version: 66.06
glider: 161
mission: 1
dive: 19
start: 2 2 110 13 29 59
data:
$ID,161
$MISSION,1
$DIVE,19
$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,-25674.193
$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,38
$R_STBD_OVSHOOT,33
$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
$GPS1,132228,4808.087,-12224.067,8,2.4,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-73.0
$GPS2,132920,4808.183,-12224.115,11,1.9,11,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.057,-0.191
$KALMAN_X,-2315.3,875.6,62.2,180.8,-117.5
$KALMAN_Y,1102.8,-1189.6,-96.4,1825.3,518.4
$MHEAD_RNG_PITCHd_Wd,145.0,367,-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,15,-0.74,-107.1,0.0,0.0,0,78,0.00,0.00,-61.12,0.000,2,0.000,0.000,139,1988,2471,0,0,0,0,0,0
$GC,81,-0.74,-107.1,3.1,-3.8,10,146,10.95,2.50,-46.38,0.000,4,0.226,0.073,2988,3535,3880,0,0,0,0,0,0
$GC,175,-0.74,-107.1,6.9,-6.6,26,181,0.00,2.38,0.00,0.000,6,0.000,0.038,2989,1990,3881,0,0,0,0,0,0
$GC,245,-0.74,-107.1,12.5,-7.8,42,251,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1990,3881,0,0,0,0,0,0
$GC,314,-0.74,-107.1,18.1,-8.3,58,320,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,1990,3881,0,0,0,0,0,0
$GC,383,-0.74,-107.1,24.0,-8.5,74,390,0.00,2.42,0.00,0.000,4,0.000,0.053,2988,444,3881,0,0,0,0,0,0
$GC,409,-0.74,-107.1,26.4,-8.7,79,416,0.00,2.38,0.00,0.000,6,0.000,0.043,2978,1984,3881,0,0,0,0,0,0
$GC,478,-0.74,-107.1,32.8,-8.6,95,485,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,1984,3881,0,0,0,0,0,0
$GC,548,-0.74,-107.1,38.8,-9.2,111,555,0.00,2.47,0.00,0.000,4,0.000,0.060,2967,3535,3881,0,0,0,0,0,0
$GC,585,-0.74,-107.1,42.3,-9.2,119,591,0.10,2.35,0.00,0.000,6,0.143,0.038,3000,1986,3881,0,0,0,0,0,0
$GC,715,-0.74,-107.1,52.7,-8.0,150,722,0.00,2.47,0.00,0.000,4,0.000,0.059,2992,3534,3881,0,0,0,0,0,0
$GC,745,-0.74,-107.1,55.1,-7.9,156,752,0.00,2.33,0.00,0.000,6,0.000,0.038,2992,1992,3881,0,0,0,0,0,0
$GC,876,-0.74,-107.1,65.8,-7.8,187,883,0.00,2.47,0.00,0.000,4,0.000,0.059,2982,3543,3881,0,0,0,0,0,0
$GC,938,-0.74,-107.1,71.3,-8.8,201,945,0.00,2.35,0.00,0.000,6,0.000,0.038,2981,1981,3881,0,0,0,0,0,0
$GC,1071,-0.74,-107.1,82.5,-8.2,232,1078,0.00,2.47,0.00,0.000,4,0.000,0.059,2971,3538,3880,0,0,0,0,0,0
$GC,1111,-0.74,-107.1,86.1,-8.8,240,1117,0.10,2.33,0.00,0.000,6,0.137,0.038,3005,1996,3881,0,0,0,0,0,0
$GC,1247,-0.74,-107.1,96.4,-7.2,271,1253,0.00,2.42,0.00,0.000,4,0.000,0.060,2997,3538,3880,0,0,0,0,0,0
$GC,1280,-0.74,-107.1,98.8,-7.2,278,1287,0.00,2.33,0.00,0.000,6,0.000,0.038,2997,1992,3880,0,0,0,0,0,0
$GC,1412,-0.74,-107.1,108.1,-7.4,309,1419,0.00,2.45,0.00,0.000,4,0.000,0.060,2992,3534,3880,0,0,0,0,0,0
