version: 66.06
glider: 162
mission: 1
dive: 12
start: 2 2 110 5 37 0
data:
$ID,162
$MISSION,1
$DIVE,12
$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,-1013.5236
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,051756,4806.335,-12222.127,13,1.3,13,18.3
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-75.4
$GPS2,053606,4806.396,-12222.248,13,1.1,29,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.062,-0.179
$KALMAN_X,555.3,85.2,-86.7,553.9,-15.4
$KALMAN_Y,1178.0,40.0,198.9,-3119.8,143.3
$MHEAD_RNG_PITCHd_Wd,142.5,796,-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,-108.18,0.000,2,0.000,0.000,169,2254,3127,0,0,0,0,0,0
$GC,132,-0.61,-107.5,3.4,-3.6,20,179,12.52,2.67,-24.48,0.000,4,0.251,0.087,3302,3807,3953,0,0,0,0,0,0
$GC,214,-0.61,-107.5,7.0,-5.0,35,221,0.00,2.55,0.00,0.000,6,0.000,0.049,3302,2255,3954,0,0,0,0,0,0
$GC,289,-0.61,-107.5,13.2,-8.3,51,295,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2255,3954,0,0,0,0,0,0
$GC,363,-0.61,-107.5,19.8,-9.1,67,369,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2255,3954,0,0,0,0,0,0
$GC,436,-0.61,-107.5,26.3,-8.8,83,443,0.00,2.65,0.00,0.000,4,0.000,0.075,3292,3809,3954,0,0,0,0,0,0
$GC,451,-0.61,-107.5,27.6,-8.7,85,457,0.00,2.55,0.00,0.000,6,0.000,0.050,3292,2241,3954,0,0,0,0,0,0
$GC,525,-0.61,-107.5,34.7,-9.4,101,532,0.12,0.00,0.00,0.000,6,0.171,0.000,3325,2241,3954,0,0,0,0,0,0
$GC,599,-0.61,-107.5,40.7,-7.8,117,605,0.00,0.00,0.00,0.000,6,0.000,0.000,3325,2241,3954,0,0,0,0,0,0
$GC,737,-0.61,-107.5,51.5,-7.9,148,744,0.00,2.65,0.00,0.000,4,0.000,0.075,3325,668,3954,0,0,0,0,0,0
$GC,756,-0.61,-107.5,53.1,-8.0,151,762,0.00,2.60,0.00,0.000,6,0.000,0.058,3316,2249,3954,0,0,0,0,0,0
$GC,896,-0.61,-107.5,64.4,-8.1,182,902,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2250,3954,0,0,0,0,0,0
$GC,1037,-0.61,-107.5,75.4,-7.9,213,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2249,3954,0,0,0,0,0,0
$GC,1181,-0.61,-107.5,86.6,-7.5,244,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2250,3955,0,0,0,0,0,0
$GC,1323,-0.61,-107.5,97.3,-7.6,275,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2249,3954,0,0,0,0,0,0
$GC,1467,-0.61,-107.5,107.8,-7.0,306,1474,0.00,2.65,0.00,0.000,4,0.000,0.073,3315,666,3954,0,0,0,0,0,0
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1488,-0.19,0.0,108.8,7.0,308,1573,0.45,0.00,80.47,0.761,6,0.134,0.000,3452,2251,3511,0,0,0,0,0,0
$STATE,1573,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1578,0.61,107.5,111.2,0.0,323,1668,0.73,2.78,81.85,0.722,4,0.083,0.072,3712,3809,3075,0,0,0,0,0,0
$GC,1733,0.61,107.5,101.3,9.7,353,1740,0.00,2.62,0.00,0.000,6,0.000,0.049,3723,2261,3074,0,0,0,0,0,0
$GC,1875,0.61,107.5,89.7,7.8,384,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,3723,2261,3074,0,0,0,0,0,0
$GC,2017,0.61,107.5,78.5,7.9,415,2024,0.00,2.65,0.00,0.000,4,0.000,0.074,3723,3805,3074,0,0,0,0,0,0
$GC,2130,0.61,107.5,67.8,9.4,440,2137,0.00,2.58,0.00,0.000,6,0.000,0.050,3735,2244,3074,0,0,0,0,0,0
$GC,2271,0.61,107.5,56.4,7.8,471,2277,0.00,0.00,0.00,0.000,6,0.000,0.000,3735,2244,3074,0,0,0,0,0,0
$GC,2410,0.61,107.5,45.8,7.5,502,2417,0.00,2.65,0.00,0.000,4,0.000,0.073,3735,3806,3075,0,0,0,0,0,0
$GC,2529,0.61,107.5,35.5,8.9,528,2537,0.08,2.55,0.00,0.000,6,0.169,0.051,3723,2252,3075,0,0,0,0,0,0
$GC,2604,0.61,107.5,29.8,7.1,544,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,3723,2252,3075,0,0,0,0,0,0
$GC,2678,0.61,107.5,24.8,6.7,560,2684,0.00,0.00,0.00,0.000,6,0.000,0.000,3723,2252,3074,0,0,0,0,0,0
$GC,2752,0.61,107.5,19.8,6.6,576,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,3723,2252,3075,0,0,0,0,0,0
$GC,2826,0.61,107.5,15.0,6.3,592,2833,0.00,2.62,0.00,0.000,4,0.000,0.074,3722,3803,3075,0,0,0,0,0,0
$GC,2931,0.61,107.5,8.1,6.1,615,2937,0.00,2.53,0.00,0.000,6,0.000,0.051,3732,2256,3075,0,0,0,0,0,0
$GC,3005,0.64,133.8,4.2,5.0,631,3018,0.00,0.00,10.90,0.644,2,0.000,0.000,3733,2256,3021,0,0,0,0,0,0
$STATE,3019,end climb,SURFACE_DEPTH_REACHED
$STATE,3019,begin surface coast
$FINISH,4.3,1.020539
$STATE,3126,end surface coast,CONTROL_FINISHED_OK
$STATE,3126,begin surface
$SM_CCo,3129,327.12,0.640,0,0,498,739.33
$SM_GC,0.79,9.80,0.00,0.00,0.042,0.000,0.000,161,2255,492,-10.45,0.17,740.81
$IRIDIUM_FIX,4751.72,-12340.51,290499,050530
$TT8_MAMPS,0.027612
$HUMID,32.20
$INTERNAL_PRESSURE,9.13579
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.1,1.455
$10V_AH,10.4,1.719
$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,23.700,41.900,173.225,327.125,0.000,113.939,229.103,404.596,1.750,0.000,29.629,1009.920,284.580,578.328,1828.644,960.033,33.345,1224.381,0.000,1820.899,0.000,13.093,0.000
$DEVICE_MAMPS,250.809,87.438,760.864,640.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,456.030,1673.220,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324844
$DATA_FILE_SIZE,31687,657
$CAP_FILE_SIZE,76176,0
$CFSIZE,260165632,257753088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,063734,4806.128,-12221.968,11,3.3,30,18.3