version: 66.04
glider: 163
mission: 1
dive: 9
start: 12 4 108 2 53 47
data:
$ID,163
$MISSION,1
$DIVE,9
$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,-4323.3706
$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,33
$R_STBD_OVSHOOT,27
$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
$GPS1,024707,4806.880,-12223.045,14,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,3.28
$_SM_ANGLEo,-72.4
$GPS2,025308,4806.818,-12223.021,11,1.6,16,18.3
$SPEED_LIMITS,0.173,0.181
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.052,0.173
$KALMAN_X,-174.6,-49.0,198.3,629.5,172.4
$KALMAN_Y,-1197.7,-182.3,-243.9,-776.4,-300.7
$MHEAD_RNG_PITCHd_Wd,325.1,338,-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,-68.4,0.0,0.0,0,21,0.00,0.00,-8.10,0.000,2,0.000,0.000,121,2247,1625
$GC,23,-1.33,-68.4,3.4,-0.0,1,122,10.12,2.25,-81.18,0.000,4,0.251,0.070,2540,848,3963
$GC,361,-1.33,-68.4,36.4,-12.3,63,368,0.00,2.22,0.00,0.000,6,0.000,0.053,2532,2248,3963
$GC,430,-1.33,-68.4,45.6,-14.4,76,438,0.00,2.22,0.00,0.000,4,0.000,0.054,2532,845,3963
$GC,639,-1.33,-68.4,79.9,-17.1,115,649,0.00,2.22,0.00,0.000,6,0.000,0.053,2522,2251,3963
$GC,775,-1.33,-68.4,103.0,-17.2,140,782,0.00,2.25,0.00,0.000,4,0.000,0.063,2511,3660,3963
$GC,818,-1.33,-68.4,110.5,-17.7,148,825,0.08,2.20,0.00,0.000,6,0.176,0.045,2533,2244,3963
$STATE,952,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,952,begin apogee
$GC,956,-0.24,0.0,130.2,13.8,173,1000,1.12,0.00,40.62,0.794,6,0.151,0.000,2881,2369,3750
$STATE,1001,end apogee,CONTROL_FINISHED_OK
$STATE,1001,begin climb
$GC,1002,1.33,68.4,131.7,0.0,181,1063,1.45,2.35,52.58,0.759,4,0.064,0.062,3399,3765,3471
$GC,1099,1.33,68.4,121.8,15.2,199,1105,0.00,2.25,0.00,0.000,6,0.000,0.044,3409,2366,3471
$GC,1232,1.33,68.4,101.1,15.4,224,1239,0.00,2.28,0.00,0.000,4,0.000,0.061,3409,3759,3470
$GC,1296,1.33,68.4,91.8,14.1,236,1303,0.00,2.20,0.00,0.000,6,0.000,0.045,3420,2363,3470
$GC,1430,1.33,68.4,74.3,12.7,261,1436,0.00,2.28,0.00,0.000,4,0.000,0.062,3420,3770,3470
$GC,1547,1.33,68.4,59.3,12.3,283,1554,0.10,2.20,0.00,0.000,6,0.234,0.044,3406,2358,3470
$GC,1680,1.33,68.4,43.4,12.3,308,1687,0.00,2.25,0.00,0.000,4,0.000,0.061,3405,3766,3470
$GC,1927,1.38,110.3,18.0,5.9,354,1963,0.00,2.17,31.92,0.734,6,0.000,0.044,3415,2357,3300
$GC,2026,1.42,146.4,12.8,6.5,372,2062,0.00,2.33,28.23,0.712,4,0.000,0.061,3414,3764,3153
$GC,2301,1.55,245.4,9.0,0.3,423,2322,0.08,2.20,16.20,0.706,2,0.087,0.044,3459,2357,3071
$STATE,2322,end climb,NO_VERTICAL_VELOCITY
$STATE,2322,begin surface
$SM_CCo,2324,344.92,0.673,3,1,1261,610.31
$SM_CCo,2685,184.82,0.568,20,0,449,809.49
$SM_GC,2.28,9.43,0.00,0.00,0.050,0.000,0.000,123,2244,445,-8.85,-0.17,810.72
$IRIDIUM_FIX,4751.72,-12340.51,280298,020202
$TT8_MAMPS,0.050622
$HUMID,1479
$INTERNAL_PRESSURE,9.24434
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.6,59.1
$24V_AH,24.6,1.602
$10V_AH,10.7,0.553
$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,22.375,36.225,169.550,529.750,0.000,22.807,33.524,228.407,0.500,0.000,0.000,16.472,0.000,1248.823,907.866,919.769,357.782,33.317,1280.249,0.000,766.887,0.000,5.589,0.000
$DEVICE_MAMPS,250.809,72.098,793.845,672.659,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,284.497,520.856,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19043,426
$CAP_FILE_SIZE,48786,8
$CFSIZE,260165632,258662400
$ERRORS,0,0,0,0,0,0,0,0,0,0,1,0,0,23,0
$GPS,041208,034532,4806.846,-12223.110,8,1.3,13,18.3