$GC,1465,-0.74,-107.1,111.8,-7.0,321,1472,0.00,2.33,0.00,0.000,6,0.000,0.038,2992,1988,3880,0,0,0,0,0,0
$STATE,1489,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1489,begin apogee
$GC,1495,-0.21,0.0,113.4,6.2,326,1578,0.52,0.00,77.95,0.756,6,0.122,0.000,3170,1984,3442,0,0,0,0,0,0
$STATE,1579,end apogee,CONTROL_FINISHED_OK
$STATE,1579,begin climb
$GC,1581,0.74,107.1,115.0,0.0,339,1663,0.85,0.00,79.30,0.749,6,0.070,0.000,3480,1984,3005,0,0,0,0,0,0
$GC,1789,0.74,107.1,95.0,12.1,382,1795,0.00,2.50,0.00,0.000,4,0.000,0.054,3480,3535,3003,0,0,0,0,0,0
$GC,1835,0.74,107.1,89.2,13.0,392,1841,0.00,2.40,0.00,0.000,6,0.000,0.038,3492,1995,3002,0,0,0,0,0,0
$GC,1966,0.74,107.1,74.0,11.2,423,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1995,3002,0,0,0,0,0,0
$GC,2098,0.74,107.1,59.2,11.1,454,2104,0.00,2.47,0.00,0.000,4,0.000,0.054,3492,3544,3003,0,0,0,0,0,0
$GC,2147,0.74,107.1,52.9,12.7,465,2154,0.00,2.38,0.00,0.000,6,0.000,0.038,3503,1992,3002,0,0,0,0,0,0
$GC,2279,0.74,107.1,37.2,11.7,496,2286,0.00,2.45,0.00,0.000,4,0.000,0.052,3503,3541,3002,0,0,0,0,0,0
$GC,2305,0.74,107.1,33.9,12.1,501,2312,0.08,2.35,0.00,0.000,6,0.170,0.037,3491,1998,3002,0,0,0,0,0,0
$GC,2375,0.74,107.1,26.4,10.4,517,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1998,3002,0,0,0,0,0,0
$GC,2445,0.74,107.1,19.2,10.1,533,2452,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1998,3002,0,0,0,0,0,0
$GC,2514,0.74,107.1,12.6,8.9,549,2521,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1998,3002,0,0,0,0,0,0
$GC,2584,0.74,107.1,6.9,7.8,565,2591,0.00,2.42,0.00,0.000,4,0.000,0.054,3500,445,3002,0,0,0,0,0,0
$STATE,2640,end climb,SURFACE_DEPTH_REACHED
$STATE,2640,begin surface coast
$FINISH,4.2,1.020573
$STATE,2750,end surface coast,CONTROL_FINISHED_OK
$STATE,2750,begin surface
$SM_CCo,2753,462.55,0.673,0,0,500,721.67
$SM_GC,1.20,9.20,0.00,0.00,0.038,0.000,0.000,144,2008,493,-9.64,0.51,723.39
$IRIDIUM_FIX,4751.72,-12340.51,290499,121235
$TT8_MAMPS,0.050622
$HUMID,28.14
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.0,25.3
$24V_AH,24.0,2.687
$10V_AH,10.5,2.187
$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,21.800,57.925,157.250,462.550,0.000,22.795,26.482,236.820,2.000,0.000,13.484,0.000,249.091,675.237,2297.300,503.797,33.298,1309.508,0.000,2094.243,0.000,18.386,0.000
$DEVICE_MAMPS,226.265,72.865,756.262,673.426,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,408.209,1996.826,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324528
$DATA_FILE_SIZE,28525,605
$CAP_FILE_SIZE,71297,0
$CFSIZE,260165632,256364544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,142616,4808.082,-12224.104,10,2.5,29,18.3