version: 66.06
glider: 161
mission: 1
dive: 22
start: 2 2 110 16 16 10
data:
$ID,161
$MISSION,1
$DIVE,22
$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,-25754.219
$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,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
$GPS1,160914,4808.112,-12224.051,9,1.7,9,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-74.0
$GPS2,161531,4808.221,-12224.115,10,2.0,10,18.3
$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,-2472.8,549.7,-268.4,992.0,-317.7
$KALMAN_Y,2265.0,-545.8,619.8,-617.0,1036.0
$MHEAD_RNG_PITCHd_Wd,145.2,434,-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,-86.35,0.000,2,0.000,0.000,143,2055,3032,0,0,0,0,0,0
$GC,104,-0.74,-107.1,3.0,-3.1,14,149,10.90,2.45,-29.40,0.000,4,0.227,0.068,2992,3599,3880,0,0,0,0,0,0
$GC,164,-0.74,-107.1,4.7,-1.3,24,171,0.00,2.38,0.00,0.000,6,0.000,0.037,2991,2049,3880,0,0,0,0,0,0
$GC,233,-0.74,-107.1,9.1,-7.3,40,240,0.00,2.40,0.00,0.000,4,0.000,0.051,2991,511,3881,0,0,0,0,0,0
$GC,268,-0.74,-107.1,12.0,-8.1,47,274,0.00,2.38,0.00,0.000,6,0.000,0.043,2981,2042,3881,0,0,0,0,0,0
$GC,337,-0.74,-107.1,18.4,-9.3,63,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2042,3881,0,0,0,0,0,0
$GC,407,-0.74,-107.1,24.6,-8.8,79,413,0.00,2.38,0.00,0.000,4,0.000,0.051,2981,517,3881,0,0,0,0,0,0
$GC,448,-0.74,-107.1,28.7,-10.1,88,455,0.08,2.35,0.00,0.000,6,0.150,0.044,2996,2044,3881,0,0,0,0,0,0
$GC,518,-0.74,-107.1,34.7,-8.1,104,525,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2044,3881,0,0,0,0,0,0
$GC,588,-0.74,-107.1,40.1,-7.6,120,595,0.00,2.47,0.00,0.000,4,0.000,0.061,2987,3597,3880,0,0,0,0,0,0
$GC,629,-0.74,-107.1,43.6,-8.5,129,636,0.00,2.35,0.00,0.000,6,0.000,0.038,2987,2050,3881,0,0,0,0,0,0
$GC,761,-0.74,-107.1,54.4,-7.8,160,768,0.00,2.47,0.00,0.000,4,0.000,0.061,2977,3600,3880,0,0,0,0,0,0
$GC,790,-0.74,-107.1,56.9,-8.4,166,797,0.00,2.35,0.00,0.000,6,0.000,0.038,2978,2051,3881,0,0,0,0,0,0
$GC,922,-0.74,-107.1,68.3,-8.4,197,929,0.00,2.47,0.00,0.000,4,0.000,0.060,2967,3600,3881,0,0,0,0,0,0
$GC,960,-0.74,-107.1,71.7,-8.5,205,967,0.10,2.33,0.00,0.000,6,0.136,0.038,3000,2058,3880,0,0,0,0,0,0
$GC,1094,-0.74,-107.1,81.9,-7.4,236,1101,0.00,2.45,0.00,0.000,4,0.000,0.061,2992,3593,3880,0,0,0,0,0,0
$GC,1154,-0.74,-107.1,86.6,-7.7,249,1161,0.00,2.33,0.00,0.000,6,0.000,0.038,2992,2051,3880,0,0,0,0,0,0
$STATE,1193,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1193,begin apogee
$GC,1199,-0.21,0.0,89.8,7.6,258,1283,0.52,0.00,78.15,0.742,6,0.125,0.000,3169,2048,3441,0,0,0,0,0,0
$STATE,1283,end apogee,CONTROL_FINISHED_OK
$STATE,1284,begin climb
$GC,1286,0.74,107.1,91.9,0.0,271,1368,0.88,0.00,78.93,0.729,6,0.071,0.000,3485,2048,3005,0,0,0,0,0,0
$GC,1493,0.74,107.1,73.7,11.3,314,1499,0.00,2.50,0.00,0.000,4,0.000,0.056,3484,3590,3002,0,0,0,0,0,0
$GC,1555,0.74,107.1,66.0,12.4,328,1561,0.00,2.40,0.00,0.000,6,0.000,0.038,3496,2053,3002,0,0,0,0,0,0
$GC,1686,0.74,107.1,50.5,12.3,359,1693,0.00,2.50,0.00,0.000,4,0.000,0.056,3496,3603,3002,0,0,0,0,0,0
$GC,1724,0.74,107.1,45.6,12.9,367,1731,0.00,2.40,0.00,0.000,6,0.000,0.038,3507,2047,3002,0,0,0,0,0,0
$GC,1856,0.74,107.1,29.9,11.7,398,1863,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2046,3002,0,0,0,0,0,0
$GC,1926,0.74,107.1,22.0,11.3,414,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,2047,3002,0,0,0,0,0,0
$GC,1995,0.74,107.1,14.4,11.1,430,2002,0.00,2.38,0.00,0.000,4,0.000,0.054,3519,516,3002,0,0,0,0,0,0
$STATE,2117,end climb,SURFACE_DEPTH_REACHED
$STATE,2117,begin surface coast
$FINISH,2.9,1.020246
$STATE,2149,end surface coast,CONTROL_FINISHED_OK
$STATE,2149,begin surface
$SM_CCo,2169,376.52,0.663,1,0,996,600.00
$SM_GC,1.23,0.00,0.00,376.52,0.000,0.000,0.663,138,2051,996,-9.71,0.03,600.00
$IRIDIUM_FIX,4751.72,-12340.51,290499,151544
$TT8_MAMPS,0.050622
$HUMID,28.02
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,11.5
$24V_AH,24.0,3.044
$10V_AH,10.5,2.446
$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,21.650,48.075,157.075,376.525,0.000,24.131,26.498,212.460,1.000,0.000,12.113,0.000,119.638,581.796,1781.642,438.763,33.300,1105.554,0.000,1620.052,0.000,9.728,0.000
$DEVICE_MAMPS,227.032,68.263,742.456,662.688,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,313.803,1541.592,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,22350,467
$CAP_FILE_SIZE,57760,0
$CFSIZE,260165632,256278528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,165936,4808.112,-12224.083,12,1.1,29,18.3