version: 66.04
glider: 163
mission: 1
dive: 16
start: 12 4 108 9 13 59
data:
$ID,163
$MISSION,1
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,130
$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,48
$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,620
$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,-4472.564
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,123
$PITCH_MAX,3969
$C_PITCH,2965
$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,2230
$C_ROLL_CLIMB,2230
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,090115,4806.694,-12222.399,11,1.6,11,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-65.5
$GPS2,091321,4806.642,-12222.309,16,1.2,16,18.3
$SPEED_LIMITS,0.156,0.176
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.039,-0.172
$KALMAN_X,-380.3,69.8,-167.1,1958.2,6.0
$KALMAN_Y,-2251.9,-221.9,167.7,-425.0,102.9
$MHEAD_RNG_PITCHd_Wd,148.8,1248,-24.0,-9.028
$D_GRID,108
$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,-1.23,-68.4,0.0,0.0,0,44,0.00,0.00,-30.48,0.000,2,0.000,0.000,125,2224,1931
$GC,46,-1.23,-68.4,3.1,-2.0,5,145,9.70,2.30,-80.82,0.000,4,0.236,0.074,2553,3638,3961
$GC,385,-1.23,-68.4,31.8,-11.5,67,391,0.00,2.20,0.00,0.000,6,0.000,0.045,2553,2227,3962
$GC,454,-1.23,-68.4,40.3,-12.4,80,461,0.00,2.28,0.00,0.000,4,0.000,0.061,2543,3639,3961
$GC,699,-1.23,-68.4,78.6,-16.7,126,707,0.00,2.17,0.00,0.000,6,0.000,0.045,2543,2235,3961
$GC,834,-1.23,-68.4,98.2,-14.8,151,840,0.00,2.22,0.00,0.000,4,0.000,0.061,2533,3633,3962
$STATE,901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,901,begin apogee
$GC,906,-0.24,0.0,108.7,15.7,164,951,1.15,0.00,41.20,0.787,6,0.160,0.000,2880,2223,3749
$STATE,952,end apogee,CONTROL_FINISHED_OK
$STATE,952,begin climb
$GC,953,1.23,68.4,110.8,0.0,172,1015,1.33,2.33,52.38,0.752,4,0.066,0.056,3366,823,3471
$GC,1040,1.23,68.4,104.5,10.2,188,1047,0.00,2.30,0.00,0.000,6,0.000,0.052,3367,2225,3471
$GC,1174,1.23,68.4,87.3,13.2,213,1180,0.00,2.30,0.00,0.000,4,0.000,0.061,3366,3641,3471
$GC,1392,1.23,68.4,56.7,12.3,254,1399,0.00,2.22,0.00,0.000,6,0.000,0.045,3377,2227,3471
$GC,1526,1.23,68.4,41.3,11.5,279,1532,0.00,2.28,0.00,0.000,4,0.000,0.061,3377,3645,3471
$GC,1772,1.26,92.5,16.2,6.9,325,1797,0.00,2.20,19.52,0.729,6,0.000,0.044,3388,2231,3372
$GC,1860,1.30,129.4,10.9,5.8,341,1896,0.00,2.28,28.30,0.717,4,0.000,0.056,3398,827,3222
$GC,1985,1.40,213.0,8.8,1.6,364,2056,0.00,2.25,62.33,0.707,6,0.000,0.051,3398,2231,2882
$GC,2119,1.54,328.0,6.6,-1.2,388,2213,0.17,2.38,86.62,0.691,4,0.084,0.060,3458,3654,2411
$GC,2452,1.67,426.8,4.3,0.3,449,2495,0.00,2.25,38.85,0.696,2,0.000,0.044,3469,2229,2199
$STATE,2495,end climb,SURFACE_DEPTH_REACHED
$STATE,2495,begin surface coast
$FINISH,3.4,1.016255
$STATE,2744,end surface coast,CONTROL_FINISHED_OK
$STATE,2744,begin surface
$SM_CCo,2759,184.82,0.693,0,0,1221,620.12
$SM_GC,3.05,0.00,0.00,184.82,0.000,0.000,0.693,124,2230,1221,-8.88,0.00,620.12
$IRIDIUM_FIX,4751.72,-12340.51,280298,090915
$TT8_MAMPS,0.051389
$HUMID,1482
$INTERNAL_PRESSURE,9.3127
$TCM_TEMP,18.40
$XPDR_PINGS,1
$24V_AH,24.1,2.399
$10V_AH,10.7,0.882
$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,22.200,36.125,329.200,184.825,0.000,84.638,158.397,283.305,0.250,0.000,0.000,16.511,0.000,1417.767,563.532,1081.474,606.119,33.334,1022.448,0.000,922.427,0.000,0.535,0.000
$DEVICE_MAMPS,236.236,74.399,786.942,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.018,691.237,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22230,503
$CAP_FILE_SIZE,50413,0
$CFSIZE,260165632,258449408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041208,100332,4806.539,-12222.294,7,1.7,13,18.3