version: 66.06
glider: 162
mission: 1
dive: 11
start: 2 2 110 4 17 44
data:
$ID,162
$MISSION,1
$DIVE,11
$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,83
$T_MISSION,90
$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,-983.26483
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,040930,4806.580,-12222.279,38,1.4,43,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.4
$GPS2,041649,4806.620,-12222.323,10,1.5,15,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.050,-0.183
$KALMAN_X,568.8,108.3,-43.1,378.2,-33.8
$KALMAN_Y,1024.7,12.1,138.1,-2464.0,241.2
$MHEAD_RNG_PITCHd_Wd,146.4,1215,-12.4,-6.024
$D_GRID,108
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.61,-107.5,0.0,0.0,0,127,0.00,0.00,-108.45,0.000,2,0.000,0.000,166,2255,3181,0,0,0,0,0,0
$GC,132,-0.61,-107.5,3.4,-3.5,20,179,12.43,2.67,-25.25,0.000,4,0.245,0.084,3301,3810,3952,0,0,0,0,0,0
$GC,196,-0.61,-107.5,5.2,-2.3,31,202,0.00,2.53,0.00,0.000,6,0.000,0.044,3301,2254,3952,0,0,0,0,0,0
$GC,270,-0.61,-107.5,10.8,-7.5,47,276,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2254,3953,0,0,0,0,0,0
$GC,344,-0.61,-107.5,17.0,-8.6,63,350,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2254,3953,0,0,0,0,0,0
$GC,417,-0.61,-107.5,23.9,-9.2,79,423,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2255,3953,0,0,0,0,0,0
$GC,491,-0.61,-107.5,30.5,-9.2,95,497,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2255,3953,0,0,0,0,0,0
$GC,565,-0.61,-107.5,37.2,-9.1,111,571,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2254,3953,0,0,0,0,0,0
$GC,638,-0.61,-107.5,43.7,-9.0,127,645,0.00,2.60,0.00,0.000,4,0.000,0.060,3301,670,3953,0,0,0,0,0,0
$GC,683,-0.61,-107.5,48.0,-9.5,136,690,0.08,2.60,0.00,0.000,6,0.150,0.056,3316,2250,3953,0,0,0,0,0,0
$GC,824,-0.61,-107.5,60.1,-8.3,167,831,0.00,2.62,0.00,0.000,4,0.000,0.074,3305,3804,3953,0,0,0,0,0,0
$GC,842,-0.61,-107.5,61.6,-8.1,170,849,0.00,2.50,0.00,0.000,6,0.000,0.051,3305,2261,3953,0,0,0,0,0,0
$GC,983,-0.61,-107.5,73.7,-8.4,201,989,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2260,3953,0,0,0,0,0,0
$GC,1128,-0.61,-107.5,86.1,-8.5,232,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2260,3953,0,0,0,0,0,0
$GC,1271,-0.61,-107.5,97.9,-8.2,263,1277,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2260,3953,0,0,0,0,0,0
$STATE,1400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1400,begin apogee
$GC,1405,-0.19,0.0,108.3,7.9,291,1490,0.45,0.00,80.20,0.758,6,0.131,0.000,3452,2260,3511,0,0,0,0,0,0
$STATE,1491,end apogee,CONTROL_FINISHED_OK
$STATE,1493,begin climb
$GC,1496,0.61,107.5,111.0,0.0,306,1585,0.73,0.00,81.97,0.720,6,0.084,0.000,3710,2259,3073,0,0,0,0,0,0
$GC,1720,0.61,107.5,97.7,7.8,352,1727,0.00,2.70,0.00,0.000,4,0.000,0.074,3711,3803,3073,0,0,0,0,0,0
$GC,1807,0.61,107.5,90.1,8.9,371,1814,0.00,2.60,0.00,0.000,6,0.000,0.053,3722,2259,3073,0,0,0,0,0,0
$GC,1948,0.61,107.5,78.9,7.8,402,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,2258,3072,0,0,0,0,0,0
$GC,2088,0.61,107.5,68.2,7.7,433,2095,0.00,2.65,0.00,0.000,4,0.000,0.074,3722,3808,3072,0,0,0,0,0,0
$GC,2207,0.61,107.5,58.1,8.6,459,2214,0.00,2.58,0.00,0.000,6,0.000,0.053,3734,2251,3073,0,0,0,0,0,0
$GC,2349,0.61,107.5,47.4,7.3,490,2356,0.00,2.65,0.00,0.000,4,0.000,0.074,3734,3810,3073,0,0,0,0,0,0
$GC,2436,0.61,107.5,40.2,8.4,509,2443,0.00,2.58,0.00,0.000,6,0.000,0.052,3745,2239,3073,0,0,0,0,0,0
$GC,2577,0.61,107.5,29.0,7.7,540,2584,0.00,2.65,0.00,0.000,4,0.000,0.078,3756,672,3073,0,0,0,0,0,0
$GC,2626,0.61,107.5,25.3,7.7,550,2633,0.12,2.60,0.00,0.000,6,0.152,0.058,3717,2249,3073,0,0,0,0,0,0
$GC,2701,0.61,107.5,20.1,6.4,566,2708,0.00,2.65,0.00,0.000,4,0.000,0.073,3717,3814,3073,0,0,0,0,0,0
$GC,2825,0.61,107.5,11.0,7.3,593,2832,0.00,2.55,0.00,0.000,6,0.000,0.051,3727,2251,3073,0,0,0,0,0,0
$GC,2899,0.62,116.7,6.8,5.7,609,2918,0.00,2.72,8.50,0.623,4,0.000,0.077,3738,663,3036,0,0,0,0,0,0
$STATE,2974,end climb,SURFACE_DEPTH_REACHED
$STATE,2974,begin surface coast
$FINISH,4.3,1.020933
$STATE,3119,end surface coast,NO_VERTICAL_VELOCITY
$STATE,3119,begin surface
$SM_CCo,3123,327.50,0.641,0,0,498,739.33
$SM_GC,0.67,9.75,0.00,0.00,0.039,0.000,0.000,169,2254,492,-10.42,0.11,740.81
$IRIDIUM_FIX,4751.72,-12340.51,290499,030341
$TT8_MAMPS,0.027612
$HUMID,32.51
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.2,1.321
$10V_AH,10.5,1.615
$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,23.550,47.200,170.675,327.500,0.000,29.983,31.437,243.084,2.250,0.000,15.318,1007.920,103.707,575.336,1818.725,503.061,33.349,1218.150,0.000,1823.552,0.000,20.551,0.000
$DEVICE_MAMPS,245.440,83.603,757.796,641.212,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.752,1675.799,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324824
$DATA_FILE_SIZE,31706,658
$CAP_FILE_SIZE,70141,0
$CFSIZE,260165632,257802240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,051756,4806.335,-12222.127,13,1.3,13,18.3