version: 66.06
glider: 162
mission: 1
dive: 17
start: 2 2 110 11 39 27
data:
$ID,162
$MISSION,1
$DIVE,17
$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,-1097.256
$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,27
$R_STBD_OVSHOOT,10
$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
$GPS1,112544,4806.672,-12222.838,14,1.1,14,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-73.3
$GPS2,113832,4806.740,-12222.916,17,1.2,17,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.086,0.169
$KALMAN_X,911.2,-83.7,128.2,-670.3,42.9
$KALMAN_Y,1428.5,186.4,-179.7,-2507.1,-143.3
$MHEAD_RNG_PITCHd_Wd,314.8,2690,-12.4,-6.024
$D_GRID,103
$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,-107.5,0.0,0.0,0,100,0.00,0.00,-80.90,0.000,2,0.000,0.000,162,2250,2439,0,0,0,0,0,0
$GC,103,-0.61,-107.5,3.1,-3.7,15,166,12.98,2.67,-41.22,0.000,4,0.262,0.079,3315,669,3953,0,0,0,0,0,0
$GC,369,-0.61,-107.5,24.4,-8.6,72,375,0.00,2.62,0.00,0.000,6,0.000,0.059,3305,2252,3954,0,0,0,0,0,0
$GC,443,-0.61,-107.5,30.7,-8.5,88,449,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2252,3954,0,0,0,0,0,0
$GC,516,-0.61,-107.5,37.4,-9.1,104,523,0.00,2.65,0.00,0.000,4,0.000,0.076,3293,3809,3954,0,0,0,0,0,0
$GC,556,-0.61,-107.5,41.2,-9.5,112,564,0.08,2.53,0.00,0.000,6,0.152,0.048,3318,2255,3954,0,0,0,0,0,0
$GC,697,-0.61,-107.5,53.1,-8.3,143,704,0.00,2.65,0.00,0.000,4,0.000,0.066,3319,658,3954,0,0,0,0,0,0
$GC,784,-0.61,-107.5,61.0,-9.1,162,791,0.00,2.62,0.00,0.000,6,0.000,0.059,3309,2251,3954,0,0,0,0,0,0
$GC,926,-0.61,-107.5,72.9,-8.6,193,933,0.00,2.65,0.00,0.000,4,0.000,0.076,3298,3806,3954,0,0,0,0,0,0
$GC,988,-0.61,-107.5,78.9,-9.5,206,994,0.00,2.53,0.00,0.000,6,0.000,0.048,3298,2239,3954,0,0,0,0,0,0
$GC,1130,-0.61,-107.5,91.2,-8.6,237,1137,0.00,2.60,0.00,0.000,4,0.000,0.067,3298,665,3954,0,0,0,0,0,0
$GC,1158,-0.61,-107.5,93.8,-9.0,242,1165,0.10,2.60,0.00,0.000,6,0.137,0.058,3321,2246,3954,0,0,0,0,0,0
$STATE,1278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1278,begin apogee
$GC,1284,-0.19,0.0,103.1,7.2,267,1369,0.38,0.00,80.35,0.753,6,0.127,0.000,3448,2246,3511,0,0,0,0,0,0
$STATE,1370,end apogee,CONTROL_FINISHED_OK
$STATE,1371,begin climb
$GC,1374,0.61,107.5,105.7,0.0,282,1464,0.75,2.78,81.88,0.720,4,0.088,0.064,3724,671,3073,0,0,0,0,0,0
$GC,1474,0.65,144.7,102.2,4.6,299,1509,0.00,2.75,29.70,0.690,6,0.000,0.058,3724,2250,2921,0,0,0,0,0,0
$GC,1643,0.65,144.7,87.7,8.9,335,1650,0.00,2.72,0.00,0.000,4,0.000,0.073,3723,3806,2920,0,0,0,0,0,0
$GC,1717,0.65,144.7,80.2,10.4,351,1724,0.00,2.58,0.00,0.000,6,0.000,0.047,3735,2257,2920,0,0,0,0,0,0
$GC,1860,0.65,144.7,67.3,9.0,382,1866,0.00,2.67,0.00,0.000,4,0.000,0.071,3735,3813,2920,0,0,0,0,0,0
$GC,1943,0.65,144.7,58.5,10.6,400,1950,0.00,2.58,0.00,0.000,6,0.000,0.046,3747,2245,2920,0,0,0,0,0,0
$GC,2085,0.65,144.7,45.2,9.3,431,2091,0.00,2.67,0.00,0.000,4,0.000,0.071,3746,3812,2920,0,0,0,0,0,0
$GC,2120,0.65,144.7,41.4,10.1,438,2127,0.00,2.55,0.00,0.000,6,0.000,0.047,3758,2254,2920,0,0,0,0,0,0
$GC,2261,0.65,144.7,27.9,9.6,469,2268,0.00,2.62,0.00,0.000,4,0.000,0.070,3758,3807,2920,0,0,0,0,0,0
$GC,2323,0.65,144.7,21.6,10.6,482,2330,0.10,2.53,0.00,0.000,6,0.166,0.046,3739,2255,2920,0,0,0,0,0,0
$GC,2398,0.65,144.7,15.0,8.5,498,2405,0.00,2.62,0.00,0.000,4,0.000,0.071,3739,3809,2920,0,0,0,0,0,0
$GC,2655,0.86,308.2,5.9,-0.2,556,2692,0.10,2.53,30.02,0.682,2,0.062,0.044,3800,2246,2761,0,0,0,0,0,0
$STATE,2692,end climb,NO_VERTICAL_VELOCITY
$STATE,2693,begin surface
$SM_CCo,2696,351.00,0.636,0,0,497,739.33
$SM_GC,0.90,10.00,0.00,0.00,0.044,0.000,0.000,165,2245,492,-10.44,-0.14,740.81
$IRIDIUM_FIX,4751.72,-12056.72,290499,111122
$TT8_MAMPS,0.028379
$HUMID,31.65
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,24.2,2.073
$10V_AH,10.4,2.219
$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,24.475,57.725,221.950,351.000,0.000,79.120,131.556,289.054,1.750,0.000,18.069,858.894,221.049,604.042,1556.407,691.575,33.339,1187.433,0.000,1558.431,0.000,14.400,0.000
$DEVICE_MAMPS,261.547,79.001,753.194,635.843,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.784,1431.485,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324584
$DATA_FILE_SIZE,25474,562
$CAP_FILE_SIZE,67999,0
$CFSIZE,260165632,257556480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,123307,4806.821,-12222.989,25,1.8,25,18.3