version: 66.04
glider: 163
mission: 1
dive: 6
start: 12 4 108 0 8 8
data:
$ID,163
$MISSION,1
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1050
$D_NO_BLEED,90
$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,50
$T_MISSION,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,70
$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,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-4252.7524
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,123
$PITCH_MAX,3969
$C_PITCH,2970
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,21
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,227
$ROLL_MAX,3784
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2359
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-30.71829
$PRESSURE_SLOPE,0.000160567
$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,12
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,4
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043696649
$SEABIRD_T_H,0.00063696795
$SEABIRD_T_I,2.5730227e-05
$SEABIRD_T_J,2.8682675e-06
$SEABIRD_C_G,-9.7142849
$SEABIRD_C_H,1.0845447
$SEABIRD_C_I,-0.00099864113
$SEABIRD_C_J,0.00016596938
$GPS1,234226,4807.339,-12223.121,38,2.5,57,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.23
$_SM_ANGLEo,-72.9
$GPS2,000729,4807.100,-12222.938,17,99.0,36,18.3
$SPEED_LIMITS,0.173,0.181
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.159,-0.070
$KALMAN_X,-466.1,-163.0,-101.0,1432.1,85.4
$KALMAN_Y,-378.1,-53.9,-0.3,-1446.6,-120.2
$MHEAD_RNG_PITCHd_Wd,228.0,201,-27.2,-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
$STATE,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-1.37,-63.1,0.0,0.0,0,20,0.00,0.00,-7.82,0.000,2,0.000,0.000,121,2250,1609
$GC,22,-1.38,-68.4,3.1,-0.0,1,127,9.90,2.28,-89.10,0.000,4,0.251,0.077,2512,3664,3960
$GC,366,-1.38,-68.4,33.0,-14.4,64,373,0.00,2.20,0.00,0.000,6,0.000,0.048,2512,2258,3961
$GC,436,-1.38,-68.4,43.4,-15.8,77,442,0.00,2.25,0.00,0.000,4,0.000,0.064,2501,3655,3961
$GC,681,-1.38,-68.4,87.7,-18.8,123,687,0.00,2.17,0.00,0.000,6,0.000,0.047,2501,2250,3961
$STATE,780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,780,begin apogee
$GC,784,-0.24,0.0,105.3,18.2,142,860,1.27,0.00,54.75,0.740,6,0.161,0.000,2885,2363,3749
$STATE,860,end apogee,CONTROL_FINISHED_OK
$STATE,861,begin climb
$GC,862,1.38,68.4,107.3,0.0,156,918,1.50,0.00,52.62,0.758,6,0.067,0.000,3415,2363,3471
$GC,1044,1.38,68.4,89.0,13.7,190,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,2363,3471
$GC,1173,1.38,68.4,70.8,13.1,214,1180,0.00,2.28,0.00,0.000,4,0.000,0.064,3414,3762,3471
$GC,1419,1.38,68.4,38.4,12.4,260,1426,0.00,2.20,0.00,0.000,6,0.000,0.047,3425,2358,3471
$GC,1489,1.38,68.4,31.0,10.2,273,1495,0.00,2.28,0.00,0.000,4,0.000,0.064,3425,3769,3471
$GC,1526,1.38,68.4,26.7,11.5,280,1533,0.00,2.20,0.00,0.000,6,0.000,0.047,3436,2362,3471
$GC,1596,1.40,82.8,20.0,8.5,293,1614,0.00,2.28,12.38,0.721,4,0.000,0.058,3447,950,3412
$GC,1624,1.40,87.4,17.4,9.5,298,1636,0.00,2.25,5.40,0.586,6,0.000,0.056,3447,2352,3393
$GC,1699,1.44,118.0,12.1,6.7,312,1724,0.00,0.00,24.10,0.725,6,0.000,0.000,3447,2352,3268
$GC,1787,1.57,220.0,9.3,-0.8,328,1870,0.00,2.35,76.57,0.714,4,0.000,0.061,3447,3767,2853
$STATE,2086,end climb,NO_VERTICAL_VELOCITY
$STATE,2086,begin surface
$SM_CCo,2088,349.95,0.680,2,1,1026,667.95
$SM_CCo,2450,130.32,0.568,14,0,450,809.49
$SM_GC,2.12,9.52,0.00,0.00,0.058,0.000,0.000,118,2250,444,-8.87,0.00,810.72
$IRIDIUM_FIX,4751.72,-12340.51,280298,000059
$TT8_MAMPS,0.051389
$HUMID,1487
$INTERNAL_PRESSURE,9.23458
$TCM_TEMP,18.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.8,59.2
$24V_AH,24.5,1.236
$10V_AH,10.7,0.408
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.200,27.350,225.825,480.275,0.000,128.932,379.142,634.612,0.750,0.000,0.000,37.056,0.000,1305.587,858.753,858.824,1234.390,33.296,1214.480,0.000,699.676,0.000,5.559,0.000
$DEVICE_MAMPS,250.809,77.467,757.796,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,254.044,498.487,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15961,383
$CAP_FILE_SIZE,57643,8
$CFSIZE,260165632,258752512
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,1,19,1
$GPS,041208,005453,4806.939,-12222.987,11,99.0,30,18.3