version: 66.04
glider: 163
mission: 1
dive: 2
start: 12 3 108 19 27 32
data:
$ID,163
$MISSION,1
$DIVE,2
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,200
$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,690
$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,-3896.929
$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,26
$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,2359
$C_ROLL_CLIMB,2359
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,450
$VBD_MAX,3960
$C_VBD,3600
$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
$GPS1,191939,4808.284,-12223.572,11,1.2,11,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-69.8
$GPS2,192657,4808.302,-12223.573,16,1.6,16,18.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.199,-0.218
$KALMAN_X,-80.5,-80.5,-80.5,170.9,-109.1
$KALMAN_Y,104.8,104.8,104.8,18.8,142.1
$MHEAD_RNG_PITCHd_Wd,119.4,903,-14.9,-10.000
$D_GRID,101
$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,-0.81,-195.5,0.0,0.0,0,102,0.00,0.00,-87.93,0.000,2,0.000,0.000,120,2362,2332
$GC,104,-0.81,-195.5,3.0,-3.9,15,186,10.57,2.22,-66.15,0.000,4,0.253,0.074,2701,950,3961
$GC,206,-0.81,-195.5,9.0,-11.2,33,213,0.00,2.25,0.00,0.000,6,0.000,0.059,2692,2355,3961
$GC,276,-0.81,-195.5,13.5,-5.6,46,282,0.00,2.30,0.00,0.000,4,0.000,0.071,2682,3774,3961
$GC,521,-0.81,-195.5,31.0,-8.0,92,528,0.00,2.20,0.00,0.000,6,0.000,0.050,2682,2362,3961
$GC,591,-0.81,-195.5,36.7,-8.0,105,597,0.00,2.28,0.00,0.000,4,0.000,0.071,2672,3768,3961
$GC,612,-0.81,-195.5,38.5,-8.5,109,619,0.08,2.20,0.00,0.000,6,0.146,0.050,2696,2357,3961
$GC,682,-0.81,-195.5,44.2,-8.3,122,689,0.00,2.22,0.00,0.000,4,0.000,0.059,2696,953,3962
$STATE,691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,691,begin apogee
$GC,696,-0.19,0.0,45.0,7.6,124,768,0.65,0.00,67.43,0.770,6,0.130,0.000,2898,2369,3600
$STATE,769,end apogee,CONTROL_FINISHED_OK
$STATE,769,begin climb
$GC,770,0.81,195.5,46.2,0.0,137,923,0.93,0.00,147.68,0.723,6,0.075,0.000,3222,2369,2803
$GC,986,0.81,195.5,16.9,19.1,176,986,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2369,2803
$GC,1049,0.81,195.5,5.5,16.8,188,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2369,2802
$GC,1114,1.28,578.4,5.1,-3.2,200,1214,0.45,0.00,97.47,0.700,2,0.058,0.000,3386,2370,2271
$STATE,1214,end climb,SURFACE_DEPTH_REACHED
$STATE,1214,begin surface coast
$FINISH,3.3,1.017070
$STATE,1367,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1367,begin surface
$SM_CCo,1382,283.52,0.685,0,0,787,690.03
$SM_GC,2.10,0.00,0.00,283.52,0.000,0.000,0.685,119,2372,787,-8.90,0.40,690.03
$IRIDIUM_FIX,4751.72,-12340.51,270298,191904
$TT8_MAMPS,0.051389
$HUMID,1495
$INTERNAL_PRESSURE,9.27364
$TCM_TEMP,18.60
$XPDR_PINGS,1
$24V_AH,24.1,0.558
$10V_AH,10.7,0.177
$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,22.300,17.925,312.575,283.525,0.000,0.000,0.000,0.000,0.250,0.000,0.000,16.236,0.000,460.122,649.924,568.997,30.637,30.169,946.341,0.000,472.633,0.000,0.993,0.000
$DEVICE_MAMPS,253.110,73.632,770.068,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,158.385,388.583,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,9660,246
$CAP_FILE_SIZE,56684,0
$CFSIZE,260165632,258887680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031208,195608,4808.283,-12223.589,34,1.1,34,18.3