version: 66.06
glider: 162
mission: 1
dive: 8
start: 2 2 110 1 6 45
data:
$ID,162
$MISSION,1
$DIVE,8
$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,72
$T_MISSION,80
$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,-940.40765
$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,24
$R_STBD_OVSHOOT,19
$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,6
$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,3
$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
$GPS1,005806,4806.953,-12222.755,14,1.1,30,18.3
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-78.4
$GPS2,010550,4806.977,-12222.788,14,1.6,14,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.073,-0.186
$KALMAN_X,511.1,135.7,97.7,-300.6,37.3
$KALMAN_Y,271.4,-21.6,-89.2,-801.0,86.5
$MHEAD_RNG_PITCHd_Wd,140.4,2054,-14.6,-6.944
$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,-0.69,-107.5,0.0,0.0,0,110,0.00,0.00,-91.80,0.000,2,0.000,0.000,169,2246,2809,0,0,0,0,0,0
$GC,114,-0.69,-107.5,3.6,-3.8,17,166,12.43,2.65,-33.33,0.000,4,0.249,0.083,3276,3812,3952,0,0,0,0,0,0
$GC,174,-0.69,-107.5,5.8,-0.4,27,180,0.00,2.55,0.00,0.000,6,0.000,0.044,3277,2246,3952,0,0,0,0,0,0
$GC,248,-0.69,-107.5,12.4,-8.4,43,254,0.00,2.60,0.00,0.000,4,0.000,0.061,3277,673,3953,0,0,0,0,0,0
$GC,348,-0.69,-107.5,23.6,-11.4,65,354,0.00,2.60,0.00,0.000,6,0.000,0.056,3267,2251,3953,0,0,0,0,0,0
$GC,422,-0.69,-107.5,32.0,-11.1,81,428,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2251,3954,0,0,0,0,0,0
$GC,495,-0.69,-107.5,40.3,-11.0,97,501,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2251,3953,0,0,0,0,0,0
$GC,633,-0.69,-107.5,55.6,-10.8,128,639,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2251,3953,0,0,0,0,0,0
$GC,771,-0.69,-107.5,70.1,-10.6,159,777,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2251,3953,0,0,0,0,0,0
$GC,913,-0.69,-107.5,84.8,-10.1,190,919,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,2251,3953,0,0,0,0,0,0
$GC,1053,-0.69,-107.5,98.7,-9.7,221,1060,0.00,2.60,0.00,0.000,4,0.000,0.061,3267,665,3953,0,0,0,0,0,0
$GC,1110,-0.69,-107.5,104.9,-10.5,233,1117,0.10,2.60,0.00,0.000,6,0.155,0.057,3289,2249,3953,0,0,0,0,0,0
$STATE,1124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1124,begin apogee
$GC,1130,-0.19,0.0,106.4,10.2,235,1214,0.50,0.00,80.50,0.758,6,0.138,0.000,3452,2250,3511,0,0,0,0,0,0
$STATE,1215,end apogee,CONTROL_FINISHED_OK
$STATE,1217,begin climb
$GC,1219,0.69,107.5,109.0,0.0,250,1312,0.82,2.78,81.72,0.721,4,0.087,0.073,3740,3814,3075,0,0,0,0,0,0
$GC,1388,0.69,107.5,98.4,9.7,283,1394,0.00,2.60,0.00,0.000,6,0.000,0.044,3751,2255,3075,0,0,0,0,0,0
$GC,1529,0.69,107.5,86.0,8.9,314,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,3751,2255,3074,0,0,0,0,0,0
$GC,1668,0.69,107.5,73.6,8.8,345,1675,0.00,2.65,0.00,0.000,4,0.000,0.071,3751,3803,3074,0,0,0,0,0,0
$GC,1734,0.69,107.5,67.2,9.4,359,1741,0.00,2.53,0.00,0.000,6,0.000,0.044,3762,2255,3074,0,0,0,0,0,0
$GC,1874,0.69,107.5,55.4,7.9,390,1881,0.00,2.62,0.00,0.000,4,0.000,0.071,3762,3805,3074,0,0,0,0,0,0
$GC,2001,0.69,107.5,43.3,9.6,418,2009,0.08,2.53,0.00,0.000,6,0.180,0.044,3751,2244,3074,0,0,0,0,0,0
$GC,2142,0.69,107.5,31.9,7.8,449,2149,0.00,2.65,0.00,0.000,4,0.000,0.071,3751,3813,3075,0,0,0,0,0,0
$GC,2195,0.69,107.5,27.4,8.6,460,2202,0.00,2.53,0.00,0.000,6,0.000,0.044,3761,2251,3075,0,0,0,0,0,0
$GC,2270,0.69,107.5,21.2,7.7,476,2276,0.00,0.00,0.00,0.000,6,0.000,0.000,3761,2251,3075,0,0,0,0,0,0
$GC,2344,0.69,107.5,16.0,7.2,492,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,3761,2251,3075,0,0,0,0,0,0
$GC,2417,0.71,124.0,11.1,6.2,508,2435,0.00,0.00,14.02,0.664,6,0.000,0.000,3761,2251,3007,0,0,0,0,0,0
$GC,2503,0.74,147.5,5.9,5.9,526,2528,0.00,2.62,18.55,0.664,4,0.000,0.060,3773,661,2909,0,0,0,0,0,0
$STATE,2684,end climb,NO_VERTICAL_VELOCITY
$STATE,2684,begin surface
$SM_CCo,2687,360.00,0.639,2,0,497,739.33
$SM_GC,0.73,9.90,0.00,0.00,0.043,0.000,0.000,167,2253,492,-10.43,0.06,740.81
$IRIDIUM_FIX,4751.72,-12056.72,290499,000016
$TT8_MAMPS,0.027612
$HUMID,32.47
$INTERNAL_PRESSURE,9.15533
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,6.5
$24V_AH,24.1,0.982
$10V_AH,10.5,1.339
$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,23.825,41.850,194.800,360.000,0.000,29.636,26.951,274.137,0.500,0.000,14.675,858.626,101.702,612.108,1562.554,506.967,33.334,1190.008,0.000,1570.150,0.000,5.415,0.000
$DEVICE_MAMPS,248.508,82.836,757.796,638.911,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.797,1441.006,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324836
$DATA_FILE_SIZE,25501,566
$CAP_FILE_SIZE,63363,0
$CFSIZE,260165632,257933312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020210,020026,4806.826,-12222.628,13,1.4,13,18.3