version: 66.06
glider: 161
mission: 1
dive: 2
start: 2 1 110 19 29 4
data:
$ID,161
$MISSION,1
$DIVE,2
$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,63
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$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,-25238.512
$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,3261
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,29
$R_STBD_OVSHOOT,31
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$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
$GPS1,192428,4807.369,-12223.346,10,2.1,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-75.2
$GPS2,192828,4807.378,-12223.366,9,2.2,28,18.3
$SPEED_LIMITS,0.137,0.209
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.165
$KALMAN_X,-81.9,-81.9,-81.9,-17.7,-172.6
$KALMAN_Y,85.4,85.4,85.4,-107.0,179.9
$MHEAD_RNG_PITCHd_Wd,123.9,834,-16.7,-7.937
$D_GRID,103
$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,-0.97,-107.1,0.0,0.0,0,127,0.00,0.00,-111.78,0.000,2,0.000,0.000,145,2005,3153,0,0,0,0,0,0
$GC,130,-0.97,-107.1,3.2,-2.3,18,169,10.85,2.45,-23.98,0.000,4,0.243,0.082,2932,3541,3879,0,0,0,0,0,0
$GC,196,-0.97,-107.1,6.8,-6.5,30,203,0.00,2.40,0.00,0.000,6,0.000,0.046,2932,1979,3881,0,0,0,0,0,0
$GC,267,-0.97,-107.1,12.3,-7.2,46,273,0.00,2.38,0.00,0.000,4,0.000,0.060,2932,456,3881,0,0,0,0,0,0
$GC,377,-0.97,-107.1,22.6,-10.1,72,383,0.00,2.38,0.00,0.000,6,0.000,0.054,2921,1985,3881,0,0,0,0,0,0
$GC,447,-0.97,-107.1,29.8,-10.7,88,453,0.00,2.40,0.00,0.000,4,0.000,0.060,2922,452,3881,0,0,0,0,0,0
$GC,468,-0.97,-107.1,32.3,-11.0,92,474,0.15,2.38,0.00,0.000,6,0.179,0.055,2949,1990,3881,0,0,0,0,0,0
$GC,540,-0.97,-107.1,40.1,-10.6,108,547,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,1990,3881,0,0,0,0,0,0
$GC,675,-0.97,-107.1,54.5,-10.1,139,680,0.00,2.47,0.00,0.000,4,0.000,0.073,2939,3547,3881,0,0,0,0,0,0
$GC,725,-0.97,-107.1,59.9,-11.5,150,730,0.00,2.33,0.00,0.000,6,0.000,0.046,2939,1994,3881,0,0,0,0,0,0
$GC,862,-0.97,-107.1,74.4,-10.5,181,869,0.00,2.47,0.00,0.000,4,0.000,0.071,2929,3540,3881,0,0,0,0,0,0
$GC,907,-0.97,-107.1,79.4,-11.4,190,914,0.00,2.35,0.00,0.000,6,0.000,0.045,2929,1974,3881,0,0,0,0,0,0
$GC,1043,-0.97,-107.1,94.1,-10.7,221,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,1974,3881,0,0,0,0,0,0
$STATE,1125,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1125,begin apogee
$GC,1131,-0.25,0.0,103.1,10.3,240,1214,0.75,0.00,77.55,0.774,6,0.137,0.000,3174,1971,3441,0,0,0,0,0,0
$STATE,1214,end apogee,CONTROL_FINISHED_OK
$STATE,1214,begin climb
$GC,1216,0.97,107.1,105.4,0.0,256,1304,1.10,2.50,79.85,0.760,4,0.069,0.062,3583,453,3004,0,0,0,0,0,0
$GC,1341,0.97,107.1,93.4,15.1,281,1345,0.00,2.45,0.00,0.000,6,0.000,0.048,3583,2000,3002,0,0,0,0,0,0
$GC,1479,0.97,107.1,72.2,15.1,312,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2000,3001,0,0,0,0,0,0
$GC,1610,0.97,107.1,52.6,15.0,343,1617,0.00,2.50,0.00,0.000,4,0.000,0.065,3583,3542,3000,0,0,0,0,0,0
$GC,1663,0.97,107.1,43.7,16.6,355,1670,0.00,2.40,0.00,0.000,6,0.000,0.045,3594,2000,3000,0,0,0,0,0,0
$GC,1795,0.97,107.1,23.6,15.0,386,1802,0.00,2.45,0.00,0.000,4,0.000,0.062,3605,444,3000,0,0,0,0,0,0
$STATE,1937,end climb,SURFACE_DEPTH_REACHED
$STATE,1937,begin surface coast
$FINISH,3.9,1.020334
$STATE,1981,end surface coast,CONTROL_FINISHED_OK
$STATE,1981,begin surface
$SM_CCo,1984,390.65,0.664,0,0,500,721.67
$SM_GC,1.39,9.40,0.00,0.00,0.040,0.000,0.000,147,1992,494,-9.67,0.06,723.14
$IRIDIUM_FIX,4751.72,-12340.51,280499,191924
$TT8_MAMPS,0.049855
$HUMID,30.11
$INTERNAL_PRESSURE,8.91321
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,40.0
$24V_AH,24.1,0.489
$10V_AH,10.5,0.356
$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,22.250,38.800,157.400,390.650,0.000,0.000,0.000,0.000,0.500,0.000,30.679,0.000,365.636,603.145,1477.419,102.125,30.168,1066.242,0.000,1319.271,0.000,5.528,0.000
$DEVICE_MAMPS,243.139,82.069,773.903,664.222,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.567,1239.118,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324604
$DATA_FILE_SIZE,22296,431
$CAP_FILE_SIZE,80044,0
$CFSIZE,260165632,257040384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010210,201122,4807.185,-12223.238,9,6.5,28,18.3