version: 66.06
glider: 162
mission: 1
dive: 15
start: 2 2 110 9 20 21
data:
$ID,162
$MISSION,1
$DIVE,15
$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,-1062.5884
$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,16
$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,5
$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
$GPS1,091104,4806.225,-12222.288,10,6.9,29,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-75.7
$GPS2,091926,4806.181,-12222.278,14,1.3,14,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.124,0.144
$KALMAN_X,983.6,-38.9,-13.7,134.6,144.8
$KALMAN_Y,1283.2,176.0,48.8,-3601.0,-43.0
$MHEAD_RNG_PITCHd_Wd,300.9,3985,-12.4,-6.024
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.61,-107.5,0.0,0.0,0,78,0.00,0.00,-59.20,0.000,2,0.000,0.000,166,2257,2586,0,0,0,0,0,0
$GC,81,-0.61,-107.5,3.0,-3.9,11,133,12.82,2.72,-30.85,0.000,4,0.255,0.092,3302,3811,3954,0,0,0,0,0,0
$GC,245,-0.61,-107.5,18.3,-7.0,45,252,0.00,2.58,0.00,0.000,6,0.000,0.049,3302,2239,3955,0,0,0,0,0,0
$GC,320,-0.61,-107.5,25.6,-11.3,61,326,0.00,2.62,0.00,0.000,4,0.000,0.066,3301,669,3955,0,0,0,0,0,0
$GC,364,-0.61,-107.5,28.6,-7.2,70,371,0.08,2.62,0.00,0.000,6,0.151,0.061,3316,2243,3955,0,0,0,0,0,0
$GC,439,-0.61,-107.5,35.3,-9.8,86,445,0.00,2.70,0.00,0.000,4,0.000,0.080,3305,3816,3955,0,0,0,0,0,0
$GC,470,-0.61,-107.5,37.9,-8.5,92,477,0.00,2.55,0.00,0.000,6,0.000,0.049,3305,2254,3956,0,0,0,0,0,0
$GC,545,-0.61,-107.5,44.7,-9.4,108,551,0.00,2.62,0.00,0.000,4,0.000,0.064,3305,668,3955,0,0,0,0,0,0
$GC,611,-0.61,-107.5,51.0,-9.5,122,617,0.00,2.65,0.00,0.000,6,0.000,0.063,3296,2254,3955,0,0,0,0,0,0
$GC,752,-0.61,-107.5,63.8,-9.2,153,758,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2254,3955,0,0,0,0,0,0
$GC,890,-0.61,-107.5,76.3,-9.1,184,896,0.00,2.67,0.00,0.000,4,0.000,0.081,3284,3816,3955,0,0,0,0,0,0
$GC,921,-0.61,-107.5,79.4,-9.4,190,932,0.10,2.55,0.00,0.000,6,0.143,0.050,3317,2241,3955,0,0,0,0,0,0
$GC,1070,-0.61,-107.5,91.7,-8.0,221,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2241,3955,0,0,0,0,0,0
$GC,1215,-0.61,-107.5,102.3,-7.4,252,1221,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2241,3955,0,0,0,0,0,0
$STATE,1273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1273,begin apogee
$GC,1279,-0.19,0.0,107.0,7.9,264,1364,0.40,0.00,80.50,0.756,6,0.127,0.000,3451,2241,3511,0,0,0,0,0,0
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1367,begin climb
$GC,1369,0.61,107.5,109.4,0.0,279,1460,0.73,2.85,82.28,0.718,4,0.086,0.075,3708,3818,3073,0,0,0,0,0,0
$GC,1481,0.64,129.4,105.0,5.2,299,1505,0.00,2.65,18.55,0.674,6,0.000,0.048,3719,2256,2984,0,0,1,0,0,0
$GC,1640,0.64,129.4,92.3,7.8,333,1646,0.00,2.75,0.00,0.000,4,0.000,0.076,3720,3817,2982,0,0,0,0,0,0
$GC,1680,0.64,129.4,88.5,8.8,341,1686,0.00,2.62,0.00,0.000,6,0.000,0.048,3731,2242,2982,0,0,0,0,0,0
$GC,1820,0.64,129.4,76.8,8.1,372,1827,0.00,2.72,0.00,0.000,4,0.000,0.075,3731,3814,2982,0,0,0,0,0,0
$GC,1873,0.64,129.4,71.8,9.5,383,1880,0.00,2.58,0.00,0.000,6,0.000,0.049,3743,2258,2982,0,0,0,0,0,0
$GC,2014,0.64,129.4,59.2,8.7,414,2021,0.00,2.67,0.00,0.000,4,0.000,0.075,3743,3814,2982,0,0,0,0,0,0
$GC,2110,0.64,129.4,49.7,10.2,435,2117,0.00,2.55,0.00,0.000,6,0.000,0.048,3754,2255,2982,0,0,0,0,0,0
$GC,2251,0.64,129.4,36.5,9.3,466,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,3754,2255,2982,0,0,0,0,0,0
$GC,2325,0.64,129.4,29.7,9.2,482,2331,0.00,2.67,0.00,0.000,4,0.000,0.076,3754,3817,2982,0,0,0,0,0,0
$GC,2369,0.64,129.4,25.1,10.1,491,2377,0.12,2.55,0.00,0.000,6,0.164,0.048,3728,2253,2982,0,0,0,0,0,0
$GC,2445,0.64,129.4,18.5,8.5,507,2451,0.00,2.67,0.00,0.000,4,0.000,0.077,3728,3816,2982,0,0,0,0,0,0
$GC,2477,0.64,129.4,15.7,8.6,513,2483,0.00,2.55,0.00,0.000,6,0.000,0.048,3737,2254,2982,0,0,0,0,0,0
$GC,2552,0.66,152.1,11.0,5.2,529,2576,0.00,0.00,17.65,0.667,6,0.000,0.000,3738,2254,2891,0,0,0,0,0,0
$GC,2644,0.79,254.9,7.9,2.1,548,2729,0.10,2.72,77.30,0.670,4,0.102,0.062,3804,662,2473,0,0,0,0,0,0
$STATE,2899,end climb,NO_VERTICAL_VELOCITY
$STATE,2901,begin surface
$SM_CCo,2904,325.27,0.637,0,0,498,739.33
$SM_GC,0.92,10.00,0.00,0.00,0.044,0.000,0.000,171,2255,492,-10.42,0.14,740.81
$IRIDIUM_FIX,4751.72,-12340.51,290499,080825
$TT8_MAMPS,0.027612
$HUMID,32.04
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,24.1,1.809
$10V_AH,10.5,2.035
$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,24.350,63.675,276.275,325.275,0.000,29.472,33.260,293.919,2.000,0.000,14.384,918.381,102.226,606.850,1661.709,556.710,33.342,1240.195,0.000,1669.153,0.000,15.970,0.000
$DEVICE_MAMPS,255.411,92.040,756.262,636.610,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,417.104,1532.240,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324552
$DATA_FILE_SIZE,28607,602
$CAP_FILE_SIZE,71412,0
$CFSIZE,260165632,257634304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,020210,101706,4806.387,-12222.499,10,1.5,26,18.3