee
$GC,1344,-0.21,0.0,99.1,7.6,291,1428,0.52,0.00,77.70,0.763,6,0.125,0.000,3171,1983,3441,0,0,0,0,0,0
$STATE,1428,end apogee,CONTROL_FINISHED_OK
$STATE,1428,begin climb
$GC,1430,0.74,107.1,100.8,0.0,307,1514,0.85,0.00,79.55,0.746,6,0.071,0.000,3479,1983,3004,0,0,0,0,0,0
$GC,1645,0.74,107.1,81.9,11.2,353,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1983,3001,0,0,0,0,0,0
$GC,1781,0.74,107.1,66.8,10.7,384,1788,0.00,2.42,0.00,0.000,4,0.000,0.058,3490,458,3000,0,0,0,0,0,0
$GC,1806,0.74,107.1,64.2,10.7,389,1813,0.00,2.38,0.00,0.000,6,0.000,0.041,3490,1992,3000,0,0,0,0,0,0
$GC,1939,0.74,107.1,49.7,10.8,420,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1992,3001,0,0,0,0,0,0
$GC,2077,0.74,107.1,34.7,10.5,451,2084,0.00,2.45,0.00,0.000,4,0.000,0.057,3490,3536,3000,0,0,0,0,0,0
$GC,2106,0.74,107.1,31.2,11.7,457,2111,0.00,2.35,0.00,0.000,6,0.000,0.038,3502,1983,3000,0,0,0,0,0,0
$GC,2179,0.74,107.1,24.3,9.5,473,2184,0.00,2.45,0.00,0.000,4,0.000,0.055,3501,3543,3000,0,0,0,0,0,0
$GC,2197,0.74,107.1,22.0,9.8,477,2202,0.00,2.35,0.00,0.000,6,0.000,0.039,3513,1985,3000,0,0,0,0,0,0
$GC,2271,0.74,107.1,14.8,10.9,493,2276,0.00,2.35,0.00,0.000,4,0.000,0.054,3525,453,3000,0,0,0,0,0,0
$GC,2522,0.90,233.9,8.9,1.4,551,2623,0.00,2.33,92.25,0.663,6,0.000,0.041,3525,1983,2487,0,0,0,0,0,0
$GC,2692,1.00,314.3,6.2,3.4,582,2761,0.12,2.53,60.28,0.684,4,0.094,0.054,3580,3539,2158,0,0,0,0,0,0
$GC,3009,1.13,425.4,5.2,2.1,652,3091,0.00,2.40,75.60,0.678,2,0.000,0.039,3591,1990,1740,0,0,0,0,0,0
$STATE,3092,end climb,SURFACE_DEPTH_REACHED
$STATE,3092,begin surface coast
$FINISH,0.3,1.015447
$STATE,3258,end surface coast,CONTROL_FINISHED_OK
$STATE,3258,begin surface
$SM_CCo,3275,147.05,0.647,1,0,996,600.00
$SM_GC,1.33,0.00,0.00,147.05,0.000,0.000,0.647,138,1987,996,-9.71,-0.08,600.00
$IRIDIUM_FIX,4751.72,-12056.72,290499,070701
$TT8_MAMPS,0.049855
$HUMID,29.05
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,14.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.2,13.8
$24V_AH,24.1,1.919
$10V_AH,10.5,1.573
$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,21.925,43.150,385.375,147.050,0.000,78.844,190.559,226.821,1.000,0.000,15.436,0.000,1016.753,501.146,1913.199,731.362,33.310,1219.707,0.000,1731.030,0.000,9.724,0.000
$DEVICE_MAMPS,233.935,75.166,763.165,646.581,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,471.575,1585.820,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324580
$DATA_FILE_SIZE,34947,705
$CAP_FILE_SIZE,102999,0
$CFSIZE,260165632,256561152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,082836,4807.249,-12223.037,17,2.5,38,18.3