version: 66.06
glider: 161
mission: 1
dive: 23
start: 2 2 110 17 7 1
data:
$ID,161
$MISSION,1
$DIVE,23
$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,-25787.596
$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,41
$R_STBD_OVSHOOT,32
$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
$GPS1,165936,4808.112,-12224.083,12,1.1,29,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-74.3
$GPS2,170622,4808.216,-12224.168,11,2.3,30,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.053,-0.192
$KALMAN_X,-2509.4,319.0,-308.6,1235.8,-304.2
$KALMAN_Y,2432.8,-35.2,736.8,-1422.0,977.3
$MHEAD_RNG_PITCHd_Wd,146.3,451,-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,-107.1,0.0,0.0,0,95,0.00,0.00,-80.30,0.000,2,0.000,0.000,138,2051,2903,0,0,0,0,0,0
$GC,98,-0.74,-107.1,3.0,-3.6,13,150,10.88,2.47,-32.17,0.000,4,0.225,0.072,2992,3589,3881,0,0,0,0,0,0
$GC,169,-0.74,-107.1,5.9,-3.9,25,176,0.00,2.35,0.00,0.000,6,0.000,0.037,2992,2054,3882,0,0,0,0,0,0
$GC,239,-0.74,-107.1,11.0,-7.5,41,246,0.00,2.40,0.00,0.000,4,0.000,0.051,2992,513,3881,0,0,0,0,0,0
$GC,305,-0.74,-107.1,17.0,-9.7,56,312,0.00,2.38,0.00,0.000,6,0.000,0.043,2982,2048,3881,0,0,0,0,0,0
$GC,375,-0.74,-107.1,23.3,-8.9,72,382,0.00,2.38,0.00,0.000,4,0.000,0.050,2982,519,3882,0,0,0,0,0,0
$GC,437,-0.74,-107.1,29.5,-10.6,86,444,0.10,2.35,0.00,0.000,6,0.146,0.044,3004,2045,3882,0,0,0,0,0,0
$GC,507,-0.74,-107.1,35.5,-8.1,102,514,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2045,3882,0,0,0,0,0,0
$GC,577,-0.74,-107.1,41.0,-8.0,118,584,0.00,2.47,0.00,0.000,4,0.000,0.061,2995,3594,3882,0,0,0,0,0,0
$GC,619,-0.74,-107.1,44.4,-8.1,127,626,0.00,2.35,0.00,0.000,6,0.000,0.038,2995,2046,3881,0,0,0,0,0,0
$GC,751,-0.74,-107.1,54.7,-7.3,158,758,0.00,2.47,0.00,0.000,4,0.000,0.061,2985,3591,3881,0,0,0,0,0,0
$GC,785,-0.74,-107.1,57.4,-8.0,165,791,0.00,2.33,0.00,0.000,6,0.000,0.037,2985,2046,3882,0,0,0,0,0,0
$GC,916,-0.74,-107.1,68.5,-8.4,196,923,0.00,2.45,0.00,0.000,4,0.000,0.061,2974,3594,3881,0,0,0,0,0,0
$GC,942,-0.74,-107.1,70.7,-8.2,201,947,0.08,2.33,0.00,0.000,6,0.139,0.038,3000,2054,3882,0,0,0,0,0,0
$GC,1074,-0.74,-107.1,80.8,-7.0,232,1081,0.00,2.45,0.00,0.000,4,0.000,0.061,2992,3589,3881,0,0,0,0,0,0
$STATE,1102,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1102,begin apogee
$GC,1110,-0.21,0.0,83.2,7.4,238,1194,0.52,0.00,78.28,0.742,6,0.125,0.000,3169,2033,3441,0,0,0,0,0,0
$STATE,1195,end apogee,CONTROL_FINISHED_OK
$STATE,1195,begin climb
$GC,1197,0.74,107.1,85.4,0.0,251,1279,0.88,0.00,78.88,0.726,6,0.074,0.000,3482,2033,3005,0,0,0,0,0,0
$GC,1404,0.74,107.1,67.8,10.7,294,1410,0.00,2.53,0.00,0.000,4,0.000,0.055,3482,3594,3002,0,0,0,0,0,0
$GC,1453,0.74,107.1,61.8,12.1,305,1460,0.00,2.40,0.00,0.000,6,0.000,0.037,3494,2053,3002,0,0,0,0,0,0
$GC,1586,0.74,107.1,46.8,11.7,336,1592,0.00,2.50,0.00,0.000,4,0.000,0.054,3493,3605,3002,0,0,0,0,0,0
$GC,1616,0.74,107.1,43.1,12.4,342,1622,0.00,2.40,0.00,0.000,6,0.000,0.037,3505,2048,3002,0,0,0,0,0,0
$GC,1747,0.74,107.1,27.7,11.2,373,1753,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2048,3002,0,0,0,0,0,0
$GC,1816,0.74,107.1,20.5,10.4,389,1823,0.00,2.40,0.00,0.000,4,0.000,0.052,3517,505,3002,0,0,0,0,0,0
$STATE,1990,end climb,SURFACE_DEPTH_REACHED
$STATE,1990,begin surface coast
$FINISH,4.0,1.019741
$STATE,2038,end surface coast,CONTROL_FINISHED_OK
$STATE,2038,begin surface
$SM_CCo,2041,463.42,0.670,0,0,500,721.67
$SM_GC,1.10,9.23,0.00,0.00,0.037,0.000,0.000,144,2065,494,-9.64,0.42,723.14
$IRIDIUM_FIX,4751.72,-12340.51,290499,161654
$TT8_MAMPS,0.050622
$HUMID,28.10
$INTERNAL_PRESSURE,8.90344
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,9.8
$24V_AH,24.0,3.179
$10V_AH,10.5,2.528
$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,21.675,48.250,157.150,463.425,0.000,29.905,28.043,210.535,0.500,0.000,32.748,0.000,205.096,656.184,1706.179,443.318,33.301,1157.977,0.000,1538.475,0.000,5.420,0.000
$DEVICE_MAMPS,224.731,72.098,741.689,669.591,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.625,1462.555,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324524
$DATA_FILE_SIZE,19138,443
$CAP_FILE_SIZE,54819,0
$CFSIZE,260165632,256253952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,175128,4808.161,-12224.227,11,3.3,30,18.3