version: 66.06
glider: 162
mission: 1
dive: 21
start: 2 2 110 16 13 9
data:
$ID,162
$MISSION,1
$DIVE,21
$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,-1209.4757
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,160219,4808.139,-12223.618,9,1.5,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-77.3
$GPS2,161214,4808.285,-12223.703,16,1.4,16,18.3
$SPEED_LIMITS,0.104,0.190
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.124,-0.143
$KALMAN_X,455.0,-188.5,-159.9,-799.3,-70.9
$KALMAN_Y,2768.5,116.5,175.7,-1272.4,273.8
$MHEAD_RNG_PITCHd_Wd,120.8,1017,-12.4,-6.024
$D_GRID,101
$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,-107.5,0.0,0.0,0,94,0.00,0.00,-75.80,0.000,2,0.000,0.000,167,2247,3037,0,0,0,0,0,0
$GC,98,-0.61,-107.5,3.2,-4.4,14,150,12.43,2.67,-30.15,0.000,4,0.244,0.081,3304,3802,3953,0,0,0,0,0,0
$GC,228,-0.61,-107.5,10.8,-8.9,40,235,0.00,2.53,0.00,0.000,6,0.000,0.044,3304,2245,3953,0,0,0,0,0,0
$GC,302,-0.61,-107.5,17.5,-9.2,56,309,0.00,2.60,0.00,0.000,4,0.000,0.059,3303,668,3953,0,0,0,0,0,0
$GC,334,-0.61,-107.5,20.3,-9.1,62,341,0.08,2.60,0.00,0.000,6,0.158,0.054,3317,2249,3953,0,0,0,0,0,0
$GC,409,-0.61,-107.5,26.7,-8.4,78,415,0.00,2.62,0.00,0.000,4,0.000,0.057,3318,658,3953,0,0,0,0,0,0
$GC,466,-0.61,-107.5,31.6,-8.7,90,473,0.00,2.62,0.00,0.000,6,0.000,0.054,3308,2251,3953,0,0,0,0,0,0
$GC,540,-0.61,-107.5,38.0,-8.5,106,546,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2251,3953,0,0,0,0,0,0
$GC,614,-0.61,-107.5,44.5,-8.7,122,620,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2251,3954,0,0,0,0,0,0
$GC,752,-0.61,-107.5,56.3,-8.6,153,759,0.00,2.62,0.00,0.000,4,0.000,0.071,3296,3810,3953,0,0,0,0,0,0
$GC,780,-0.61,-107.5,58.7,-8.6,158,786,0.00,2.50,0.00,0.000,6,0.000,0.042,3297,2252,3953,0,0,0,0,0,0
$GC,922,-0.61,-107.5,70.9,-8.8,189,928,0.00,2.62,0.00,0.000,4,0.000,0.071,3286,3808,3953,0,0,0,0,0,0
$GC,945,-0.61,-107.5,73.2,-8.8,193,952,0.10,2.50,0.00,0.000,6,0.144,0.043,3319,2250,3954,0,0,0,0,0,0
$GC,1088,-0.61,-107.5,84.2,-7.2,224,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2251,3953,0,0,0,0,0,0
$GC,1234,-0.61,-107.5,94.9,-7.2,255,1241,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,2250,3953,0,0,0,0,0,0
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1321,begin apogee
$GC,1327,-0.19,0.0,101.2,6.9,274,1412,0.40,0.00,80.32,0.744,6,0.129,0.000,3452,2251,3512,0,0,0,0,0,0
$STATE,1412,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1417,0.61,107.5,103.4,0.0,289,1507,0.73,2.72,81.97,0.709,4,0.084,0.059,3722,670,3073,0,0,0,0,0,0
$GC,1551,0.61,107.5,97.5,6.6,314,1558,0.00,2.70,0.00,0.000,6,0.000,0.054,3722,2246,3073,0,0,0,0,0,0
$GC,1692,0.61,107.5,86.5,7.9,345,1699,0.00,2.67,0.00,0.000,4,0.000,0.069,3722,3803,3072,0,0,0,0,0,0
$GC,1858,0.61,107.5,71.2,9.1,382,1864,0.00,2.53,0.00,0.000,6,0.000,0.043,3734,2257,3072,0,0,0,0,0,0
$GC,1999,0.61,107.5,60.2,7.6,413,2005,0.00,2.62,0.00,0.000,4,0.000,0.067,3734,3805,3072,0,0,0,0,0,0
$GC,2111,0.61,107.5,50.2,9.2,438,2118,0.00,2.53,0.00,0.000,6,0.000,0.043,3745,2248,3072,0,0,0,0,0,0
$GC,2252,0.61,107.5,38.5,8.4,469,2259,0.00,2.62,0.00,0.000,4,0.000,0.067,3745,3807,3072,0,0,0,0,0,0
$GC,2322,0.61,107.5,31.9,9.6,484,2329,0.12,2.50,0.00,0.000,6,0.161,0.042,3717,2254,3072,0,0,0,0,0,0
$GC,2397,0.61,107.5,26.6,6.9,500,2404,0.00,2.58,0.00,0.000,4,0.000,0.058,3728,678,3072,0,0,0,0,0,0
$GC,2506,0.61,107.5,18.8,6.9,524,2512,0.00,2.58,0.00,0.000,6,0.000,0.053,3728,2250,3072,0,0,0,0,0,0
$GC,2580,0.61,107.5,13.7,6.5,540,2587,0.00,2.60,0.00,0.000,4,0.000,0.067,3728,3810,3072,0,0,0,0,0,0
$GC,2629,0.61,107.5,10.7,6.1,550,2635,0.00,2.50,0.00,0.000,6,0.000,0.042,3739,2252,3072,0,0,0,0,0,0
$GC,2703,0.64,134.0,6.7,5.0,566,2727,0.00,0.00,20.88,0.667,6,0.000,0.000,3739,2252,2965,0,0,0,0,0,0
$GC,2795,0.79,252.1,4.4,1.5,585,2819,0.10,0.00,21.70,0.657,2,0.108,0.000,3784,2251,2846,0,0,0,0,0,0
$STATE,2820,end climb,SURFACE_DEPTH_REACHED
$STATE,2820,begin surface coast
$FINISH,4.2,1.020367
$STATE,2961,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2961,begin surface
$SM_CCo,2965,321.85,0.634,0,0,498,739.33
$SM_GC,0.83,9.93,0.00,0.00,0.041,0.000,0.000,169,2250,492,-10.43,0.00,740.81
$IRIDIUM_FIX,4751.72,-12340.51,290499,151535
$TT8_MAMPS,0.027612
$HUMID,31.45
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,24.2,2.525
$10V_AH,10.5,2.606
$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,23.875,57.050,204.875,321.850,0.000,23.271,30.748,402.349,1.500,0.000,16.145,960.057,103.169,569.011,1712.625,652.997,33.343,1189.222,0.000,1721.928,0.000,11.581,0.000
$DEVICE_MAMPS,243.906,81.302,743.990,633.542,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,430.379,1581.565,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324828
$DATA_FILE_SIZE,28662,621
$CAP_FILE_SIZE,71962,0
$CFSIZE,260165632,257384448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020210,171052,4808.268,-12223.382,10,99.0,29,18.3