version: 66.06
glider: 162
mission: 1
dive: 5
start: 2 1 110 22 7 16
data:
$ID,162
$MISSION,1
$DIVE,5
$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,570
$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,-857.79828
$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,30
$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,30
$R_STBD_OVSHOOT,26
$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,2
$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
$GPS1,215625,4806.857,-12222.583,11,2.0,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-78.7
$GPS2,220622,4806.771,-12222.568,15,2.1,34,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.166,0.111
$KALMAN_X,317.7,42.8,-17.6,358.6,177.4
$KALMAN_Y,-8.6,37.5,68.6,-1095.5,-77.7
$MHEAD_RNG_PITCHd_Wd,285.4,682,-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,-0.62,-107.5,0.0,0.0,0,77,0.00,0.00,-59.10,0.000,2,0.000,0.000,167,2261,2528,0,0,0,0,0,0
$GC,81,-0.62,-107.5,3.1,-4.9,11,137,12.23,0.00,-38.80,0.000,6,0.244,0.000,3309,2261,3952,0,0,0,0,0,0
$GC,206,-0.62,-107.5,10.8,-7.2,36,212,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2261,3952,0,0,0,0,0,0
$GC,280,-0.62,-107.5,15.7,-7.9,52,286,0.00,2.65,0.00,0.000,4,0.000,0.064,3309,666,3953,0,0,0,0,0,0
$GC,371,-0.62,-107.5,23.8,-8.1,72,378,0.00,2.60,0.00,0.000,6,0.000,0.058,3299,2245,3953,0,0,0,0,0,0
$GC,445,-0.62,-107.5,30.8,-9.7,88,451,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2246,3953,0,0,0,0,0,0
$GC,519,-0.62,-107.5,38.0,-9.7,104,525,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2246,3953,0,0,0,0,0,0
$GC,592,-0.62,-107.5,44.6,-9.0,120,598,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2245,3953,0,0,0,0,0,0
$GC,730,-0.62,-107.5,57.4,-8.8,151,737,0.00,2.60,0.00,0.000,4,0.000,0.064,3299,670,3953,0,0,0,0,0,0
$GC,770,-0.62,-107.5,61.2,-9.6,159,778,0.08,2.60,0.00,0.000,6,0.151,0.059,3314,2248,3953,0,0,0,0,0,0
$GC,911,-0.62,-107.5,73.4,-8.3,190,918,0.00,2.65,0.00,0.000,4,0.000,0.078,3303,3814,3953,0,0,0,0,0,0
$GC,943,-0.62,-107.5,76.2,-8.8,196,950,0.00,2.53,0.00,0.000,6,0.000,0.048,3303,2252,3953,0,0,0,0,0,0
$STATE,988,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,988,begin apogee
$GC,994,-0.17,0.0,80.0,8.8,205,1078,0.47,0.00,80.50,0.752,6,0.137,0.000,3457,2252,3512,0,0,0,0,0,0
$STATE,1079,end apogee,CONTROL_FINISHED_OK
$STATE,1079,begin climb
$GC,1084,0.62,107.5,83.4,0.0,220,1173,0.75,0.00,82.57,0.712,6,0.089,0.000,3719,2251,3073,0,0,0,0,0,0
$GC,1306,0.62,107.5,72.4,7.2,266,1313,0.00,2.72,0.00,0.000,4,0.000,0.077,3719,3807,3072,0,0,0,0,0,0
$GC,1410,0.62,107.5,63.7,8.4,289,1417,0.00,2.58,0.00,0.000,6,0.000,0.048,3732,2253,3071,0,0,0,0,0,0
$GC,1550,0.62,107.5,53.5,7.4,320,1557,0.00,2.67,0.00,0.000,4,0.000,0.074,3731,3810,3072,0,0,0,0,0,0
$GC,1590,0.62,107.5,50.4,7.8,328,1597,0.00,2.55,0.00,0.000,6,0.000,0.046,3743,2254,3072,0,0,0,0,0,0
$GC,1730,0.62,107.5,40.1,7.7,359,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,3743,2254,3072,0,0,0,0,0,0
$GC,1870,0.62,107.5,30.3,7.5,390,1876,0.00,2.65,0.00,0.000,4,0.000,0.073,3743,3812,3072,0,0,0,0,0,0
$GC,1948,0.62,107.5,23.3,9.0,407,1955,0.08,2.55,0.00,0.000,6,0.174,0.048,3731,2246,3072,0,0,0,0,0,0
$GC,2023,0.62,110.2,18.0,6.8,423,2036,0.00,2.67,3.75,0.458,4,0.000,0.073,3731,3809,3062,0,0,0,0,0,0
$GC,2070,0.62,110.2,14.5,7.5,432,2076,0.00,2.53,0.00,0.000,6,0.000,0.047,3741,2256,3062,0,0,0,0,0,0
$GC,2144,0.66,137.9,9.6,5.7,448,2174,0.00,2.70,21.92,0.680,4,0.000,0.064,3752,661,2948,0,0,0,0,0,0
$GC,2186,0.69,163.2,7.2,5.8,455,2216,0.00,2.65,20.05,0.660,6,0.000,0.054,3752,2264,2844,0,0,0,0,0,0
$GC,2285,0.85,294.1,4.8,1.2,475,2394,0.12,2.72,100.43,0.666,4,0.096,0.071,3806,3803,2311,0,0,0,0,0,0
$STATE,2421,end climb,SURFACE_DEPTH_REACHED
$STATE,2421,begin surface coast
$FINISH,3.7,1.019352
$STATE,2461,end surface coast,CONTROL_FINISHED_OK
$STATE,2461,begin surface
$SM_CCo,2484,152.32,0.616,1,0,1188,570.08
$SM_GC,1.52,0.00,0.00,152.32,0.000,0.000,0.616,164,2240,1188,-10.49,-0.28,570.08
$IRIDIUM_FIX,4751.72,-12056.72,280499,222250
$TT8_MAMPS,0.028379
$HUMID,32.63
$INTERNAL_PRESSURE,9.21392
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,6.3
$24V_AH,24.1,0.608
$10V_AH,10.4,1.076
$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,23.925,47.250,309.225,152.325,0.000,0.000,0.000,0.000,0.500,0.000,35.243,749.795,9.732,446.062,1426.604,103.050,33.326,1025.538,0.000,1411.309,0.000,5.414,0.000
$DEVICE_MAMPS,243.906,78.234,751.660,615.901,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,352.846,1296.329,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324640
$DATA_FILE_SIZE,22275,509
$CAP_FILE_SIZE,73093,0
$CFSIZE,260165632,258052096
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010210,225228,4806.888,-12222.801,12,3.0,31,18.3