version: 66.06
glider: 161
mission: 1
dive: 18
start: 2 2 110 12 29 34
data:
$ID,161
$MISSION,1
$DIVE,18
$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,-25660.08
$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,28
$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
$GPS1,122136,4808.059,-12223.873,12,1.4,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-73.7
$GPS2,122855,4808.142,-12223.925,13,1.5,30,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.028,-0.117
$KALMAN_X,-2171.9,784.7,129.7,295.2,-3.5
$KALMAN_Y,409.9,-992.1,-207.3,2358.3,115.4
$MHEAD_RNG_PITCHd_Wd,175.2,279,-26.7,-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,15,-1.16,-36.6,0.0,0.0,0,71,0.00,0.00,-54.92,0.000,2,0.000,0.000,147,1984,2340,0,0,0,0,0,0
$GC,74,-1.18,-58.2,3.1,-4.2,9,139,10.35,2.50,-45.17,0.000,4,0.227,0.071,2842,3540,3680,0,0,0,0,0,0
$GC,154,-1.18,-58.2,6.9,-7.3,22,161,0.00,2.38,0.00,0.000,6,0.000,0.037,2842,1988,3681,0,0,0,0,0,0
$GC,224,-1.18,-58.2,13.0,-8.9,38,231,0.00,2.40,0.00,0.000,4,0.000,0.051,2842,452,3681,0,0,0,0,0,0
$GC,463,-1.18,-58.2,33.8,-9.6,96,469,0.08,2.35,0.00,0.000,6,0.188,0.042,2854,1986,3681,0,0,0,0,0,0
$GC,532,-1.18,-58.2,40.1,-9.1,112,539,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1986,3681,0,0,0,0,0,0
$GC,662,-1.18,-58.2,52.6,-10.0,143,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1986,3681,0,0,0,0,0,0
$GC,792,-1.18,-58.2,65.2,-10.2,174,798,0.00,2.45,0.00,0.000,4,0.000,0.060,2844,3530,3681,0,0,0,0,0,0
$GC,821,-1.18,-58.2,68.6,-11.1,180,828,0.00,2.33,0.00,0.000,6,0.000,0.037,2844,1984,3681,0,0,0,0,0,0
$GC,955,-1.18,-58.2,82.6,-10.0,211,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1984,3681,0,0,0,0,0,0
$GC,1094,-1.18,-58.2,96.6,-10.0,242,1100,0.00,2.47,0.00,0.000,4,0.000,0.059,2832,3542,3680,0,0,0,0,0,0
$GC,1115,-1.18,-58.2,98.9,-10.1,246,1121,0.08,2.35,0.00,0.000,6,0.178,0.037,2855,1981,3681,0,0,0,0,0,0
$GC,1246,-1.18,-58.2,110.3,-8.0,277,1253,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1981,3681,0,0,0,0,0,0
$STATE,1297,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1297,begin apogee
$GC,1303,-0.21,0.0,114.3,7.6,289,1348,1.00,0.00,42.97,0.745,6,0.160,0.000,3169,1979,3442,0,0,0,0,0,0
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1349,begin climb
$GC,1351,1.18,58.2,115.3,0.0,296,1402,1.25,0.00,43.85,0.749,6,0.070,0.000,3626,1978,3203,0,0,0,0,0,0
$GC,1527,1.18,58.2,93.5,14.0,334,1533,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1979,3203,0,0,0,0,0,0
$GC,1657,1.18,58.2,76.4,13.3,365,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1978,3202,0,0,0,0,0,0
$GC,1789,1.18,58.2,59.7,12.7,396,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,3626,1978,3203,0,0,0,0,0,0
$GC,1920,1.18,58.2,43.2,12.5,427,1927,0.00,2.45,0.00,0.000,4,0.000,0.054,3626,3542,3202,0,0,0,0,0,0
$GC,1946,1.18,58.2,39.7,12.5,432,1953,0.00,2.35,0.00,0.000,6,0.000,0.039,3637,2004,3202,0,0,0,0,0,0
$GC,2017,1.18,58.2,31.0,12.2,448,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,3637,2004,3202,0,0,0,0,0,0
$GC,2087,1.18,58.2,23.2,11.0,464,2093,0.00,2.42,0.00,0.000,4,0.000,0.054,3649,454,3203,0,0,0,0,0,0
$GC,2327,1.22,91.6,6.2,2.7,522,2359,0.00,2.33,24.80,0.653,6,0.000,0.038,3649,1994,3067,0,0,0,0,0,0
$GC,2424,1.29,144.8,4.9,0.2,542,2470,0.00,2.47,39.28,0.653,4,0.000,0.052,3660,452,2850,0,0,0,0,0,0
$GC,2571,1.35,195.6,4.1,0.5,573,2585,0.00,2.38,10.25,0.607,2,0.000,0.039,3660,1986,2798,0,0,0,0,0,0
$STATE,2585,end climb,SURFACE_DEPTH_REACHED
$STATE,2585,begin surface coast
$FINISH,4.0,1.020142
$STATE,2760,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2760,begin surface
$SM_CCo,2778,338.73,0.662,1,0,995,600.00
$SM_GC,1.16,0.00,0.00,338.73,0.000,0.000,0.662,139,1988,995,-9.71,-0.08,600.00
$IRIDIUM_FIX,4751.72,-12340.51,290499,111159
$TT8_MAMPS,0.050622
$HUMID,28.77
$INTERNAL_PRESSURE,8.9425
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.4,25.8
$24V_AH,24.0,2.549
$10V_AH,10.5,2.079
$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,22.675,33.625,161.150,338.725,0.000,31.134,27.937,235.840,2.000,0.000,32.158,0.000,175.917,534.382,2343.546,496.536,33.295,1139.616,0.000,2137.796,0.000,18.418,0.000
$DEVICE_MAMPS,227.032,70.564,748.592,661.921,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,418.225,2040.156,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324548
$DATA_FILE_SIZE,28595,618
$CAP_FILE_SIZE,64222,0
$CFSIZE,260165632,256417792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,132228,4808.087,-12224.067,8,2.4,27,18.3