version: 66.04
glider: 158
mission: 1
dive: 13
start: 8 16 108 6 57 0
data:
$ID,158
$MISSION,1
$DIVE,13
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$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,110
$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,500
$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,-9683.709
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4014
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$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,38
$R_STBD_OVSHOOT,31
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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
$GPS1,064735,4806.172,-12222.179,10,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-73.7
$GPS2,065621,4806.154,-12222.213,15,1.6,15,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.114,0.195
$KALMAN_X,-835.6,-61.7,129.5,1764.9,12.7
$KALMAN_Y,1040.6,117.9,-135.1,-2745.0,-73.3
$MHEAD_RNG_PITCHd_Wd,311.3,4071,-20.6,-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,-0.68,-107.5,0.0,0.0,0,109,0.00,0.00,-95.18,0.000,2,0.000,0.000,46,2137,2688
$GC,111,-0.68,-107.5,3.0,-3.2,15,170,7.78,2.33,-46.55,0.000,4,0.272,0.064,1900,3560,3939
$GC,253,-0.40,-107.5,15.1,-13.7,43,260,0.32,2.22,0.00,0.000,6,0.176,0.040,1989,2134,3940
$GC,325,-0.40,-107.5,21.9,-8.1,59,331,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2134,3940
$GC,397,-0.40,-107.5,28.1,-8.5,75,403,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2134,3940
$GC,468,-0.40,-107.5,34.3,-8.8,91,474,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2134,3940
$GC,540,-0.40,-107.5,40.8,-8.9,107,544,0.00,0.00,0.00,0.000,6,0.000,0.000,1989,2134,3941
$GC,674,-0.43,-107.5,52.9,-9.1,138,681,0.00,2.25,0.00,0.000,4,0.000,0.051,1983,3545,3941
$GC,716,-0.52,-107.5,56.4,-8.6,147,721,0.00,2.12,0.00,0.000,6,0.000,0.038,1983,2145,3941
$GC,851,-0.52,-107.5,69.5,-10.2,178,857,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2145,3941
$GC,987,-0.52,-107.5,82.5,-9.7,209,992,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2145,3941
$GC,1123,-0.54,-107.5,95.1,-8.9,240,1129,0.12,2.25,0.00,0.000,4,0.074,0.051,1920,3557,3941
$GC,1150,-0.45,-107.5,98.3,-11.7,246,1157,0.20,2.17,0.00,0.000,6,0.156,0.039,1975,2141,3941
$GC,1289,-0.45,-107.5,111.8,-9.3,277,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,1975,2141,3941
$STATE,1323,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1323,begin apogee
$GC,1326,-0.13,0.0,114.9,8.6,285,1410,0.30,0.00,79.05,0.731,6,0.136,0.000,2076,2141,3499
$STATE,1410,end apogee,CONTROL_FINISHED_OK
$STATE,1410,begin climb
$GC,1411,0.68,107.5,117.4,0.0,299,1499,0.75,0.00,80.97,0.703,6,0.084,0.000,2341,2141,3060
$GC,1629,0.43,107.5,92.9,14.5,344,1635,0.32,0.00,0.00,0.000,6,0.190,0.000,2262,2141,3059
$GC,1766,0.45,129.6,80.5,8.6,375,1790,0.00,2.28,17.50,0.672,4,0.000,0.048,2263,3557,2970
$GC,1816,0.46,137.3,76.0,9.5,385,1829,0.00,2.22,7.32,0.585,6,0.000,0.041,2264,2138,2939
$GC,1959,0.46,137.3,61.6,10.1,417,1964,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2138,2938
$GC,2094,0.47,140.7,48.6,9.8,448,2101,0.00,0.00,4.03,0.467,6,0.000,0.000,2264,2138,2925
$GC,2232,0.49,156.7,35.8,9.0,479,2251,0.00,2.28,13.05,0.653,4,0.000,0.049,2264,3562,2860
$GC,2269,0.49,156.7,32.2,10.2,486,2275,0.00,2.25,0.00,0.000,6,0.000,0.041,2275,2137,2860
$GC,2341,0.49,156.7,24.7,10.4,502,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2137,2859
$GC,2412,0.49,158.5,17.5,9.9,518,2418,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2137,2860
$GC,2484,0.53,166.9,10.6,9.5,534,2496,0.00,0.00,9.00,0.620,6,0.000,0.000,2275,2137,2818
$GC,2562,0.69,209.9,4.4,7.3,551,2577,0.17,0.00,12.45,0.636,2,0.066,0.000,2355,2137,2753
$STATE,2577,end climb,SURFACE_DEPTH_REACHED
$STATE,2577,begin surface coast
$FINISH,2.8,1.018793
$STATE,2641,end surface coast,CONTROL_FINISHED_OK
$STATE,2641,begin surface
$SM_CCo,2653,179.55,0.650,0,0,1459,500.17
$SM_GC,2.01,0.00,0.00,179.55,0.000,0.000,0.650,46,2135,1459,-6.50,-0.17,500.17
$IRIDIUM_FIX,4748.51,-12224.57,101197,050549
$TT8_MAMPS,0.050622
$HUMID,2060
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,15.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,34.5
$24V_AH,24.2,1.652
$10V_AH,10.6,0.944
$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,16.450,22.375,223.375,179.550,0.000,26.167,34.048,381.949,1.500,0.000,0.000,15.812,0.000,897.411,493.498,1427.330,534.577,33.311,1019.165,0.000,1238.826,0.000,9.892,0.000
$DEVICE_MAMPS,271.518,63.661,730.951,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,391.801,275.667,889.781,223.007,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28547,568
$CAP_FILE_SIZE,61636,0
$CFSIZE,260165632,257376256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,160808,074459,4806.381,-12222.419,9,2.7,28,18.3