version: 66.06
glider: 161
mission: 1
dive: 14
start: 2 2 110 8 39 52
data:
$ID,161
$MISSION,1
$DIVE,14
$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,-25564.057
$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,39
$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,7
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,5
$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
$GPS1,082836,4807.249,-12223.037,17,2.5,38,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-74.0
$GPS2,083913,4807.198,-12223.081,12,1.0,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.105,0.170
$KALMAN_X,-2443.2,233.4,110.9,2175.8,102.9
$KALMAN_Y,717.4,-259.5,-183.6,-443.7,-274.3
$MHEAD_RNG_PITCHd_Wd,309.9,1870,-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,-107.1,0.0,0.0,0,67,0.00,0.00,-52.58,0.000,2,0.000,0.000,138,1987,2265,0,0,0,0,0,0
$GC,70,-0.74,-107.1,3.5,-4.6,10,128,11.25,2.45,-38.80,0.000,4,0.239,0.071,2991,3537,3884,0,0,0,0,0,0
$GC,291,-0.74,-107.1,22.3,-7.1,58,299,0.00,2.38,0.00,0.000,6,0.000,0.041,2991,1986,3885,0,0,0,0,0,0
$GC,365,-0.74,-107.1,27.7,-7.0,74,370,0.00,2.38,0.00,0.000,4,0.000,0.056,2991,448,3885,0,0,0,0,0,0
$GC,417,-0.74,-107.1,32.2,-8.8,86,425,0.00,2.38,0.00,0.000,6,0.000,0.044,2980,1988,3885,0,0,0,0,0,0
$GC,491,-0.74,-107.1,39.1,-9.4,102,498,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1988,3885,0,0,0,0,0,0
$GC,562,-0.74,-107.1,46.0,-9.7,118,570,0.00,2.47,0.00,0.000,4,0.000,0.061,2969,3538,3885,0,0,0,0,0,0
$GC,600,-0.74,-107.1,49.5,-9.7,126,606,0.10,2.35,0.00,0.000,6,0.138,0.040,3001,1992,3885,0,0,0,0,0,0
$GC,731,-0.74,-107.1,60.2,-8.0,157,738,0.00,2.47,0.00,0.000,4,0.000,0.061,2992,3538,3885,0,0,0,0,0,0
$GC,773,-0.74,-107.1,63.8,-8.6,166,780,0.00,2.35,0.00,0.000,6,0.000,0.041,2993,1988,3885,0,0,0,0,0,0
$GC,905,-0.74,-107.1,74.5,-8.0,197,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,1988,3885,0,0,0,0,0,0
$STATE,1007,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1007,begin apogee
$GC,1014,-0.21,0.0,82.7,7.3,221,1096,0.52,0.00,77.72,0.756,6,0.126,0.000,3169,1986,3442,0,0,0,0,0,0
$STATE,1096,end apogee,CONTROL_FINISHED_OK
$STATE,1096,begin climb
$GC,1099,0.74,107.1,84.7,0.0,234,1187,0.88,2.58,79.60,0.740,4,0.074,0.058,3493,452,3004,0,0,0,0,0,0
$GC,1228,0.74,107.1,75.0,11.0,257,1235,0.00,2.45,0.00,0.000,6,0.000,0.041,3493,1986,3002,0,0,0,0,0,0
$GC,1360,0.74,107.1,60.2,10.9,288,1367,0.00,2.53,0.00,0.000,4,0.000,0.058,3493,3542,3001,0,0,0,0,0,0
$GC,1393,0.74,107.1,56.2,12.1,295,1400,0.00,2.42,0.00,0.000,6,0.000,0.039,3505,1987,3001,0,0,0,0,0,0
$GC,1525,0.74,107.1,40.7,11.4,326,1532,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,1987,3001,0,0,0,0,0,0
$GC,1656,0.74,107.1,26.3,10.4,357,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,1987,3001,0,0,0,0,0,0
$GC,1726,0.74,107.1,19.1,10.5,373,1733,0.00,2.40,0.00,0.000,4,0.000,0.056,3517,454,3001,0,0,0,0,0,0
$GC,1764,0.74,107.1,15.1,10.0,381,1771,0.10,2.35,0.00,0.000,6,0.160,0.041,3485,1984,3001,0,0,0,0,0,0
$GC,1833,0.74,107.1,8.7,9.0,397,1840,0.00,2.42,0.00,0.000,4,0.000,0.056,3485,3533,3001,0,0,0,0,0,0
$GC,1965,0.95,278.8,9.0,-0.6,428,2102,0.12,2.35,125.75,0.688,6,0.061,0.039,3558,1985,2303,0,0,0,0,0,0
$GC,2165,1.15,439.1,5.5,-0.1,464,2297,0.15,2.55,119.25,0.683,4,0.081,0.055,3631,459,1650,0,0,0,0,0,0
$STATE,2301,end climb,SURFACE_DEPTH_REACHED
$STATE,2301,begin surface coast
$FINISH,1.9,1.014786
$STATE,2399,end surface coast,CONTROL_FINISHED_OK
$STATE,2399,begin surface
$SM_CCo,2419,130.65,0.634,1,0,996,600.00
$SM_GC,1.27,0.00,0.00,130.65,0.000,0.000,0.634,148,2001,996,-9.68,0.31,600.00
$IRIDIUM_FIX,4751.72,-12340.51,290499,080805
$TT8_MAMPS,0.050622
$HUMID,28.53
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,9.3
$24V_AH,24.0,2.045
$10V_AH,10.5,1.660
$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,22.700,43.700,402.325,130.650,0.000,67.355,105.060,253.312,0.500,0.000,14.315,0.000,313.041,437.344,1787.463,619.732,33.321,1073.391,0.000,1636.636,0.000,5.414,0.000
$DEVICE_MAMPS,238.537,71.331,756.262,633.542,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,338.642,1543.223,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324596
$DATA_FILE_SIZE,25438,509
$CAP_FILE_SIZE,65333,0
$CFSIZE,260165632,256565248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,092302,4807.301,-12223.150,12,1.7,12,18.3