version: 66.06
glider: 161
mission: 1
dive: 20
start: 2 2 110 14 34 1
data:
$ID,161
$MISSION,1
$DIVE,20
$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,-25708.779
$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,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
$GPS1,142616,4808.082,-12224.104,10,2.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-71.7
$GPS2,143322,4808.188,-12224.155,12,2.8,31,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.068,-0.188
$KALMAN_X,-2658.6,966.0,4.7,442.7,-378.9
$KALMAN_Y,1895.6,-1287.9,70.4,975.2,960.8
$MHEAD_RNG_PITCHd_Wd,141.7,397,-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,-86.22,0.000,2,0.000,0.000,143,2006,2527,0,0,0,0,0,0
$GC,104,-0.74,-107.1,3.1,-3.3,14,169,10.95,2.45,-46.38,0.000,4,0.229,0.071,2990,3534,3880,0,0,0,0,0,0
$GC,185,-0.74,-107.1,5.4,-3.8,27,192,0.00,2.38,0.00,0.000,6,0.000,0.038,2990,1990,3881,0,0,0,0,0,0
$GC,255,-0.74,-107.1,10.2,-7.2,43,262,0.00,2.42,0.00,0.000,4,0.000,0.052,2991,449,3881,0,0,0,0,0,0
$GC,309,-0.74,-107.1,14.6,-8.5,55,316,0.00,2.38,0.00,0.000,6,0.000,0.043,2980,1987,3881,0,0,0,0,0,0
$GC,379,-0.74,-107.1,20.8,-8.6,71,386,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,1987,3881,0,0,0,0,0,0
$GC,449,-0.74,-107.1,26.8,-8.7,87,456,0.00,2.40,0.00,0.000,4,0.000,0.054,2980,452,3881,0,0,0,0,0,0
$GC,471,-0.74,-107.1,28.8,-9.0,91,476,0.10,2.38,0.00,0.000,6,0.148,0.044,3001,1994,3881,0,0,0,0,0,0
$GC,539,-0.74,-107.1,34.8,-8.2,107,546,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,1995,3881,0,0,0,0,0,0
$GC,609,-0.74,-107.1,40.2,-8.0,123,616,0.00,2.45,0.00,0.000,4,0.000,0.061,2992,3535,3881,0,0,0,0,0,0
$GC,652,-0.74,-107.1,43.9,-8.9,132,658,0.00,2.35,0.00,0.000,6,0.000,0.038,2992,1990,3881,0,0,0,0,0,0
$GC,783,-0.74,-107.1,54.6,-8.0,163,790,0.00,2.45,0.00,0.000,4,0.000,0.060,2982,3530,3881,0,0,0,0,0,0
$GC,821,-0.74,-107.1,57.9,-8.2,171,828,0.00,2.35,0.00,0.000,6,0.000,0.038,2982,1979,3881,0,0,0,0,0,0
$GC,952,-0.74,-107.1,69.0,-8.5,202,959,0.00,2.47,0.00,0.000,4,0.000,0.061,2971,3532,3880,0,0,0,0,0,0
$GC,1009,-0.74,-107.1,74.0,-8.7,215,1015,0.10,2.33,0.00,0.000,6,0.139,0.038,3004,1994,3881,0,0,0,0,0,0
$GC,1143,-0.74,-107.1,83.4,-6.7,246,1149,0.00,2.45,0.00,0.000,4,0.000,0.059,2996,3534,3880,0,0,0,0,0,0
$GC,1191,-0.74,-107.1,86.9,-7.3,256,1198,0.00,2.33,0.00,0.000,6,0.000,0.038,2996,1992,3880,0,0,0,0,0,0
$STATE,1222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1222,begin apogee
$GC,1228,-0.21,0.0,89.4,7.7,263,1311,0.52,0.00,78.25,0.754,6,0.123,0.000,3173,1989,3441,0,0,0,0,0,0
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1314,0.74,107.1,91.3,0.0,276,1403,0.85,2.55,79.12,0.736,4,0.072,0.055,3490,455,3004,0,0,0,0,0,0
$GC,1427,0.74,107.1,83.4,9.7,295,1434,0.00,2.45,0.00,0.000,6,0.000,0.039,3490,1991,3003,0,0,0,0,0,0
$GC,1559,0.74,107.1,68.7,11.0,326,1566,0.00,2.50,0.00,0.000,4,0.000,0.055,3490,3538,3002,0,0,0,0,0,0
$GC,1646,0.74,107.1,58.1,12.3,346,1652,0.00,2.40,0.00,0.000,6,0.000,0.038,3502,1992,3002,0,0,0,0,0,0
$GC,1777,0.74,107.1,42.9,11.6,377,1784,0.00,2.47,0.00,0.000,4,0.000,0.053,3502,3538,3002,0,0,0,0,0,0
$GC,1831,0.74,107.1,36.3,12.8,389,1838,0.00,2.38,0.00,0.000,6,0.000,0.038,3513,1991,3002,0,0,0,0,0,0
$GC,1900,0.74,107.1,28.0,11.5,405,1907,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,1991,3002,0,0,0,0,0,0
$GC,1970,0.74,107.1,20.4,11.1,421,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,3513,1991,3002,0,0,0,0,0,0
$GC,2039,0.74,107.1,12.9,10.3,437,2046,0.00,2.40,0.00,0.000,4,0.000,0.054,3525,448,3002,0,0,0,0,0,0
$STATE,2135,end climb,SURFACE_DEPTH_REACHED
$STATE,2135,begin surface coast
$FINISH,3.7,1.017822
$STATE,2177,end surface coast,CONTROL_FINISHED_OK
$STATE,2177,begin surface
$SM_CCo,2197,377.45,0.667,1,0,996,600.00
$SM_GC,1.15,0.00,0.00,377.45,0.000,0.000,0.667,145,2004,996,-9.69,0.40,600.00
$IRIDIUM_FIX,4751.72,-12056.72,290499,131315
$TT8_MAMPS,0.050622
$HUMID,28.26
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,11.2
$24V_AH,24.0,2.808
$10V_AH,10.5,2.273
$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,21.750,53.100,157.375,377.450,0.000,24.882,29.551,226.939,1.000,0.000,33.957,0.000,118.749,595.466,1815.712,467.503,33.299,1138.069,0.000,1630.792,0.000,9.821,0.000
$DEVICE_MAMPS,229.333,70.564,753.961,667.290,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,315.316,1550.710,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324536
$DATA_FILE_SIZE,22318,470
$CAP_FILE_SIZE,59505,0
$CFSIZE,260165632,256344064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,151800,4808.113,-12224.072,34,1.3,34,18.3