version: 66.06
glider: 161
mission: 1
dive: 17
start: 2 2 110 11 24 55
data:
$ID,161
$MISSION,1
$DIVE,17
$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,-25627.293
$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,50
$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
$GPS1,111820,4807.728,-12223.452,8,1.3,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-72.7
$GPS2,112414,4807.775,-12223.487,13,1.8,13,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.145,0.137
$KALMAN_X,-2178.9,667.6,168.8,920.2,110.7
$KALMAN_Y,126.4,-775.5,-254.8,1794.0,-249.7
$MHEAD_RNG_PITCHd_Wd,295.1,759,-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,-107.1,0.0,0.0,0,101,0.00,0.00,-86.43,0.000,2,0.000,0.000,143,1972,2635,0,0,0,0,0,0
$GC,104,-0.74,-107.1,3.3,-3.8,14,157,11.10,2.42,-37.40,0.000,4,0.234,0.067,2997,461,3879,0,0,0,0,0,0
$GC,246,-0.74,-107.1,12.3,-7.5,43,253,0.00,2.38,0.00,0.000,6,0.000,0.044,2989,1988,3881,0,0,0,0,0,0
$GC,315,-0.74,-107.1,17.4,-8.0,59,323,0.00,2.50,0.00,0.000,4,0.000,0.061,2977,3538,3881,0,0,0,0,0,0
$GC,393,-0.74,-107.1,23.7,-8.2,77,400,0.00,2.35,0.00,0.000,6,0.000,0.038,2977,1995,3881,0,0,0,0,0,0
$GC,463,-0.74,-107.1,29.8,-9.0,93,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,1995,3881,0,0,0,0,0,0
$GC,532,-0.74,-107.1,36.3,-9.2,109,539,0.00,2.47,0.00,0.000,4,0.000,0.060,2966,3534,3881,0,0,0,0,0,0
$GC,574,-0.74,-107.1,40.5,-10.1,118,581,0.10,2.35,0.00,0.000,6,0.143,0.038,3000,1994,3881,0,0,0,0,0,0
$GC,706,-0.74,-107.1,51.0,-7.7,149,713,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,1993,3881,0,0,0,0,0,0
$GC,836,-0.74,-107.1,61.2,-8.0,180,843,0.00,2.45,0.00,0.000,4,0.000,0.061,2991,3540,3881,0,0,0,0,0,0
$GC,874,-0.74,-107.1,64.3,-8.4,188,880,0.00,2.35,0.00,0.000,6,0.000,0.038,2992,1988,3881,0,0,0,0,0,0
$GC,1005,-0.74,-107.1,74.8,-7.8,219,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,1989,3880,0,0,0,0,0,0
$GC,1139,-0.74,-107.1,85.3,-7.6,250,1146,0.00,2.45,0.00,0.000,4,0.000,0.060,2981,3541,3881,0,0,0,0,0,0
$GC,1180,-0.74,-107.1,88.7,-8.5,259,1187,0.00,2.35,0.00,0.000,6,0.000,0.038,2981,1986,3881,0,0,0,0,0,0
$GC,1312,-0.74,-107.1,99.3,-8.2,290,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,1986,3881,0,0,0,0,0,0
$GC,1443,-0.74,-107.1,109.6,-7.5,321,1450,0.00,2.47,0.00,0.000,4,0.000,0.060,2971,3544,3880,0,0,0,0,0,0
$GC,1478,-0.74,-107.1,112.3,-7.8,328,1484,0.10,2.35,0.00,0.000,6,0.133,0.038,3005,1982,3880,0,0,0,0,0,0
$STATE,1521,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1521,begin apogee
$GC,1527,-0.21,0.0,115.6,6.8,338,1610,0.47,0.00,78.18,0.776,6,0.120,0.000,3170,1980,3442,0,0,0,0,0,0
$STATE,1611,end apogee,CONTROL_FINISHED_OK
$STATE,1611,begin climb
$GC,1613,0.74,107.1,117.0,0.0,351,1696,0.85,0.00,79.35,0.760,6,0.069,0.000,3481,1980,3005,0,0,0,0,0,0
$GC,1821,0.74,107.1,97.0,11.9,394,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1980,3003,0,0,0,0,0,0
$GC,1952,0.74,107.1,82.0,11.7,425,1959,0.00,2.50,0.00,0.000,4,0.000,0.055,3481,3544,3001,0,0,0,0,0,0
$GC,1978,0.74,107.1,78.6,12.5,430,1984,0.00,2.40,0.00,0.000,6,0.000,0.038,3493,1992,3002,0,0,0,0,0,0
$GC,2109,0.74,107.1,63.0,11.8,461,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1992,3002,0,0,0,0,0,0
$GC,2240,0.74,107.1,48.2,11.3,492,2247,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1992,3001,0,0,0,0,0,0
$GC,2371,0.74,107.1,33.4,11.2,523,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1992,3002,0,0,0,0,0,0
$GC,2441,0.74,107.1,25.8,10.6,539,2448,0.00,2.45,0.00,0.000,4,0.000,0.053,3493,3543,3001,0,0,0,0,0,0
$GC,2475,0.74,107.1,22.1,11.1,546,2481,0.00,2.35,0.00,0.000,6,0.000,0.037,3504,1992,3002,0,0,0,0,0,0
$GC,2545,0.74,107.1,14.8,10.6,562,2551,0.00,2.45,0.00,0.000,4,0.000,0.052,3504,3544,3002,0,0,0,0,0,0
$GC,2672,0.86,202.9,5.1,2.7,592,2750,0.00,2.35,69.53,0.659,6,0.000,0.036,3516,1987,2614,0,0,0,0,0,0
$GC,2814,1.05,360.8,4.5,0.0,619,2880,0.20,0.00,63.03,0.644,2,0.074,0.000,3600,1987,2270,0,0,0,0,0,0
$STATE,2880,end climb,SURFACE_DEPTH_REACHED
$STATE,2880,begin surface coast
$FINISH,2.8,1.017340
$STATE,3085,end surface coast,CONTROL_FINISHED_OK
$STATE,3085,begin surface
$SM_CCo,3102,241.48,0.663,1,0,995,600.00
$SM_GC,1.21,0.00,0.00,241.48,0.000,0.000,0.663,148,1985,995,-9.68,-0.14,600.00
$IRIDIUM_FIX,4751.72,-12340.51,290499,101035
$TT8_MAMPS,0.050622
$HUMID,28.93
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,42.1
$24V_AH,24.0,2.437
$10V_AH,10.5,1.970
$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,22.325,43.400,290.075,241.475,0.000,22.707,26.524,187.440,0.500,0.000,17.181,0.000,181.726,513.361,2549.908,452.334,33.304,1247.564,0.000,2353.079,0.000,5.512,0.000
$DEVICE_MAMPS,233.935,67.496,776.204,663.455,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,457.048,2243.854,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324556
$DATA_FILE_SIZE,31680,679
$CAP_FILE_SIZE,69998,0
$CFSIZE,260165632,256442368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,122136,4808.059,-12223.873,12,1.4,28,18.3