version: 66.06
glider: 161
mission: 1
dive: 21
start: 2 2 110 15 25 7
data:
$ID,161
$MISSION,1
$DIVE,21
$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,-25741.479
$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,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,36
$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
$GPS1,151800,4808.113,-12224.072,34,1.3,34,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-73.6
$GPS2,152428,4808.217,-12224.134,10,3.4,29,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.064,-0.189
$KALMAN_X,-2618.0,805.5,-140.2,730.7,-394.7
$KALMAN_Y,2208.4,-1025.8,358.9,171.5,1105.1
$MHEAD_RNG_PITCHd_Wd,143.1,435,-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,12,-0.74,-107.1,0.0,0.0,0,89,0.00,0.00,-74.20,0.000,2,0.000,0.000,145,2004,2758,0,0,0,0,0,0
$GC,92,-0.74,-107.1,3.0,-3.8,12,150,11.02,2.58,-38.00,0.000,4,0.232,0.073,2990,3593,3881,0,0,0,0,0,0
$GC,165,-0.74,-107.1,5.6,-4.0,24,172,0.00,2.38,0.00,0.000,6,0.000,0.038,2991,2046,3882,0,0,0,0,0,0
$GC,235,-0.74,-107.1,10.6,-7.8,40,242,0.00,2.40,0.00,0.000,4,0.000,0.051,2991,508,3882,0,0,0,0,0,0
$GC,293,-0.74,-107.1,15.4,-8.4,53,300,0.00,2.38,0.00,0.000,6,0.000,0.043,2980,2046,3882,0,0,0,0,0,0
$GC,363,-0.74,-107.1,21.3,-8.3,69,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2980,2046,3882,0,0,0,0,0,0
$GC,433,-0.74,-107.1,27.2,-8.8,85,439,0.00,2.40,0.00,0.000,4,0.000,0.051,2980,506,3882,0,0,0,0,0,0
$GC,466,-0.74,-107.1,30.3,-9.3,92,473,0.10,2.38,0.00,0.000,6,0.145,0.045,3002,2044,3882,0,0,0,0,0,0
$GC,536,-0.74,-107.1,35.9,-7.5,108,543,0.00,2.45,0.00,0.000,4,0.000,0.061,2993,3590,3882,0,0,0,0,0,0
$GC,579,-0.74,-107.1,39.4,-8.3,117,585,0.00,2.35,0.00,0.000,6,0.000,0.037,2993,2040,3882,0,0,0,0,0,0
$GC,648,-0.74,-107.1,45.3,-8.5,133,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2040,3882,0,0,0,0,0,0
$GC,778,-0.74,-107.1,55.7,-8.0,164,785,0.00,2.50,0.00,0.000,4,0.000,0.061,2982,3600,3882,0,0,0,0,0,0
$GC,807,-0.74,-107.1,58.2,-8.0,170,814,0.00,2.33,0.00,0.000,6,0.000,0.038,2982,2057,3882,0,0,0,0,0,0
$GC,939,-0.74,-107.1,69.6,-8.8,201,946,0.00,2.45,0.00,0.000,4,0.000,0.061,2972,3590,3882,0,0,0,0,0,0
$GC,980,-0.74,-107.1,73.2,-8.6,210,988,0.08,2.33,0.00,0.000,6,0.143,0.037,2998,2041,3882,0,0,0,0,0,0
$GC,1114,-0.74,-107.1,83.2,-7.3,241,1121,0.00,2.47,0.00,0.000,4,0.000,0.061,2990,3593,3882,0,0,0,0,0,0
$GC,1167,-0.74,-107.1,87.3,-8.2,252,1174,0.00,2.33,0.00,0.000,6,0.000,0.038,2990,2050,3882,0,0,0,0,0,0
$STATE,1227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1227,begin apogee
$GC,1232,-0.21,0.0,92.1,7.5,266,1316,0.55,0.00,78.35,0.746,6,0.127,0.000,3173,2046,3442,0,0,0,0,0,0
$STATE,1316,end apogee,CONTROL_FINISHED_OK
$STATE,1316,begin climb
$GC,1319,0.74,107.1,93.9,0.0,279,1407,0.85,2.53,79.05,0.735,4,0.070,0.054,3493,523,3005,0,0,0,0,0,0
$GC,1448,0.74,107.1,84.3,10.8,302,1455,0.00,2.42,0.00,0.000,6,0.000,0.040,3493,2051,3003,0,0,0,0,0,0
$GC,1580,0.74,107.1,68.9,11.9,333,1587,0.00,2.50,0.00,0.000,4,0.000,0.054,3493,3598,3003,0,0,0,0,0,0
$GC,1666,0.74,107.1,58.3,12.2,353,1672,0.00,2.38,0.00,0.000,6,0.000,0.038,3504,2063,3002,0,0,0,0,0,0
$GC,1797,0.74,107.1,42.4,12.0,384,1804,0.00,2.45,0.00,0.000,4,0.000,0.054,3504,3594,3002,0,0,0,0,0,0
$GC,1834,0.74,107.1,37.7,12.4,392,1842,0.08,2.38,0.00,0.000,6,0.166,0.038,3492,2049,3002,0,0,0,0,0,0
$GC,1904,0.74,107.1,29.9,10.8,408,1911,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,2049,3002,0,0,0,0,0,0
$GC,1974,0.74,107.1,22.3,10.6,424,1981,0.00,2.38,0.00,0.000,4,0.000,0.052,3501,516,3002,0,0,0,0,0,0
$GC,2016,0.74,107.1,17.8,11.1,433,2022,0.00,2.35,0.00,0.000,6,0.000,0.039,3501,2053,3002,0,0,0,0,0,0
$GC,2086,0.74,107.1,10.5,9.9,449,2092,0.00,2.40,0.00,0.000,4,0.000,0.051,3512,507,3003,0,0,0,0,0,0
$STATE,2157,end climb,SURFACE_DEPTH_REACHED
$STATE,2157,begin surface coast
$FINISH,3.5,1.018354
$STATE,2211,end surface coast,CONTROL_FINISHED_OK
$STATE,2211,begin surface
$SM_CCo,2231,376.45,0.665,1,0,996,600.00
$SM_GC,1.22,0.00,0.00,376.45,0.000,0.000,0.665,143,2055,996,-9.69,0.14,600.00
$IRIDIUM_FIX,4751.72,-12340.51,290499,141409
$TT8_MAMPS,0.049855
$HUMID,28.18
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,13.7
$24V_AH,24.0,2.926
$10V_AH,10.5,2.361
$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,21.850,57.825,157.400,376.450,0.000,25.682,29.401,197.155,1.000,0.000,32.069,0.000,121.620,589.393,1850.129,433.998,33.295,1133.173,0.000,1662.781,0.000,11.431,0.000
$DEVICE_MAMPS,231.634,72.865,746.291,664.989,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,321.690,1582.617,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324568
$DATA_FILE_SIZE,22286,479
$CAP_FILE_SIZE,60181,0
$CFSIZE,260165632,256311296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,160914,4808.112,-12224.051,9,1.7,9,18.3