version: 66.06
glider: 162
mission: 1
dive: 18
start: 2 2 110 12 53 42
data:
$ID,162
$MISSION,1
$DIVE,18
$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,-1137.4613
$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,18
$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
$GPS1,123307,4806.821,-12222.989,25,1.8,25,18.3
$_CALLS,5
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-75.3
$GPS2,125246,4807.312,-12223.445,19,2.2,38,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.077,0.173
$KALMAN_X,541.4,-98.5,183.0,-992.5,-211.7
$KALMAN_Y,2056.5,140.1,-330.7,-1883.9,291.1
$MHEAD_RNG_PITCHd_Wd,317.7,1448,-12.4,-6.024
$D_GRID,102
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.61,-107.5,0.0,0.0,0,121,0.00,0.00,-102.55,0.000,2,0.000,0.000,165,2245,3004,0,0,0,0,0,0
$GC,124,-0.61,-107.5,3.7,-4.0,19,170,12.55,2.60,-27.42,0.000,4,0.251,0.076,3313,668,3951,0,0,0,0,0,0
$GC,421,-0.61,-107.5,26.9,-9.0,84,428,0.00,2.62,0.00,0.000,6,0.000,0.058,3303,2254,3952,0,0,0,0,0,0
$GC,496,-0.61,-107.5,33.8,-9.2,100,502,0.00,2.62,0.00,0.000,4,0.000,0.063,3303,671,3953,0,0,0,0,0,0
$GC,752,-0.61,-107.5,58.1,-9.2,158,759,0.00,2.60,0.00,0.000,6,0.000,0.060,3293,2246,3952,0,0,0,0,0,0
$GC,894,-0.61,-107.5,70.4,-8.5,189,900,0.10,0.00,0.00,0.000,6,0.180,0.000,3318,2246,3952,0,0,0,0,0,0
$GC,1037,-0.61,-107.5,81.4,-7.7,220,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2246,3953,0,0,0,0,0,0
$GC,1177,-0.61,-107.5,91.5,-7.3,251,1184,0.00,2.62,0.00,0.000,4,0.000,0.076,3308,3805,3952,0,0,0,0,0,0
$GC,1213,-0.61,-107.5,94.5,-7.7,258,1220,0.00,2.50,0.00,0.000,6,0.000,0.047,3308,2254,3952,0,0,0,0,0,0
$STATE,1308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1308,begin apogee
$GC,1314,-0.19,0.0,102.2,8.0,279,1398,0.43,0.00,79.97,0.750,6,0.133,0.000,3447,2253,3512,0,0,0,0,0,0
$STATE,1399,end apogee,CONTROL_FINISHED_OK
$STATE,1401,begin climb
$GC,1404,0.61,107.5,105.0,0.0,294,1496,0.75,2.80,82.12,0.716,4,0.087,0.072,3713,3812,3073,0,0,0,0,0,0
$GC,1520,0.61,107.5,99.8,6.2,315,1527,0.00,2.65,0.00,0.000,6,0.000,0.046,3725,2255,3073,0,0,0,0,0,0
$GC,1662,0.61,107.5,88.4,8.1,346,1669,0.00,2.70,0.00,0.000,4,0.000,0.073,3725,3807,3072,0,0,0,0,0,0
$GC,1694,0.61,107.5,85.4,8.6,352,1700,0.00,2.58,0.00,0.000,6,0.000,0.045,3736,2255,3072,0,0,0,0,0,0
$GC,1835,0.61,107.5,73.3,8.4,383,1842,0.00,2.67,0.00,0.000,4,0.000,0.071,3737,3811,3072,0,0,0,0,0,0
$GC,1879,0.61,107.5,69.2,9.2,392,1887,0.10,2.55,0.00,0.000,6,0.164,0.044,3718,2255,3071,0,0,0,0,0,0
$GC,2021,0.61,107.5,58.4,7.4,423,2027,0.00,2.65,0.00,0.000,4,0.000,0.071,3717,3809,3071,0,0,0,0,0,0
$GC,2061,0.61,107.5,55.1,8.1,431,2068,0.00,2.55,0.00,0.000,6,0.000,0.044,3728,2243,3072,0,0,0,0,0,0
$GC,2202,0.61,107.5,44.2,7.5,462,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,3728,2243,3072,0,0,0,0,0,0
$GC,2342,0.61,107.5,34.2,7.2,493,2348,0.00,2.65,0.00,0.000,4,0.000,0.071,3727,3808,3072,0,0,0,0,0,0
$GC,2382,0.61,107.5,30.7,8.0,501,2389,0.00,2.53,0.00,0.000,6,0.000,0.045,3739,2253,3072,0,0,0,0,0,0
$GC,2457,0.61,107.5,24.9,7.4,517,2463,0.00,0.00,0.00,0.000,6,0.000,0.000,3739,2253,3072,0,0,0,0,0,0
$GC,2531,0.61,107.5,19.4,7.4,533,2537,0.00,2.62,0.00,0.000,4,0.000,0.070,3739,3810,3072,0,0,0,0,0,0
$GC,2549,0.61,107.5,17.9,7.2,536,2557,0.10,2.53,0.00,0.000,6,0.163,0.044,3720,2247,3072,0,0,0,0,0,0
$GC,2625,0.61,107.5,13.1,6.2,552,2631,0.00,2.62,0.00,0.000,4,0.000,0.070,3719,3808,3072,0,0,0,0,0,0
$GC,2882,0.79,257.0,5.4,0.3,610,2962,0.10,2.50,73.45,0.673,2,0.062,0.044,3781,2250,2667,0,0,0,0,0,0
$STATE,2964,end climb,SURFACE_DEPTH_REACHED
$STATE,2964,begin surface coast
$FINISH,3.1,1.019529
$STATE,3056,end surface coast,CONTROL_FINISHED_OK
$STATE,3056,begin surface
$SM_CCo,3076,192.95,0.614,1,0,1146,580.13
$SM_GC,0.87,0.00,0.00,192.95,0.000,0.000,0.614,164,2250,1146,-10.49,0.00,580.13
$IRIDIUM_FIX,4751.72,-12340.51,290499,121221
$TT8_MAMPS,0.027612
$HUMID,31.37
$INTERNAL_PRESSURE,9.21392
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,41.3
$24V_AH,24.2,2.193
$10V_AH,10.5,2.321
$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,24.100,52.175,235.550,192.950,0.000,150.729,248.438,371.848,0.500,0.000,39.576,970.034,252.927,464.540,1801.170,974.181,33.366,1109.264,0.000,1788.736,0.000,7.217,0.000
$DEVICE_MAMPS,250.809,75.933,750.126,614.367,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,447.486,1641.798,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324600
$DATA_FILE_SIZE,31753,645
$CAP_FILE_SIZE,73802,0
$CFSIZE,260165632,257503232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,134913,4807.625,-12223.710,14,1.7,19,18.3