version: 66.06
glider: 162
mission: 1
dive: 6
start: 2 1 110 23 0 28
data:
$ID,162
$MISSION,1
$DIVE,6
$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,-893.61334
$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,25
$R_STBD_OVSHOOT,29
$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
$GPS1,225228,4806.888,-12222.801,12,3.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-79.4
$GPS2,225934,4806.849,-12222.780,15,99.0,34,18.3
$SPEED_LIMITS,0.120,0.200
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.144,0.138
$KALMAN_X,498.1,82.7,10.0,-143.1,255.5
$KALMAN_Y,-168.4,20.0,56.3,-770.8,-231.3
$MHEAD_RNG_PITCHd_Wd,295.4,390,-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,-0.62,-107.5,0.0,0.0,0,72,0.00,0.00,-53.60,0.000,2,0.000,0.000,164,2240,2599,0,0,0,0,0,0
$GC,75,-0.62,-107.5,3.2,-4.2,10,132,12.48,0.00,-38.10,0.000,6,0.245,0.000,3307,2239,3951,0,0,0,0,0,0
$GC,201,-0.62,-107.5,10.3,-7.2,35,208,0.00,2.67,0.00,0.000,4,0.000,0.074,3296,3799,3952,0,0,0,0,0,0
$GC,215,-0.62,-107.5,11.1,-6.5,37,222,0.00,2.53,0.00,0.000,6,0.000,0.047,3296,2255,3951,0,0,0,0,0,0
$GC,290,-0.62,-107.5,16.9,-8.4,53,296,0.00,2.65,0.00,0.000,4,0.000,0.064,3296,663,3951,0,0,0,0,0,0
$GC,325,-0.62,-107.5,20.0,-8.2,60,333,0.10,2.60,0.00,0.000,6,0.156,0.055,3317,2239,3952,0,0,0,0,0,0
$GC,400,-0.62,-107.5,26.2,-8.5,76,406,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2239,3952,0,0,0,0,0,0
$GC,473,-0.62,-107.5,32.7,-8.5,92,479,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2239,3952,0,0,0,0,0,0
$GC,547,-0.62,-107.5,38.7,-8.2,108,553,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2239,3952,0,0,0,0,0,0
$GC,620,-0.62,-107.5,44.9,-8.2,124,626,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2239,3952,0,0,0,0,0,0
$GC,758,-0.62,-107.5,56.4,-8.1,155,764,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2239,3952,0,0,0,0,0,0
$GC,896,-0.62,-107.5,67.3,-7.8,186,902,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2239,3952,0,0,0,0,0,0
$GC,1035,-0.62,-107.5,78.0,-7.7,217,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2239,3952,0,0,0,0,0,0
$STATE,1063,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1063,begin apogee
$GC,1069,-0.17,0.0,80.2,7.8,222,1154,0.43,0.00,80.22,0.741,6,0.134,0.000,3458,2239,3512,0,0,0,0,0,0
$STATE,1154,end apogee,CONTROL_FINISHED_OK
$STATE,1156,begin climb
$GC,1159,0.62,107.5,83.1,0.0,237,1248,0.75,0.00,82.55,0.705,6,0.087,0.000,3720,2239,3072,0,0,0,0,0,0
$GC,1382,0.62,107.5,71.7,7.1,283,1388,0.00,2.75,0.00,0.000,4,0.000,0.076,3721,3806,3071,0,0,0,0,0,0
$GC,1447,0.62,107.5,66.5,8.1,297,1454,0.00,2.58,0.00,0.000,6,0.000,0.048,3733,2257,3071,0,0,0,0,0,0
$GC,1587,0.62,107.5,56.3,7.1,328,1594,0.00,2.67,0.00,0.000,4,0.000,0.075,3733,3809,3071,0,0,0,0,0,0
$GC,1653,0.62,107.5,51.0,8.2,342,1659,0.00,2.55,0.00,0.000,6,0.000,0.047,3744,2255,3071,0,0,0,0,0,0
$GC,1792,0.62,107.5,41.1,7.2,373,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,3744,2254,3071,0,0,0,0,0,0
$GC,1932,0.62,107.5,30.9,7.3,404,1939,0.00,2.62,0.00,0.000,4,0.000,0.073,3744,3802,3071,0,0,0,0,0,0
$GC,2006,0.62,107.5,24.7,8.2,420,2013,0.10,2.53,0.00,0.000,6,0.166,0.047,3725,2254,3071,0,0,0,0,0,0
$GC,2081,0.64,125.1,20.0,6.2,436,2105,0.00,2.70,14.25,0.667,4,0.000,0.072,3725,3811,3002,0,0,0,0,0,0
$GC,2134,0.64,125.1,16.0,7.3,446,2141,0.00,2.58,0.00,0.000,6,0.000,0.046,3735,2237,3001,0,0,0,0,0,0
$GC,2209,0.64,125.1,10.3,7.6,462,2216,0.00,2.62,0.00,0.000,4,0.000,0.064,3746,668,3001,0,0,0,0,0,0
$GC,2232,0.65,134.2,8.9,6.5,466,2250,0.00,2.60,8.70,0.616,6,0.000,0.054,3746,2248,2963,0,0,0,0,0,0
$GC,2318,0.81,262.0,6.8,1.4,484,2427,0.10,2.78,96.22,0.673,4,0.114,0.069,3787,3810,2440,0,0,0,0,0,0
$STATE,2445,end climb,SURFACE_DEPTH_REACHED
$STATE,2445,begin surface coast
$FINISH,4.4,1.018690
$STATE,2585,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2585,begin surface
$SM_CCo,2589,286.88,0.638,1,0,497,739.33
$SM_GC,0.78,9.95,0.00,0.00,0.043,0.000,0.000,166,2255,491,-10.44,0.14,741.30
$IRIDIUM_FIX,4751.72,-12340.51,280499,222235
$TT8_MAMPS,0.028379
$HUMID,33.18
$INTERNAL_PRESSURE,9.14556
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,6.3
$24V_AH,24.1,0.731
$10V_AH,10.5,1.158
$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,23.900,42.100,281.950,286.875,0.000,22.909,26.041,223.736,0.500,0.000,35.187,804.464,100.111,568.395,1507.612,444.490,33.321,1160.555,0.000,1494.219,0.000,5.417,0.000
$DEVICE_MAMPS,244.673,75.933,740.922,638.144,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,373.896,1372.844,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324564
$DATA_FILE_SIZE,25519,539
$CAP_FILE_SIZE,62899,0
$CFSIZE,260165632,258015232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010210,235108,4807.011,-12222.981,11,1.8,11,18.3