version: 66.04
glider: 163
mission: 1
dive: 8
start: 12 4 108 1 56 11
data:
$ID,163
$MISSION,1
$DIVE,8
$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,0
$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,-4306.269
$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,29
$R_STBD_OVSHOOT,23
$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,10
$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
$GPS1,015005,4806.842,-12223.021,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.00
$_SM_ANGLEo,-73.7
$GPS2,015533,4806.814,-12222.995,17,1.7,17,18.3
$SPEED_LIMITS,0.173,0.181
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.074,0.165
$KALMAN_X,-229.0,-89.4,101.5,852.4,216.4
$KALMAN_Y,-835.5,-151.2,-170.2,-1249.2,-225.1
$MHEAD_RNG_PITCHd_Wd,317.7,344,-26.1,-10.000
$D_GRID,150
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.33,-68.4,0.0,0.0,0,33,0.00,0.00,-19.30,0.000,2,0.000,0.000,118,2246,1892
$GC,34,-1.33,-68.4,3.3,-3.3,3,123,9.95,0.00,-76.25,0.000,6,0.245,0.000,2537,2245,3962
$GC,185,-1.33,-68.4,14.5,-10.7,30,192,0.00,2.30,0.00,0.000,4,0.000,0.063,2528,3658,3962
$GC,384,-1.33,-68.4,38.5,-14.2,67,390,0.00,2.22,0.00,0.000,6,0.000,0.047,2528,2241,3963
$GC,452,-1.33,-68.4,48.5,-14.6,80,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2241,3962
$GC,581,-1.33,-68.4,67.9,-16.2,104,581,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2241,3962
$GC,709,-1.33,-68.4,88.4,-15.9,128,710,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2241,3962
$GC,836,-1.33,-68.4,108.5,-16.2,152,837,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2241,3963
$GC,965,-1.33,-68.4,128.0,-14.6,176,972,0.00,2.25,0.00,0.000,4,0.000,0.062,2517,3655,3962
$GC,1003,-1.33,-68.4,133.6,-15.4,183,1009,0.00,2.17,0.00,0.000,6,0.000,0.046,2517,2248,3962
$STATE,1016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1016,begin apogee
$GC,1020,-0.24,0.0,136.0,14.9,186,1065,1.20,0.00,40.67,0.798,6,0.154,0.000,2884,2371,3749
$STATE,1065,end apogee,CONTROL_FINISHED_OK
$STATE,1065,begin climb
$GC,1067,1.33,68.4,137.3,0.0,194,1129,1.42,2.35,52.53,0.763,4,0.065,0.062,3394,3769,3471
$GC,1138,1.33,68.4,131.4,11.4,207,1144,0.00,2.28,0.00,0.000,6,0.000,0.045,3405,2365,3471
$GC,1271,1.33,68.4,110.5,14.1,232,1278,0.00,2.30,0.00,0.000,4,0.000,0.064,3405,3766,3471
$GC,1303,1.33,68.4,105.6,15.1,238,1310,0.00,2.22,0.00,0.000,6,0.000,0.046,3416,2363,3471
$GC,1437,1.33,68.4,86.6,14.0,263,1443,0.00,2.28,0.00,0.000,4,0.000,0.064,3416,3766,3470
$GC,1603,1.33,68.4,62.4,13.2,294,1609,0.10,2.20,0.00,0.000,6,0.234,0.046,3402,2357,3471
$GC,1736,1.33,68.4,45.9,11.8,319,1742,0.00,2.25,0.00,0.000,4,0.000,0.062,3400,3759,3471
$GC,1843,1.33,68.4,33.0,11.5,339,1849,0.00,2.17,0.00,0.000,6,0.000,0.046,3409,2359,3470
$GC,1912,1.33,73.5,26.0,9.5,352,1919,0.00,0.00,5.60,0.624,6,0.000,0.000,3409,2359,3450
$GC,1982,1.36,91.2,19.7,8.3,365,2002,0.00,2.22,14.82,0.719,4,0.000,0.056,3420,948,3377
$GC,2027,1.37,104.4,15.6,8.7,373,2046,0.00,2.25,11.15,0.686,6,0.000,0.054,3420,2354,3325
$GC,2108,1.42,142.4,8.9,6.3,388,2145,0.00,2.28,29.40,0.715,4,0.000,0.058,3430,957,3169
$GC,2331,1.55,250.0,8.8,-0.5,429,2419,0.08,2.25,80.47,0.709,6,0.093,0.053,3462,2362,2731
$GC,2482,1.69,359.0,5.3,-0.7,456,2571,0.15,2.35,82.05,0.689,4,0.090,0.062,3515,3770,2285
$STATE,2579,end climb,SURFACE_DEPTH_REACHED
$STATE,2579,begin surface coast
$FINISH,3.6,1.017167
$STATE,2831,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2831,begin surface
$SM_CCo,2848,161.05,0.688,0,0,1426,570.08
$SM_GC,3.24,0.00,0.00,161.05,0.000,0.000,0.688,122,2247,1426,-8.90,-0.08,570.08
$IRIDIUM_FIX,4751.72,-12056.72,280298,010152
$TT8_MAMPS,0.051389
$HUMID,1496
$INTERNAL_PRESSURE,9.342
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.9,59.4
$24V_AH,24.1,1.455
$10V_AH,10.7,0.507
$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,23.075,40.950,316.700,161.050,0.000,24.135,30.730,195.492,0.750,0.000,0.000,17.803,0.000,1348.471,530.978,1120.186,335.836,33.317,1004.217,0.000,943.900,0.000,7.092,0.000
$DEVICE_MAMPS,245.440,72.098,798.447,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,345.723,670.577,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22204,520
$CAP_FILE_SIZE,54266,0
$CFSIZE,260165632,258682880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041208,024707,4806.880,-12223.045,14,1.4,30,18.3