version: 66.04
glider: 163
mission: 1
dive: 7
start: 12 4 108 1 0 55
data:
$ID,163
$MISSION,1
$DIVE,7
$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,-4287.834
$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,26
$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
$GPS1,005453,4806.939,-12222.987,11,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-68.3
$GPS2,010017,4806.875,-12222.944,14,99.0,33,18.3
$SPEED_LIMITS,0.173,0.181
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.100,0.141
$KALMAN_X,-321.3,-117.8,-15.6,1148.7,215.7
$KALMAN_Y,-506.8,-98.3,-68.0,-1624.3,-166.3
$MHEAD_RNG_PITCHd_Wd,306.5,242,-27.2,-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,-1.37,-63.1,0.0,0.0,0,67,0.00,0.00,-53.53,0.000,2,0.000,0.000,119,2250,1695
$GC,69,-1.38,-68.4,3.2,-4.6,9,174,9.88,2.30,-85.90,0.000,4,0.249,0.078,2509,3656,3961
$GC,413,-1.38,-68.4,29.3,-13.5,72,420,0.00,2.20,0.00,0.000,6,0.000,0.046,2509,2248,3962
$GC,482,-1.38,-68.4,39.4,-15.4,85,489,0.00,2.28,0.00,0.000,4,0.000,0.064,2498,3656,3962
$GC,600,-1.38,-68.4,59.2,-17.8,107,606,0.00,2.17,0.00,0.000,6,0.000,0.046,2498,2257,3962
$GC,733,-1.38,-68.4,83.4,-18.0,132,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2256,3962
$GC,860,-1.38,-68.4,106.2,-18.1,156,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2256,3962
$GC,989,-1.38,-68.4,127.8,-16.1,180,989,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2256,3962
$STATE,1003,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1003,begin apogee
$GC,1007,-0.24,0.0,130.5,16.2,183,1052,1.27,0.00,40.40,0.797,6,0.159,0.000,2884,2367,3750
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1052,begin climb
$GC,1053,1.38,68.4,131.7,0.0,191,1121,1.48,0.00,58.08,0.743,6,0.065,0.000,3413,2367,3471
$GC,1247,1.38,68.4,109.2,13.8,227,1254,0.00,2.30,0.00,0.000,4,0.000,0.063,3413,3770,3471
$GC,1300,1.38,68.4,101.2,15.4,237,1307,0.00,2.25,0.00,0.000,6,0.000,0.046,3423,2355,3471
$GC,1434,1.38,68.4,82.5,13.8,262,1441,0.00,2.28,0.00,0.000,4,0.000,0.063,3423,3759,3471
$GC,1551,1.38,68.4,65.8,14.3,284,1558,0.00,2.20,0.00,0.000,6,0.000,0.046,3433,2359,3471
$GC,1685,1.38,68.4,48.9,12.2,309,1691,0.00,2.25,0.00,0.000,4,0.000,0.063,3433,3759,3471
$GC,1882,1.38,68.4,24.9,10.5,346,1890,0.10,2.17,0.00,0.000,6,0.244,0.046,3421,2359,3471
$GC,1952,1.41,95.3,19.4,7.1,359,1977,0.00,0.00,21.33,0.733,6,0.000,0.000,3421,2359,3361
$GC,2040,1.43,109.3,12.2,8.5,375,2058,0.00,2.30,11.85,0.693,4,0.000,0.064,3421,3763,3304
$GC,2105,1.52,177.3,9.1,2.8,387,2164,0.00,2.20,51.42,0.713,6,0.000,0.046,3430,2362,3026
$GC,2227,1.67,299.4,8.2,-3.0,409,2327,0.22,2.38,91.85,0.696,4,0.084,0.058,3518,959,2529
$GC,2348,1.76,373.2,4.8,2.1,430,2412,0.00,2.33,55.85,0.679,6,0.000,0.054,3518,2355,2227
$STATE,2468,end climb,SURFACE_DEPTH_REACHED
$STATE,2468,begin surface coast
$FINISH,3.5,1.016817
$STATE,2735,end surface coast,CONTROL_FINISHED_OK
$STATE,2735,begin surface
$SM_CCo,2751,149.85,0.694,0,0,1426,570.08
$SM_GC,2.79,0.00,0.00,149.85,0.000,0.000,0.694,118,2246,1426,-8.92,-0.11,570.08
$IRIDIUM_FIX,4751.72,-12340.51,280298,000046
$TT8_MAMPS,0.051389
$HUMID,1503
$INTERNAL_PRESSURE,9.33224
$TCM_TEMP,18.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,59.4
$24V_AH,24.1,1.345
$10V_AH,10.7,0.457
$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,23.075,31.900,330.775,149.850,0.000,22.924,33.591,172.291,0.500,0.000,0.000,34.451,0.000,1264.680,553.400,1096.732,308.386,33.307,1025.229,0.000,913.929,0.000,5.559,0.000
$DEVICE_MAMPS,249.275,78.234,796.913,694.135,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,332.421,660.034,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22254,502
$CAP_FILE_SIZE,50175,0
$CFSIZE,260165632,258719744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1
$GPS,041208,015005,4806.842,-12223.021,12,99.0,31,18.3