version: 66.06
glider: 162
mission: 1
dive: 16
start: 2 2 110 10 25 39
data:
$ID,162
$MISSION,1
$DIVE,16
$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,-1078.5586
$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,21
$R_STBD_OVSHOOT,15
$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
$GPS1,101706,4806.387,-12222.499,10,1.5,26,18.3
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-71.5
$GPS2,102444,4806.368,-12222.548,15,1.4,15,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.099,0.162
$KALMAN_X,1065.3,-63.4,42.0,-307.0,153.3
$KALMAN_Y,1142.2,208.2,-7.2,-3097.2,-242.3
$MHEAD_RNG_PITCHd_Wd,310.3,3516,-12.4,-6.024
$D_GRID,105
$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,-107.5,0.0,0.0,0,116,0.00,0.00,-97.32,0.000,2,0.000,0.000,171,2256,2902,0,0,0,0,0,0
$GC,120,-0.61,-107.5,3.7,-4.0,18,161,12.68,2.67,-22.65,0.000,4,0.253,0.091,3300,3810,3950,0,0,0,0,0,0
$GC,217,-0.61,-107.5,12.6,-7.3,37,224,0.00,2.58,0.00,0.000,6,0.000,0.048,3300,2250,3951,0,0,0,0,0,0
$GC,292,-0.61,-107.5,18.5,-7.7,53,298,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2249,3951,0,0,0,0,0,0
$GC,365,-0.61,-107.5,25.0,-9.0,69,372,0.00,2.67,0.00,0.000,4,0.000,0.067,3300,659,3951,0,0,0,0,0,0
$GC,397,-0.61,-107.5,28.1,-9.4,75,404,0.08,2.67,0.00,0.000,6,0.160,0.064,3313,2247,3951,0,0,0,0,0,0
$GC,472,-0.61,-107.5,34.6,-8.4,91,479,0.00,2.70,0.00,0.000,4,0.000,0.081,3302,3816,3951,0,0,0,0,0,0
$GC,516,-0.61,-107.5,38.8,-9.1,100,523,0.00,2.55,0.00,0.000,6,0.000,0.050,3302,2252,3951,0,0,0,0,0,0
$GC,591,-0.61,-107.5,45.4,-8.9,116,598,0.00,2.65,0.00,0.000,4,0.000,0.067,3301,660,3951,0,0,0,0,0,0
$GC,683,-0.61,-107.5,54.1,-9.6,136,690,0.08,2.65,0.00,0.000,6,0.146,0.063,3317,2254,3951,0,0,0,0,0,0
$GC,824,-0.61,-107.5,65.8,-8.2,167,830,0.00,2.65,0.00,0.000,4,0.000,0.081,3306,3809,3951,0,0,0,0,0,0
$GC,864,-0.61,-107.5,69.2,-8.5,175,870,0.00,2.53,0.00,0.000,6,0.000,0.048,3306,2251,3951,0,0,0,0,0,0
$GC,1006,-0.61,-107.5,81.3,-8.4,206,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2251,3951,0,0,0,0,0,0
$GC,1148,-0.61,-107.5,93.2,-8.2,237,1155,0.00,2.67,0.00,0.000,4,0.000,0.080,3295,3816,3951,0,0,0,0,0,0
$GC,1186,-0.61,-107.5,96.5,-8.2,244,1193,0.00,2.55,0.00,0.000,6,0.000,0.049,3295,2242,3951,0,0,0,0,0,0
$STATE,1289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1289,begin apogee
$GC,1295,-0.19,0.0,105.1,8.2,266,1379,0.47,0.00,79.80,0.753,6,0.133,0.000,3450,2241,3511,0,0,0,0,0,0
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1382,begin climb
$GC,1384,0.61,107.5,108.1,0.0,281,1474,0.75,0.00,82.10,0.719,6,0.085,0.000,3715,2241,3072,0,0,0,0,0,0
$GC,1608,0.61,107.5,94.9,7.5,327,1615,0.00,2.78,0.00,0.000,4,0.000,0.077,3715,3815,3070,0,0,0,0,0,0
$GC,1674,0.61,107.5,89.0,9.2,341,1681,0.00,2.60,0.00,0.000,6,0.000,0.048,3726,2256,3070,0,0,0,0,0,0
$GC,1815,0.61,107.5,77.7,8.3,372,1821,0.00,2.70,0.00,0.000,4,0.000,0.074,3726,3817,3070,0,0,0,0,0,0
$GC,1885,0.61,107.5,71.4,9.2,387,1892,0.00,2.58,0.00,0.000,6,0.000,0.047,3738,2252,3070,0,0,0,0,0,0
$GC,2027,0.61,107.5,60.2,7.7,418,2034,0.00,2.67,0.00,0.000,4,0.000,0.073,3738,3815,3071,0,0,0,0,0,0
$GC,2120,0.61,107.5,52.3,8.7,438,2127,0.10,2.55,0.00,0.000,6,0.170,0.046,3720,2253,3071,0,0,0,0,0,0
$GC,2261,0.61,107.5,42.9,6.5,469,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,3720,2253,3071,0,0,0,0,0,0
$GC,2401,0.61,110.0,34.6,5.9,500,2408,0.00,2.65,0.00,0.000,4,0.000,0.072,3719,3816,3071,0,0,0,0,0,0
$GC,2454,0.61,110.0,30.8,6.9,511,2467,0.00,2.55,3.42,0.423,6,0.000,0.047,3730,2246,3062,0,0,0,0,0,0
$GC,2535,0.61,110.0,25.6,6.6,528,2542,0.00,2.65,0.00,0.000,4,0.000,0.071,3729,3814,3062,0,0,0,0,0,0
$GC,2584,0.61,110.0,22.1,7.2,538,2590,0.00,2.53,0.00,0.000,6,0.000,0.047,3741,2256,3062,0,0,0,0,0,0
$GC,2658,0.61,110.0,16.8,6.9,554,2665,0.00,2.62,0.00,0.000,4,0.000,0.071,3740,3815,3062,0,0,0,0,0,0
$GC,2681,0.61,110.0,15.2,7.0,558,2688,0.10,2.53,0.00,0.000,6,0.163,0.045,3721,2254,3062,0,0,0,0,0,0
$GC,2756,0.64,130.2,10.9,5.3,574,2780,0.00,2.67,16.38,0.666,4,0.000,0.071,3721,3813,2981,0,0,0,0,0,0
$GC,3031,0.84,294.9,7.8,-0.3,635,3061,0.12,2.53,24.58,0.676,2,0.060,0.044,3792,2251,2850,0,0,0,0,0,0
$STATE,3062,end climb,NO_VERTICAL_VELOCITY
$STATE,3062,begin surface
$SM_CCo,3066,378.17,0.637,0,0,497,739.33
$SM_GC,0.80,10.02,0.00,0.00,0.044,0.000,0.000,162,2250,492,-10.45,0.00,740.81
$IRIDIUM_FIX,4751.72,-12340.51,290499,090917
$TT8_MAMPS,0.027612
$HUMID,31.57
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.2,1.938
$10V_AH,10.5,2.131
$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,24.400,68.150,206.275,378.175,0.000,23.590,25.434,269.711,1.750,0.000,15.343,986.339,102.378,640.894,1766.117,522.803,33.348,1288.189,0.000,1774.597,0.000,14.822,0.000
$DEVICE_MAMPS,253.110,90.506,753.194,636.610,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,444.126,1629.794,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324600
$DATA_FILE_SIZE,28570,640
$CAP_FILE_SIZE,74329,0
$CFSIZE,260165632,257585152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,112544,4806.672,-12222.838,14,1.1,14,18.3