version: 66.06
glider: 162
mission: 1
dive: 1
start: 2 1 110 18 22 12
data:
$ID,162
$MISSION,1
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,730
$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,-532.7193
$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,2970
$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,2025
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,31
$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,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
$GPS1,181801,4807.299,-12223.123,9,1.2,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-76.1
$GPS2,182114,4807.316,-12223.144,16,1.2,16,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.066,-0.216
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,144.8,612,-20.6,-10.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.82,-107.5,0.0,0.0,0,142,0.00,0.00,-124.07,0.000,2,0.000,0.000,163,2024,3456,0,0,0,0,0,0
$GC,147,-0.82,-107.5,3.1,-3.6,23,183,9.90,2.72,-17.40,0.000,4,0.242,0.094,2686,3596,3952,0,0,0,0,0,0
$GC,216,-0.82,-107.5,8.8,-17.0,36,223,0.00,2.58,0.00,0.000,6,0.000,0.060,2696,2033,3953,0,0,0,0,0,0
$GC,290,-0.82,-107.5,24.8,-24.1,52,296,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2032,3954,0,0,0,0,0,0
$STATE,361,end dive,TARGET_DEPTH_EXCEEDED
$STATE,361,begin apogee
$GC,367,-0.17,0.0,45.9,31.3,68,456,0.80,0.00,81.40,0.747,6,0.235,0.000,2904,2032,3511,0,0,0,0,0,0
$STATE,457,end apogee,CONTROL_FINISHED_OK
$STATE,458,begin climb
$GC,461,0.82,107.5,69.3,0.0,84,550,1.25,0.00,82.70,0.718,6,0.223,0.000,3222,2032,3073,0,0,0,0,0,0
$GC,683,0.86,139.6,64.1,8.0,130,717,0.00,2.83,25.73,0.696,4,0.000,0.077,3222,436,2941,0,0,0,0,0,0
$GC,854,0.87,151.1,48.2,9.3,167,873,0.10,2.65,10.10,0.642,6,0.216,0.059,3237,2014,2895,0,0,0,0,0,0
$GC,1006,0.93,195.1,36.2,7.2,200,1046,0.00,2.83,33.88,0.693,4,0.000,0.081,3227,3616,2716,0,0,0,0,0,0
$GC,1264,0.96,221.1,12.1,8.4,257,1294,0.12,2.65,21.20,0.669,6,0.086,0.058,3275,2029,2609,0,0,0,0,0,0
$GC,1363,1.00,253.3,4.0,8.0,277,1370,0.00,0.00,5.40,0.527,2,0.000,0.000,3275,2028,2585,0,0,0,0,0,0
$STATE,1371,end climb,SURFACE_DEPTH_REACHED
$STATE,1371,begin surface coast
$FINISH,2.8,1.018504
$STATE,1428,end surface coast,CONTROL_FINISHED_OK
$STATE,1428,begin surface
$SM_CCo,1446,229.68,0.072,0,0,536,730.01
$SM_GC,0.86,0.00,0.00,229.68,0.000,0.000,0.072,165,2027,536,-8.77,0.06,730.01
$IRIDIUM_FIX,4751.72,-12340.51,280499,181802
$TT8_MAMPS,0.027612
$HUMID,33.93
$INTERNAL_PRESSURE,9.15533
$TCM_TEMP,15.80
$XPDR_PINGS,2
$24V_AH,24.0,0.149
$10V_AH,10.4,0.792
$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,20.675,16.250,260.400,229.675,0.000,0.000,0.000,0.000,0.500,0.000,16.529,406.198,4.938,471.058,807.698,67.699,29.237,863.018,0.000,810.659,0.000,0.985,0.000
$DEVICE_MAMPS,241.605,94.341,747.058,72.098,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,200.784,741.505,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,325032
$DATA_FILE_SIZE,12835,291
$CAP_FILE_SIZE,57775,0
$CFSIZE,260165632,258199552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010210,185056,4807.268,-12223.157,10,2.0,10,18.3