version: 66.04
glider: 158
mission: 1
dive: 12
start: 8 16 108 5 50 32
data:
$ID,158
$MISSION,1
$DIVE,12
$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,739.33417
$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,-9667.2656
$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
$GPS1,053022,4806.064,-12221.981,9,2.3,28,18.3
$_CALLS,5
$_XMS_NAKs,18
$_XMS_TOUTs,2
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-77.9
$GPS2,054953,4805.983,-12221.980,11,3.2,30,18.3
$SPEED_LIMITS,0.121,0.174
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.144
$KALMAN_X,-759.7,-125.8,100.3,2068.4,76.2
$KALMAN_Y,1062.7,187.5,-95.2,-3191.8,-114.3
$MHEAD_RNG_PITCHd_Wd,308.0,4492,-17.7,-6.965
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.65,-78.2,0.0,0.0,0,96,0.00,0.00,-82.45,0.000,2,0.000,0.000,48,2135,3220
$GC,97,-0.65,-78.2,3.3,-2.6,13,131,7.57,2.33,-21.05,0.000,4,0.263,0.063,1904,3564,3818
$GC,188,-0.16,-78.2,9.4,-10.1,31,194,0.52,2.22,0.00,0.000,6,0.176,0.038,2065,2130,3819
$GC,260,-0.39,-78.2,12.7,-2.9,47,266,0.20,0.00,0.00,0.000,6,0.053,0.000,1973,2130,3819
$GC,332,-0.16,-78.2,17.8,-7.9,63,338,0.32,0.00,0.00,0.000,6,0.156,0.000,2065,2128,3819
$GC,404,-0.40,-78.2,21.2,-4.0,79,410,0.20,0.00,0.00,0.000,6,0.052,0.000,1970,2128,3819
$GC,476,-0.17,-78.2,27.3,-9.6,95,482,0.32,2.25,0.00,0.000,4,0.154,0.049,2062,3567,3819
$GC,509,-0.21,-78.2,29.5,-7.3,102,515,0.00,2.17,0.00,0.000,6,0.000,0.037,2062,2152,3820
$GC,581,-0.43,-78.2,32.4,-4.0,118,587,0.20,0.00,0.00,0.000,6,0.053,0.000,1962,2151,3819
$GC,653,-0.20,-78.2,39.0,-10.3,134,659,0.32,0.00,0.00,0.000,6,0.154,0.000,2055,2152,3819
$GC,724,-0.42,-78.2,43.0,-4.0,150,730,0.22,0.00,0.00,0.000,6,0.051,0.000,1961,2152,3819
$GC,861,-0.19,-78.2,57.3,-11.4,181,867,0.32,0.00,0.00,0.000,6,0.155,0.000,2055,2151,3820
$GC,997,-0.43,-78.2,63.8,-4.1,212,1003,0.22,0.00,0.00,0.000,6,0.051,0.000,1953,2151,3820
$GC,1135,-0.19,-78.2,78.3,-11.5,243,1140,0.35,2.20,0.00,0.000,4,0.156,0.050,2054,3557,3820
$GC,1175,-0.32,-78.2,81.0,-6.3,252,1182,0.08,2.15,0.00,0.000,6,0.060,0.038,1991,2147,3820
$GC,1313,-0.24,-78.2,92.0,-8.7,283,1319,0.17,0.00,0.00,0.000,6,0.146,0.000,2039,2147,3819
$GC,1449,-0.42,-78.2,98.5,-4.3,314,1455,0.17,0.00,0.00,0.000,6,0.059,0.000,1959,2147,3819
$STATE,1550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1550,begin apogee
$GC,1553,-0.16,0.0,108.0,10.2,337,1613,0.38,0.00,57.38,0.734,6,0.153,0.000,2067,2147,3499
$STATE,1614,end apogee,CONTROL_FINISHED_OK
$STATE,1614,begin climb
$GC,1615,0.65,78.2,110.7,0.0,347,1680,0.75,0.00,58.42,0.707,6,0.097,0.000,2328,2146,3180
$GC,1809,0.28,78.2,94.1,11.0,388,1816,0.45,0.00,0.00,0.000,6,0.182,0.000,2212,2146,3179
$GC,1948,0.41,116.4,87.0,4.7,419,1983,0.15,0.00,29.20,0.700,6,0.069,0.000,2271,2147,3023
$GC,2114,0.28,116.4,72.4,9.5,455,2119,0.20,2.25,0.00,0.000,4,0.163,0.048,2214,3551,3022
$GC,2159,0.34,116.4,68.8,7.9,465,2164,0.00,2.20,0.00,0.000,6,0.000,0.039,2216,2133,3022
$GC,2295,0.45,132.0,60.4,6.0,496,2313,0.15,0.00,12.75,0.665,6,0.067,0.000,2282,2133,2960
$GC,2444,0.30,132.0,45.5,10.3,529,2449,0.22,2.28,0.00,0.000,4,0.166,0.048,2220,3562,2959
$GC,2471,0.25,132.0,42.9,9.7,535,2477,0.00,2.20,0.00,0.000,6,0.000,0.041,2222,2140,2958
$GC,2609,0.37,145.0,34.1,6.2,566,2623,0.00,2.28,10.82,0.651,4,0.000,0.051,2232,735,2907
$GC,2650,0.52,157.8,31.6,6.2,574,2670,0.12,2.25,10.93,0.640,6,0.054,0.045,2300,2143,2854
$GC,2736,0.34,157.8,22.3,11.9,592,2743,0.25,2.25,0.00,0.000,4,0.163,0.048,2224,3551,2854
$GC,2765,0.31,157.8,19.5,10.6,598,2771,0.00,2.22,0.00,0.000,6,0.000,0.041,2226,2137,2854
$GC,2837,0.47,173.5,14.9,6.0,614,2856,0.15,2.25,12.90,0.649,4,0.065,0.050,2304,736,2790
$GC,2878,0.45,173.5,11.1,9.1,622,2885,0.12,2.25,0.00,0.000,6,0.166,0.044,2272,2139,2789
$GC,2950,0.52,173.5,5.3,7.5,638,2956,0.00,2.25,0.00,0.000,4,0.000,0.049,2272,3550,2789
$STATE,2969,end climb,SURFACE_DEPTH_REACHED
$STATE,2969,begin surface coast
$FINISH,2.8,1.019413
$STATE,3034,end surface coast,CONTROL_FINISHED_OK
$STATE,3034,begin surface
$SM_CCo,3047,329.20,0.641,0,0,485,739.33
$SM_GC,1.84,0.00,0.00,329.20,0.000,0.000,0.641,46,2137,485,-6.48,-0.14,739.33
$IRIDIUM_FIX,4748.51,-12224.57,101197,050523
$TT8_MAMPS,0.051389
$HUMID,2004
$INTERNAL_PRESSURE,7.65654
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,45.6
$24V_AH,24.2,1.549
$10V_AH,10.6,0.880
$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,20.175,40.225,192.400,329.200,0.000,131.380,151.076,525.763,1.000,0.000,0.000,31.947,0.000,1299.332,625.648,1680.513,938.229,33.302,1203.748,0.000,1438.279,0.000,7.057,0.000
$DEVICE_MAMPS,263.081,62.894,734.019,641.212,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,453.762,322.980,1043.203,266.149,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34845,657
$CAP_FILE_SIZE,86431,0
$CFSIZE,260165632,257376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,160808,064735,4806.172,-12222.179,10,99.0,29,18.3