version: 66.06
glider: 162
mission: 1
dive: 9
start: 2 2 110 2 8 45
data:
$ID,162
$MISSION,1
$DIVE,9
$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,-953.65607
$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,25
$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
$GPS1,020026,4806.826,-12222.628,13,1.4,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-77.8
$GPS2,020750,4806.867,-12222.686,12,1.6,12,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.184
$KALMAN_X,442.3,144.3,76.8,-94.4,-68.3
$KALMAN_Y,584.3,-28.8,-56.9,-1335.1,242.7
$MHEAD_RNG_PITCHd_Wd,138.8,1816,-14.6,-6.944
$D_GRID,107
$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,-107.5,0.0,0.0,0,116,0.00,0.00,-97.28,0.000,2,0.000,0.000,167,2253,2908,0,0,0,0,0,0
$GC,119,-0.69,-107.5,3.4,-3.6,18,171,12.48,2.67,-31.38,0.000,4,0.249,0.076,3288,666,3953,0,0,0,0,0,0
$GC,188,-0.69,-107.5,6.1,-3.4,30,195,0.00,2.60,0.00,0.000,6,0.000,0.053,3277,2250,3953,0,0,0,0,0,0
$GC,262,-0.69,-107.5,12.0,-8.8,46,269,0.00,2.65,0.00,0.000,4,0.000,0.061,3277,670,3954,0,0,0,0,0,0
$GC,298,-0.69,-107.5,15.6,-10.2,53,304,0.00,2.60,0.00,0.000,6,0.000,0.054,3267,2247,3953,0,0,0,0,0,0
$GC,372,-0.69,-107.5,23.7,-11.2,69,378,0.00,2.62,0.00,0.000,4,0.000,0.060,3267,664,3953,0,0,0,0,0,0
$GC,387,-0.69,-107.5,25.2,-11.2,71,394,0.10,2.60,0.00,0.000,6,0.161,0.054,3287,2244,3953,0,0,0,0,0,0
$GC,462,-0.69,-107.5,33.1,-10.0,87,468,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2244,3953,0,0,0,0,0,0
$GC,535,-0.69,-107.5,40.4,-9.9,103,541,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,2244,3953,0,0,0,0,0,0
$GC,673,-0.69,-107.5,54.3,-10.1,134,680,0.00,2.60,0.00,0.000,4,0.000,0.062,3288,673,3953,0,0,0,0,0,0
$GC,687,-0.69,-107.5,55.7,-10.0,136,694,0.00,2.60,0.00,0.000,6,0.000,0.056,3278,2255,3953,0,0,0,0,0,0
$GC,827,-0.69,-107.5,70.0,-10.0,167,833,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2255,3953,0,0,0,0,0,0
$GC,971,-0.69,-107.5,83.9,-9.9,198,977,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2255,3953,0,0,0,0,0,0
$GC,1118,-0.69,-107.5,98.4,-9.5,229,1125,0.00,2.62,0.00,0.000,4,0.000,0.064,3278,668,3953,0,0,0,0,0,0
$GC,1158,-0.69,-107.5,102.2,-9.6,237,1165,0.00,2.60,0.00,0.000,6,0.000,0.057,3268,2252,3953,0,0,0,0,0,0
$STATE,1209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1209,begin apogee
$GC,1215,-0.19,0.0,107.3,9.5,248,1300,0.57,0.00,80.35,0.758,6,0.142,0.000,3452,2253,3511,0,0,0,0,0,0
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1305,0.69,107.5,109.4,0.0,263,1397,0.82,2.78,82.57,0.719,4,0.085,0.071,3742,3812,3072,0,0,0,0,0,0
$GC,1498,0.69,107.5,94.8,10.8,302,1505,0.00,2.60,0.00,0.000,6,0.000,0.044,3753,2256,3071,0,0,0,0,0,0
$GC,1638,0.69,107.5,82.0,9.1,333,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,3753,2256,3071,0,0,0,0,0,0
$GC,1777,0.69,107.5,70.2,8.4,364,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,3753,2257,3070,0,0,0,0,0,0
$GC,1917,0.69,107.5,58.8,8.6,395,1924,0.00,2.62,0.00,0.000,4,0.000,0.071,3753,3804,3071,0,0,0,0,0,0
$GC,2086,0.69,107.5,42.5,9.5,433,2093,0.00,2.53,0.00,0.000,6,0.000,0.046,3765,2253,3070,0,0,0,0,0,0
$GC,2226,0.69,107.5,30.5,9.2,464,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,3764,2253,3070,0,0,0,0,0,0
$GC,2300,0.69,107.5,24.4,8.3,480,2306,0.00,0.00,0.00,0.000,6,0.000,0.000,3765,2253,3071,0,0,0,0,0,0
$GC,2374,0.69,107.5,18.5,7.7,496,2380,0.00,0.00,0.00,0.000,6,0.000,0.000,3765,2253,3071,0,0,0,0,0,0
$GC,2447,0.69,107.5,12.9,7.9,512,2454,0.00,2.60,0.00,0.000,4,0.000,0.069,3764,3805,3071,0,0,0,0,0,0
$GC,2530,0.69,107.5,6.3,7.7,530,2538,0.10,2.53,0.00,0.000,6,0.166,0.046,3746,2239,3071,0,0,0,0,0,0
$GC,2605,0.91,287.2,5.0,-0.9,546,2679,0.20,0.00,70.45,0.678,2,0.079,0.000,3828,2238,2681,0,0,0,0,0,0
$STATE,2680,end climb,SURFACE_DEPTH_REACHED
$STATE,2680,begin surface coast
$FINISH,3.6,1.019687
$STATE,2847,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2847,begin surface
$SM_CCo,2867,190.82,0.621,1,0,1146,580.13
$SM_GC,0.95,0.00,0.00,190.82,0.000,0.000,0.621,166,2237,1146,-10.48,-0.37,580.13
$IRIDIUM_FIX,4751.72,-12340.51,290499,010100
$TT8_MAMPS,0.027612
$HUMID,32.12
$INTERNAL_PRESSURE,9.20416
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,29.8
$24V_AH,24.1,1.081
$10V_AH,10.5,1.428
$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,24.400,41.825,233.375,190.825,0.000,27.379,31.901,254.956,2.000,0.000,12.618,895.015,12.009,464.299,1648.407,497.114,33.335,1084.264,0.000,1653.623,0.000,20.450,0.000
$DEVICE_MAMPS,249.275,75.933,757.796,621.270,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,414.086,1519.933,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324836
$DATA_FILE_SIZE,28604,597
$CAP_FILE_SIZE,65488,0
$CFSIZE,260165632,257896448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020210,030037,4806.690,-12222.450,10,1.5,10,18.3