version: 66.06
glider: 161
mission: 1
dive: 16
start: 2 2 110 10 32 43
data:
$ID,161
$MISSION,1
$DIVE,16
$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,-25609.484
$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,44
$R_STBD_OVSHOOT,34
$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
$GPS1,102446,4807.487,-12223.324,10,2.7,29,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.5
$GPS2,103204,4807.512,-12223.349,9,2.4,28,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.175
$KALMAN_X,-2271.9,520.1,159.5,1342.7,180.8
$KALMAN_Y,114.8,-550.2,-214.3,1052.7,-486.0
$MHEAD_RNG_PITCHd_Wd,312.6,1211,-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,14,-0.74,-107.1,0.0,0.0,0,85,0.00,0.00,-68.20,0.000,2,0.000,0.000,141,1987,2177,0,0,0,0,0,0
$GC,87,-0.74,-107.1,3.3,-3.8,11,159,11.05,2.50,-51.92,0.000,4,0.234,0.076,2989,3528,3881,0,0,0,0,0,0
$GC,393,-0.74,-107.1,27.6,-8.8,79,400,0.00,2.33,0.00,0.000,6,0.000,0.039,2989,2000,3883,0,0,0,0,0,0
$GC,463,-0.74,-107.1,33.4,-8.4,95,470,0.00,2.45,0.00,0.000,4,0.000,0.060,2978,3536,3882,0,0,0,0,0,0
$GC,607,-0.74,-107.1,46.9,-9.6,129,613,0.00,2.35,0.00,0.000,6,0.000,0.039,2978,1990,3882,0,0,0,0,0,0
$GC,738,-0.74,-107.1,58.8,-9.2,160,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1990,3882,0,0,0,0,0,0
$GC,868,-0.74,-107.1,70.4,-8.5,191,875,0.00,2.45,0.00,0.000,4,0.000,0.061,2968,3531,3882,0,0,0,0,0,0
$GC,921,-0.74,-107.1,75.4,-9.5,203,928,0.10,2.33,0.00,0.000,6,0.138,0.038,3001,1991,3882,0,0,0,0,0,0
$GC,1055,-0.74,-107.1,85.6,-7.2,234,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1991,3882,0,0,0,0,0,0
$STATE,1074,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1075,begin apogee
$GC,1080,-0.21,0.0,87.1,6.8,238,1164,0.50,0.00,78.25,0.755,6,0.123,0.000,3171,1989,3442,0,0,0,0,0,0
$STATE,1164,end apogee,CONTROL_FINISHED_OK
$STATE,1164,begin climb
$GC,1167,0.74,107.1,88.9,0.0,251,1256,0.85,2.58,79.25,0.739,4,0.072,0.056,3490,451,3004,0,0,0,0,0,0
$GC,1280,0.74,107.1,81.3,9.3,270,1287,0.00,2.45,0.00,0.000,6,0.000,0.041,3490,1982,3003,0,0,0,0,0,0
$GC,1412,0.74,107.1,66.4,11.1,301,1419,0.00,2.53,0.00,0.000,4,0.000,0.056,3489,3541,3002,0,0,0,0,0,0
$GC,1454,0.74,107.1,61.2,12.3,310,1461,0.00,2.40,0.00,0.000,6,0.000,0.038,3501,1998,3002,0,0,0,0,0,0
$GC,1586,0.74,107.1,46.2,11.3,341,1593,0.00,2.42,0.00,0.000,4,0.000,0.055,3513,458,3002,0,0,0,0,0,0
$GC,1628,0.74,107.1,41.4,11.7,350,1635,0.00,2.38,0.00,0.000,6,0.000,0.041,3513,1998,3002,0,0,0,0,0,0
$GC,1759,0.74,107.1,26.3,11.5,381,1766,0.00,2.45,0.00,0.000,4,0.000,0.056,3513,3540,3002,0,0,0,0,0,0
$GC,1817,0.74,107.1,19.1,12.6,394,1823,0.12,2.38,0.00,0.000,6,0.160,0.038,3485,1989,3002,0,0,0,0,0,0
$GC,1886,0.74,107.1,12.5,8.8,410,1893,0.00,2.42,0.00,0.000,4,0.000,0.054,3485,3534,3002,0,0,0,0,0,0
$GC,2126,0.91,242.6,6.0,1.0,468,2191,0.08,2.35,60.85,0.658,2,0.067,0.037,3540,1974,2665,0,0,0,0,0,0
$STATE,2192,end climb,NO_VERTICAL_VELOCITY
$STATE,2192,begin surface
$SM_CCo,2194,402.98,0.680,0,0,499,721.67
$SM_GC,1.21,9.32,0.00,0.00,0.041,0.000,0.000,144,1972,494,-9.63,-0.51,723.14
$IRIDIUM_FIX,4751.72,-12056.72,290499,090942
$TT8_MAMPS,0.050622
$HUMID,29.09
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,13.9
$24V_AH,24.0,2.320
$10V_AH,10.5,1.853
$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,22.025,38.750,218.350,402.975,0.000,25.224,28.832,242.247,0.500,0.000,31.246,0.000,215.524,616.386,1825.647,475.765,33.306,1159.395,0.000,1658.459,0.000,5.432,0.000
$DEVICE_MAMPS,233.935,75.933,755.495,679.562,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,320.879,1578.479,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324572
$DATA_FILE_SIZE,22381,478
$CAP_FILE_SIZE,54589,0
$CFSIZE,260165632,256503808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,111820,4807.728,-12223.452,8,1.3,8,18.3