version: 66.04
glider: 158
mission: 1
dive: 6
start: 8 15 108 23 31 49
data:
$ID,158
$MISSION,1
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,140
$D_ABORT,1090
$D_NO_BLEED,80
$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,67
$T_MISSION,72
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51600
$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,550
$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,-9541.3701
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4014
$C_PITCH,2120
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,225
$ROLL_MAX,3911
$ROLL_DEG,40
$C_ROLL_DIVE,2142
$C_ROLL_CLIMB,2142
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,3499
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.617783
$PRESSURE_SLOPE,0.0001162534
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,103
$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,0.0043197535
$SEABIRD_T_H,0.0006381399
$SEABIRD_T_I,2.5446814e-05
$SEABIRD_T_J,2.8593313e-06
$SEABIRD_C_G,-10.195082
$SEABIRD_C_H,1.1596043
$SEABIRD_C_I,-0.0010232648
$SEABIRD_C_J,0.00017862333
$GPS1,232210,4806.854,-12222.808,9,1.5,9,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-68.9
$GPS2,233110,4806.856,-12222.810,16,1.4,16,18.3
$SPEED_LIMITS,0.121,0.174
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.107,-0.137
$KALMAN_X,-677.6,-100.5,-11.5,1047.8,-277.4
$KALMAN_Y,858.2,144.7,14.0,-1438.8,341.2
$MHEAD_RNG_PITCHd_Wd,123.7,1876,-17.7,-6.965
$D_GRID,105
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.65,-78.2,0.0,0.0,0,89,0.00,0.00,-76.60,0.000,2,0.000,0.000,49,2142,3077
$GC,91,-0.65,-78.2,3.1,-2.3,12,125,7.72,2.25,-22.20,0.000,4,0.274,0.061,1898,731,3819
$GC,373,-0.18,-78.2,35.8,-13.8,74,380,0.52,2.22,0.00,0.000,6,0.183,0.044,2060,2144,3821
$GC,446,-0.40,-78.2,40.0,-4.0,90,452,0.20,2.20,0.00,0.000,4,0.051,0.045,1965,744,3821
$GC,505,-0.18,-78.2,45.2,-9.9,103,511,0.38,2.17,0.00,0.000,6,0.159,0.043,2057,2151,3821
$GC,641,-0.42,-78.2,51.4,-4.0,134,647,0.20,0.00,0.00,0.000,6,0.049,0.000,1962,2152,3821
$GC,779,-0.20,-78.2,64.9,-11.0,165,784,0.30,2.17,0.00,0.000,4,0.155,0.048,2048,3557,3821
$GC,798,-0.08,-78.2,66.7,-10.4,169,803,0.17,2.12,0.00,0.000,6,0.107,0.037,2097,2144,3821
$GC,933,-0.80,-78.2,72.0,-5.4,200,940,0.65,2.22,0.00,0.000,4,0.074,0.049,1858,3553,3821
$GC,957,-1.00,-78.2,73.9,-6.7,205,963,0.17,2.12,0.00,0.000,6,0.079,0.037,1791,2136,3821
$GC,1092,-0.25,-78.2,102.3,-22.4,236,1099,0.88,2.17,0.00,0.000,4,0.205,0.046,2044,734,3821
$STATE,1107,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1107,begin apogee
$GC,1112,-0.16,0.0,105.2,21.7,239,1172,0.00,0.00,57.65,0.709,6,0.000,0.000,2043,2147,3499
$STATE,1172,end apogee,CONTROL_FINISHED_OK
$STATE,1172,begin climb
$GC,1174,0.65,78.2,108.8,0.0,249,1238,0.88,0.00,58.35,0.689,6,0.116,0.000,2324,2146,3179
$GC,1368,0.29,78.2,92.4,10.6,290,1374,0.43,0.00,0.00,0.000,6,0.183,0.000,2215,2147,3178
$GC,1506,0.39,110.5,84.7,5.0,321,1535,0.00,0.00,24.65,0.682,6,0.000,0.000,2215,2146,3047
$GC,1665,0.54,133.2,76.1,5.6,356,1689,0.22,0.00,17.88,0.664,6,0.061,0.000,2304,2147,2955
$GC,1819,0.32,133.2,58.1,12.7,390,1826,0.32,2.22,0.00,0.000,4,0.171,0.048,2218,3551,2954
$GC,1852,0.29,133.2,55.0,10.1,397,1857,0.00,2.17,0.00,0.000,6,0.000,0.039,2219,2140,2954
$GC,1988,0.41,142.4,46.1,6.4,428,2001,0.10,2.28,8.02,0.609,4,0.081,0.049,2277,724,2918
$GC,2017,0.44,142.4,43.6,7.7,434,2024,0.00,2.25,0.00,0.000,6,0.000,0.043,2277,2141,2918
$GC,2155,0.35,142.4,30.1,9.6,465,2162,0.17,0.00,0.00,0.000,6,0.166,0.000,2232,2142,2917
$GC,2227,0.50,154.8,25.2,6.2,481,2240,0.17,0.00,10.38,0.636,6,0.065,0.000,2305,2142,2867
$GC,2306,0.32,154.8,16.9,11.2,498,2312,0.28,0.00,0.00,0.000,6,0.166,0.000,2228,2142,2866
$GC,2378,0.55,183.8,12.2,5.2,514,2405,0.20,2.28,22.17,0.664,4,0.058,0.048,2316,3552,2748
$GC,2440,0.39,183.8,5.9,11.7,526,2447,0.28,2.22,0.00,0.000,6,0.157,0.041,2247,2139,2748
$GC,2513,0.97,283.3,4.0,1.0,542,2527,0.50,0.00,12.23,0.631,2,0.052,0.000,2445,2138,2684
$STATE,2527,end climb,SURFACE_DEPTH_REACHED
$STATE,2528,begin surface coast
$FINISH,3.7,1.018730
$STATE,2709,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2709,begin surface
$SM_CCo,2721,235.35,0.642,0,0,1255,550.21
$SM_GC,1.93,0.00,0.00,235.35,0.000,0.000,0.642,49,2137,1255,-6.47,-0.14,550.21
$IRIDIUM_FIX,4748.51,-12221.84,091197,232314
$TT8_MAMPS,0.051389
$HUMID,2189
$INTERNAL_PRESSURE,7.7835
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.5,35.4
$24V_AH,24.3,0.881
$10V_AH,10.6,0.458
$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,21.650,35.300,211.325,235.350,0.000,52.831,56.970,293.518,1.500,0.000,0.000,16.423,0.000,990.369,517.133,1494.287,493.871,33.310,1031.647,0.000,1291.706,0.000,11.421,0.000
$DEVICE_MAMPS,273.819,60.593,709.475,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,408.478,293.517,945.244,241.547,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31669,586
$CAP_FILE_SIZE,65944,0
$CFSIZE,260165632,257650688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,160808,002154,4806.740,-12222.652,11,2.9,30,18.3