version: 66.06
glider: 162
mission: 1
dive: 22
start: 2 2 110 17 26 34
data:
$ID,162
$MISSION,1
$DIVE,22
$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,-1242.7639
$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,21
$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
$GPS1,171052,4808.268,-12223.382,10,99.0,29,18.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-75.7
$GPS2,172540,4808.444,-12223.554,12,2.3,31,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.065,-0.178
$KALMAN_X,267.0,-174.4,-208.1,-389.0,-45.9
$KALMAN_Y,3465.4,63.3,286.8,-1734.0,376.7
$MHEAD_RNG_PITCHd_Wd,141.5,1070,-12.4,-6.024
$D_GRID,97
$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,-107.5,0.0,0.0,0,111,0.00,0.00,-91.97,0.000,2,0.000,0.000,169,2251,2707,0,0,0,0,0,0
$GC,114,-0.61,-107.5,3.0,-3.9,17,171,12.60,0.00,-38.22,0.000,6,0.252,0.000,3315,2251,3951,0,0,0,0,0,0
$GC,240,-0.61,-107.5,10.8,-8.0,42,246,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2251,3952,0,0,0,0,0,0
$GC,314,-0.61,-107.5,17.0,-8.7,58,321,0.00,2.60,0.00,0.000,4,0.000,0.058,3315,673,3952,0,0,0,0,0,0
$GC,367,-0.61,-107.5,22.0,-9.3,69,374,0.00,2.60,0.00,0.000,6,0.000,0.054,3305,2251,3952,0,0,0,0,0,0
$GC,442,-0.61,-107.5,28.4,-8.8,85,448,0.00,2.60,0.00,0.000,4,0.000,0.057,3305,668,3952,0,0,0,0,0,0
$GC,495,-0.61,-107.5,33.4,-9.5,96,501,0.00,2.58,0.00,0.000,6,0.000,0.054,3295,2242,3952,0,0,0,0,0,0
$GC,569,-0.61,-107.5,40.3,-9.4,112,575,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2242,3952,0,0,0,0,0,0
$GC,707,-0.61,-107.5,52.5,-9.0,143,713,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2242,3952,0,0,0,0,0,0
$GC,846,-0.61,-107.5,64.8,-8.8,174,852,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2242,3952,0,0,0,0,0,0
$GC,984,-0.61,-107.5,76.4,-8.2,205,990,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2242,3952,0,0,0,0,0,0
$GC,1130,-0.61,-107.5,88.2,-8.4,236,1136,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2241,3952,0,0,0,0,0,0
$STATE,1236,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1236,begin apogee
$GC,1242,-0.19,0.0,97.2,8.4,259,1326,0.47,0.00,79.97,0.745,6,0.137,0.000,3450,2242,3512,0,0,0,0,0,0
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1332,0.61,107.5,99.8,0.0,274,1422,0.75,2.78,82.05,0.712,4,0.089,0.070,3712,3806,3073,0,0,0,0,0,0
$GC,1440,0.63,124.7,95.4,5.4,293,1464,0.00,2.62,14.93,0.658,6,0.000,0.044,3724,2256,3002,0,0,0,0,0,0
$GC,1598,0.63,124.7,82.1,8.6,327,1605,0.00,2.70,0.00,0.000,4,0.000,0.070,3723,3809,3001,0,0,0,0,0,0
$GC,1673,0.63,124.7,74.5,10.3,343,1680,0.00,2.58,0.00,0.000,6,0.000,0.043,3735,2246,3001,0,0,0,0,0,0
$GC,1815,0.63,124.7,61.6,8.6,374,1822,0.00,2.67,0.00,0.000,4,0.000,0.070,3735,3809,3001,0,0,0,0,0,0
$GC,1929,0.63,124.7,50.4,10.0,399,1936,0.00,2.53,0.00,0.000,6,0.000,0.042,3746,2254,3001,0,0,0,0,0,0
$GC,2071,0.63,124.7,37.8,8.8,430,2077,0.00,0.00,0.00,0.000,6,0.000,0.000,3747,2254,3001,0,0,0,0,0,0
$GC,2145,0.63,124.7,31.2,8.7,446,2152,0.00,2.62,0.00,0.000,4,0.000,0.067,3747,3810,3001,0,0,0,0,0,0
$GC,2186,0.63,124.7,27.3,9.5,454,2193,0.10,2.53,0.00,0.000,6,0.166,0.042,3728,2246,3001,0,0,0,0,0,0
$GC,2261,0.63,124.7,21.0,7.8,470,2267,0.00,2.58,0.00,0.000,4,0.000,0.057,3738,668,3002,0,0,0,0,0,0
$GC,2331,0.63,124.7,15.5,8.0,485,2337,0.00,2.58,0.00,0.000,6,0.000,0.052,3738,2245,3001,0,0,0,0,0,0
$GC,2405,0.63,124.7,10.4,6.3,501,2412,0.00,2.60,0.00,0.000,4,0.000,0.067,3738,3806,3001,0,0,0,0,0,0
$GC,2498,0.65,139.7,4.9,5.5,521,2516,0.00,2.50,12.35,0.648,6,0.000,0.042,3749,2244,2941,0,0,0,0,0,0
$GC,2584,0.85,306.9,4.9,-0.3,539,2670,0.12,0.00,82.12,0.671,2,0.094,0.000,3804,2245,2495,0,0,0,0,0,0
$STATE,2671,end climb,SURFACE_DEPTH_REACHED
$STATE,2671,begin surface coast
$FINISH,3.9,1.019925
$STATE,2811,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2812,begin surface
$SM_CCo,2831,172.00,0.612,1,0,1146,580.13
$SM_GC,1.00,0.00,0.00,172.00,0.000,0.000,0.612,167,2244,1146,-10.48,-0.17,580.13
$IRIDIUM_FIX,4751.72,-12340.51,290499,171729
$TT8_MAMPS,0.027612
$HUMID,32.08
$INTERNAL_PRESSURE,9.21392
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.2,2.640
$10V_AH,10.5,2.698
$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,24.050,41.650,271.425,172.000,0.000,85.245,155.678,345.614,1.500,0.000,32.657,875.077,131.479,463.083,1638.586,795.463,33.349,1087.614,0.000,1625.370,0.000,12.832,0.000
$DEVICE_MAMPS,252.343,69.797,744.757,612.066,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,405.405,1492.869,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,28611,586
$CAP_FILE_SIZE,67452,0
$CFSIZE,260165632,257351680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,181801,4808.287,-12223.352,40,1.0,40,18.3