version: 66.04
glider: 158
mission: 1
dive: 7
start: 8 16 108 0 31 31
data:
$ID,158
$MISSION,1
$DIVE,7
$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,-9554.6436
$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,36
$R_STBD_OVSHOOT,33
$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
$GPS1,002154,4806.740,-12222.652,11,2.9,30,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-73.6
$GPS2,003052,4806.748,-12222.684,12,1.3,12,18.3
$SPEED_LIMITS,0.121,0.174
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.097,-0.144
$KALMAN_X,-790.8,-122.0,-50.7,1375.9,-184.0
$KALMAN_Y,1022.0,163.8,52.3,-1857.9,256.2
$MHEAD_RNG_PITCHd_Wd,127.7,1622,-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,-78.2,0.0,0.0,0,70,0.00,0.00,-57.38,0.000,2,0.000,0.000,49,2137,2608
$GC,72,-0.65,-78.2,3.1,-2.3,9,130,7.68,2.22,-42.05,0.000,4,0.268,0.061,1905,740,3820
$GC,379,-0.22,-78.2,35.3,-12.9,75,385,0.45,2.20,0.00,0.000,6,0.164,0.044,2048,2135,3821
$GC,451,-0.38,-78.2,39.6,-4.2,91,457,0.17,2.22,0.00,0.000,4,0.055,0.046,1966,729,3822
$GC,514,-0.17,-78.2,45.1,-9.5,105,520,0.40,2.20,0.00,0.000,6,0.152,0.043,2067,2151,3822
$GC,650,-0.47,-78.2,50.5,-3.6,136,657,0.28,0.00,0.00,0.000,6,0.048,0.000,1946,2151,3822
$GC,788,-0.20,-78.2,65.1,-12.2,167,794,0.35,2.17,0.00,0.000,4,0.160,0.048,2047,3557,3822
$GC,825,-0.23,-78.2,67.8,-7.8,175,830,0.00,2.15,0.00,0.000,6,0.000,0.038,2047,2130,3822
$GC,961,-0.41,-78.2,74.1,-4.6,206,967,0.17,0.00,0.00,0.000,6,0.054,0.000,1954,2130,3822
$GC,1098,-0.18,-78.2,88.7,-11.6,237,1104,0.35,2.22,0.00,0.000,4,0.153,0.049,2057,3556,3822
$GC,1108,0.02,-78.2,89.8,-11.5,239,1114,0.25,2.12,0.00,0.000,6,0.110,0.036,2131,2138,3822
$GC,1245,-0.59,-78.2,94.9,-5.1,270,1251,0.57,0.00,0.00,0.000,6,0.080,0.000,1923,2139,3822
$STATE,1354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1354,begin apogee
$GC,1357,-0.16,0.0,105.6,12.7,295,1418,0.47,0.00,57.72,0.725,6,0.162,0.000,2062,2138,3499
$STATE,1418,end apogee,CONTROL_FINISHED_OK
$STATE,1418,begin climb
$GC,1419,0.65,78.2,108.8,0.0,305,1484,0.75,0.00,58.35,0.700,6,0.092,0.000,2327,2137,3179
$GC,1613,0.28,78.2,92.6,10.9,346,1620,0.45,2.22,0.00,0.000,4,0.186,0.048,2213,744,3178
$GC,1641,0.15,78.2,90.7,8.2,352,1648,0.15,2.25,0.00,0.000,6,0.143,0.044,2171,2143,3178
$GC,1780,0.48,143.4,85.8,3.0,383,1834,0.28,2.28,48.30,0.701,4,0.051,0.047,2289,3555,2913
$GC,1847,0.25,143.4,80.1,9.3,395,1853,0.38,2.22,0.00,0.000,6,0.176,0.040,2204,2143,2913
$GC,1984,0.50,174.0,71.9,5.1,426,2014,0.22,0.00,23.33,0.680,6,0.055,0.000,2298,2142,2788
$GC,2144,0.33,174.0,51.8,13.3,461,2149,0.25,0.00,0.00,0.000,6,0.167,0.000,2230,2142,2787
$GC,2280,0.46,174.0,41.2,7.1,492,2286,0.15,0.00,0.00,0.000,6,0.069,0.000,2289,2142,2787
$GC,2417,0.36,174.0,25.4,11.8,523,2423,0.20,0.00,0.00,0.000,6,0.164,0.000,2235,2143,2787
$GC,2489,0.51,177.3,19.8,6.8,539,2496,0.17,0.00,3.62,0.440,6,0.064,0.000,2310,2142,2776
$GC,2562,0.35,177.3,11.5,12.5,555,2568,0.28,0.00,0.00,0.000,6,0.164,0.000,2234,2142,2776
$GC,2633,0.65,212.9,6.8,4.8,571,2666,0.25,0.00,26.42,0.673,6,0.052,0.000,2342,2142,2631
$STATE,2673,end climb,SURFACE_DEPTH_REACHED
$STATE,2673,begin surface coast
$FINISH,3.6,1.017655
$STATE,2740,end surface coast,CONTROL_FINISHED_OK
$STATE,2740,begin surface
$SM_CCo,2751,249.73,0.648,0,0,1256,550.21
$SM_GC,1.89,0.00,0.00,249.73,0.000,0.000,0.648,49,2141,1256,-6.47,-0.03,550.21
$IRIDIUM_FIX,4751.72,-12219.12,101197,000054
$TT8_MAMPS,0.051389
$HUMID,2126
$INTERNAL_PRESSURE,7.74444
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,45.7
$24V_AH,24.3,0.991
$10V_AH,10.6,0.524
$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,20.950,26.500,217.750,249.725,0.000,46.474,113.287,241.032,0.750,0.000,0.000,12.645,0.000,1028.881,536.932,1476.090,493.153,33.321,1057.652,0.000,1281.284,0.000,7.056,0.000
$DEVICE_MAMPS,268.450,61.360,724.815,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,410.110,279.288,903.203,230.170,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31690,593
$CAP_FILE_SIZE,63527,0
$CFSIZE,260165632,257613824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,160808,012227,4806.581,-12222.480,38,1.3,38,18.3