version: 66.06
glider: 162
mission: 1
dive: 13
start: 2 2 110 6 49 49
data:
$ID,162
$MISSION,1
$DIVE,13
$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,0
$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,-1032.0013
$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,20
$R_STBD_OVSHOOT,20
$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,10
$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
$GPS1,063734,4806.128,-12221.968,11,3.3,30,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-75.8
$GPS2,064855,4806.196,-12222.037,12,1.0,17,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.005,-0.104
$KALMAN_X,618.5,61.8,-94.2,780.9,23.2
$KALMAN_Y,1410.0,68.9,197.0,-3752.4,104.8
$MHEAD_RNG_PITCHd_Wd,158.8,366,-26.4,-6.024
$D_GRID,150
$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,-1.05,-29.6,0.0,0.0,0,127,0.00,0.00,-108.10,0.000,2,0.000,0.000,161,2256,3129,0,0,0,0,0,0
$GC,130,-1.08,-49.4,3.3,-3.3,20,165,11.88,0.00,-17.45,0.000,6,0.248,0.000,3161,2255,3715,0,0,0,0,0,0
$GC,235,-1.08,-49.4,8.3,-6.3,41,242,0.00,2.67,0.00,0.000,4,0.000,0.071,3162,668,3716,0,0,0,0,0,0
$GC,309,-1.08,-49.4,15.4,-10.2,57,316,0.00,2.62,0.00,0.000,6,0.000,0.058,3152,2249,3716,0,0,0,0,0,0
$GC,384,-1.08,-49.4,22.9,-10.3,73,390,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2249,3716,0,0,0,0,0,0
$GC,457,-1.08,-49.4,31.3,-11.6,89,463,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2249,3716,0,0,0,0,0,0
$GC,531,-1.08,-49.4,40.1,-12.1,105,537,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2249,3716,0,0,0,0,0,0
$GC,669,-1.08,-49.4,58.9,-14.1,136,676,0.00,2.65,0.00,0.000,4,0.000,0.069,3152,663,3716,0,0,0,0,0,0
$GC,700,-1.08,-49.4,63.2,-13.5,142,707,0.08,2.62,0.00,0.000,6,0.193,0.059,3163,2248,3716,0,0,0,0,0,0
$GC,842,-1.08,-49.4,81.2,-12.7,173,848,0.00,2.65,0.00,0.000,4,0.000,0.068,3164,663,3716,0,0,0,0,0,0
$GC,864,-1.08,-49.4,84.2,-12.7,177,872,0.00,2.60,0.00,0.000,6,0.000,0.060,3155,2243,3716,0,0,0,0,0,0
$GC,1012,-1.08,-49.4,102.3,-12.1,208,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,3155,2243,3716,0,0,0,0,0,0
$STATE,1153,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1153,begin apogee
$GC,1159,-0.19,0.0,117.6,11.2,239,1205,0.98,0.00,38.25,0.765,6,0.172,0.000,3448,2243,3512,0,0,0,0,0,0
$STATE,1205,end apogee,CONTROL_FINISHED_OK
$STATE,1205,begin climb
$GC,1208,1.08,49.4,119.6,0.0,247,1255,1.15,2.75,38.12,0.736,4,0.081,0.074,3858,3810,3311,0,0,0,0,0,0
$GC,1367,1.08,49.4,105.7,11.4,280,1373,0.00,2.60,0.00,0.000,6,0.000,0.050,3870,2257,3311,0,0,0,0,0,0
$GC,1508,1.08,49.4,92.1,8.8,311,1514,0.00,0.00,0.00,0.000,6,0.000,0.000,3870,2257,3311,0,0,0,0,0,0
$GC,1648,1.08,49.4,81.7,7.2,342,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,3870,2257,3310,0,0,0,0,0,0
$GC,1790,1.08,49.4,72.5,6.5,373,1796,0.00,2.65,0.00,0.000,4,0.000,0.075,3870,3810,3310,0,0,0,0,0,0
$GC,2046,1.08,49.4,54.3,6.5,431,2053,0.00,2.55,0.00,0.000,6,0.000,0.050,3881,2240,3311,0,0,0,0,0,0
$GC,2187,1.08,54.7,46.4,5.3,462,2200,0.00,2.65,6.18,0.589,4,0.000,0.072,3881,3815,3287,0,0,0,0,0,0
$GC,2329,1.08,54.7,37.3,6.7,493,2336,0.00,2.55,0.00,0.000,6,0.000,0.048,3893,2252,3287,0,0,0,0,0,0
$GC,2404,1.08,54.7,32.3,6.6,509,2411,0.00,2.67,0.00,0.000,4,0.000,0.070,3905,660,3287,0,0,0,0,0,0
$GC,2618,1.09,59.3,19.3,5.4,557,2632,0.08,2.60,4.93,0.532,6,0.199,0.059,3880,2246,3270,0,0,0,0,0,0
$GC,2702,1.10,65.0,15.1,5.3,574,2715,0.00,2.65,6.03,0.572,4,0.000,0.067,3891,665,3246,0,0,0,0,0,0
$GC,2766,1.10,66.2,11.4,5.9,587,2773,0.00,2.60,0.00,0.000,6,0.000,0.058,3888,2247,3246,0,0,0,0,0,0
$GC,2841,1.12,82.4,8.1,3.8,603,2865,0.00,2.67,14.00,0.660,4,0.000,0.071,3889,3811,3175,0,0,0,0,0,0
$GC,3011,1.19,141.7,6.2,-2.1,640,3063,0.00,2.55,44.25,0.681,6,0.000,0.048,3899,2249,2933,0,0,0,0,0,0
$STATE,3098,end climb,SURFACE_DEPTH_REACHED
$STATE,3098,begin surface coast
$FINISH,4.0,1.021266
$STATE,3226,end surface coast,CONTROL_FINISHED_OK
$STATE,3227,begin surface
$SM_CCo,3247,216.35,0.622,2,0,1146,580.13
$SM_GC,0.87,0.00,0.00,216.35,0.000,0.000,0.622,169,2248,1146,-10.47,-0.03,580.13
$IRIDIUM_FIX,4751.72,-12340.51,290499,060627
$TT8_MAMPS,0.027612
$HUMID,32.71
$INTERNAL_PRESSURE,9.20416
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,105.4,22.3
$24V_AH,24.2,1.551
$10V_AH,10.5,1.821
$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,24.750,47.325,151.750,216.350,0.000,58.257,56.593,359.272,2.250,0.000,17.848,1056.231,74.332,453.862,1899.875,676.791,33.338,1095.762,0.000,1900.057,0.000,18.885,0.000
$DEVICE_MAMPS,247.741,75.166,764.699,622.037,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,476.581,1747.509,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324824
$DATA_FILE_SIZE,31736,686
$CAP_FILE_SIZE,74455,0
$CFSIZE,260165632,257716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,020210,074832,4806.026,-12221.943,11,1.1,11,18.3