version: 66.06
glider: 162
mission: 1
dive: 10
start: 2 2 110 3 15 22
data:
$ID,162
$MISSION,1
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,-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,1.023
$MASS,52000
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,580
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-967.31805
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,170
$PITCH_MAX,3943
$C_PITCH,3520
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,26
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,219
$ROLL_MAX,3813
$ROLL_DEG,45
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,18
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,498
$VBD_MAX,3961
$C_VBD,3512
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$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,-17.427298
$PRESSURE_SLOPE,0.0001159254
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.7
$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,0.0042908308
$SEABIRD_T_H,0.00062610966
$SEABIRD_T_I,2.2169626e-05
$SEABIRD_T_J,2.2075089e-06
$SEABIRD_C_G,-9.8735752
$SEABIRD_C_H,1.1082938
$SEABIRD_C_I,-0.0011930728
$SEABIRD_C_J,0.00017506423
$GPS1,030037,4806.690,-12222.450,10,1.5,10,18.3
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-76.5
$GPS2,031426,4806.778,-12222.511,12,1.7,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.187
$KALMAN_X,465.8,139.4,27.3,149.5,-100.5
$KALMAN_Y,880.8,-25.6,30.7,-1885.4,310.4
$MHEAD_RNG_PITCHd_Wd,141.0,1573,-14.6,-6.944
$D_GRID,107
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.69,-107.5,0.0,0.0,0,93,0.00,0.00,-75.43,0.000,2,0.000,0.000,166,2238,3037,0,0,0,0,0,0
$GC,96,-0.69,-107.5,3.6,-3.8,14,142,12.27,0.00,-28.62,0.000,6,0.244,0.000,3287,2237,3952,0,0,0,0,0,0
$GC,212,-0.69,-107.5,9.1,-7.4,37,218,0.00,2.60,0.00,0.000,4,0.000,0.062,3287,673,3953,0,0,0,0,0,0
$GC,268,-0.69,-107.5,14.4,-9.2,49,275,0.00,2.58,0.00,0.000,6,0.000,0.053,3277,2245,3953,0,0,0,0,0,0
$GC,342,-0.69,-107.5,21.5,-10.1,65,348,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2245,3953,0,0,0,0,0,0
$GC,416,-0.69,-107.5,29.1,-9.9,81,422,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2245,3953,0,0,0,0,0,0
$GC,489,-0.69,-107.5,36.6,-9.9,97,495,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2245,3953,0,0,0,0,0,0
$GC,563,-0.69,-107.5,44.1,-10.5,113,570,0.00,2.60,0.00,0.000,4,0.000,0.062,3277,677,3953,0,0,0,0,0,0
$GC,586,-0.69,-107.5,46.6,-10.3,117,592,0.00,2.58,0.00,0.000,6,0.000,0.055,3267,2249,3953,0,0,0,0,0,0
$GC,726,-0.69,-107.5,62.1,-10.8,148,732,0.00,2.62,0.00,0.000,4,0.000,0.073,3255,3805,3953,0,0,0,0,0,0
$GC,744,-0.69,-107.5,64.1,-10.9,151,751,0.10,2.50,0.00,0.000,6,0.160,0.046,3287,2256,3953,0,0,0,0,0,0
$GC,885,-0.69,-107.5,77.8,-9.4,182,891,0.00,2.58,0.00,0.000,4,0.000,0.061,3288,683,3953,0,0,0,0,0,0
$GC,903,-0.69,-107.5,79.6,-9.3,185,913,0.00,2.55,0.00,0.000,6,0.000,0.055,3279,2243,3953,0,0,0,0,0,0
$GC,1049,-0.69,-107.5,93.1,-9.2,216,1055,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2243,3953,0,0,0,0,0,0
$GC,1195,-0.69,-107.5,106.7,-9.2,247,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2243,3953,0,0,0,0,0,0
$STATE,1207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1207,begin apogee
$GC,1213,-0.19,0.0,108.0,9.2,249,1298,0.52,0.00,80.32,0.759,6,0.140,0.000,3448,2243,3512,0,0,0,0,0,0
$STATE,1298,end apogee,CONTROL_FINISHED_OK
$STATE,1300,begin climb
$GC,1303,0.69,107.5,110.8,0.0,264,1392,0.82,0.00,82.05,0.721,6,0.084,0.000,3738,2243,3075,0,0,0,0,0,0
$GC,1526,0.69,107.5,96.7,8.3,310,1532,0.00,2.72,0.00,0.000,4,0.000,0.073,3738,3810,3074,0,0,0,0,0,0
$GC,1649,0.69,107.5,84.6,10.2,337,1656,0.00,2.55,0.00,0.000,6,0.000,0.044,3749,2258,3074,0,0,0,0,0,0
$GC,1791,0.69,107.5,71.9,8.5,368,1797,0.00,0.00,0.00,0.000,6,0.000,0.000,3749,2258,3074,0,0,0,0,0,0
$GC,1931,0.69,107.5,59.8,8.4,399,1937,0.00,0.00,0.00,0.000,6,0.000,0.000,3749,2258,3074,0,0,0,0,0,0
$GC,2072,0.69,107.5,48.4,7.9,430,2078,0.00,2.62,0.00,0.000,4,0.000,0.071,3750,3809,3074,0,0,0,0,0,0
$GC,2276,0.69,107.5,28.9,9.1,476,2282,0.00,2.53,0.00,0.000,6,0.000,0.044,3761,2247,3074,0,0,0,0,0,0
$GC,2350,0.69,107.5,22.8,7.7,492,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,3761,2246,3074,0,0,0,0,0,0
$GC,2424,0.69,107.5,17.2,7.2,508,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,3761,2246,3074,0,0,0,0,0,0
$GC,2497,0.69,107.5,11.9,7.0,524,2504,0.00,2.62,0.00,0.000,4,0.000,0.069,3761,3810,3074,0,0,0,0,0,0
$GC,2585,0.70,110.6,5.5,6.8,543,2598,0.00,2.50,4.10,0.477,6,0.000,0.044,3772,2255,3062,0,0,0,0,0,0
$STATE,2616,end climb,SURFACE_DEPTH_REACHED
$STATE,2616,begin surface coast
$FINISH,4.7,1.020861
$STATE,2701,end surface coast,CONTROL_FINISHED_OK
$STATE,2701,begin surface
$SM_CCo,2704,347.85,0.640,1,0,498,739.33
$SM_GC,0.83,9.90,0.00,0.00,0.043,0.000,0.000,166,2254,492,-10.43,0.11,740.81
$IRIDIUM_FIX,4751.72,-12340.51,290499,030352
$TT8_MAMPS,0.027612
$HUMID,31.80
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.1,19.0
$24V_AH,24.1,1.209
$10V_AH,10.5,1.517
$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,23.625,36.150,166.475,347.850,0.000,86.806,137.865,345.178,2.000,0.000,13.034,875.068,221.087,574.574,1569.491,765.119,33.352,1140.298,0.000,1574.622,0.000,16.042,0.000
$DEVICE_MAMPS,243.906,72.865,758.563,639.678,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,394.427,1446.378,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324824
$DATA_FILE_SIZE,25438,568
$CAP_FILE_SIZE,67515,0
$CFSIZE,260165632,257851392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,040930,4806.580,-12222.279,38,1.4,43,18.3