version: 66.04
glider: 158
mission: 1
dive: 18
start: 8 16 108 11 23 42
data:
$ID,158
$MISSION,1
$DIVE,18
$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,70
$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,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,-9774.4551
$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,35
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$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,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
$GPS1,111732,4807.004,-12223.026,12,1.9,12,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-76.9
$GPS2,112303,4806.975,-12223.006,16,1.4,16,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.190
$KALMAN_X,-474.4,131.1,7.1,352.0,23.2
$KALMAN_Y,487.0,-206.8,-63.2,-416.9,-40.7
$MHEAD_RNG_PITCHd_Wd,309.1,2262,-20.6,-10.000
$D_GRID,103
$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,-107.5,0.0,0.0,0,84,0.00,0.00,-70.28,0.000,2,0.000,0.000,46,2137,3022
$GC,86,-0.68,-107.5,3.0,-2.1,11,132,7.70,2.33,-34.50,0.000,4,0.268,0.064,1897,3551,3939
$GC,198,-0.38,-107.5,13.7,-15.2,33,204,0.32,2.22,0.00,0.000,6,0.182,0.039,2002,2142,3941
$GC,270,-0.42,-107.5,20.4,-7.5,49,276,0.00,2.28,0.00,0.000,4,0.000,0.051,2002,3554,3941
$GC,285,-0.48,-107.5,21.5,-7.0,52,292,0.00,2.22,0.00,0.000,6,0.000,0.038,2002,2140,3941
$GC,357,-0.48,-107.5,27.2,-7.7,68,363,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2140,3941
$GC,429,-0.48,-107.5,33.3,-8.5,84,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2140,3942
$GC,500,-0.50,-107.5,39.5,-9.1,100,507,0.12,0.00,0.00,0.000,6,0.074,0.000,1945,2139,3942
$GC,571,-0.35,-107.5,48.3,-13.5,116,578,0.28,2.25,0.00,0.000,4,0.164,0.050,2014,3551,3942
$GC,616,-0.52,-107.5,52.5,-7.6,126,623,0.15,2.20,0.00,0.000,6,0.048,0.038,1935,2140,3942
$GC,755,-0.34,-107.5,71.2,-15.2,157,760,0.28,0.00,0.00,0.000,6,0.167,0.000,2008,2140,3942
$GC,892,-0.47,-107.5,82.3,-6.9,188,898,0.15,0.00,0.00,0.000,6,0.069,0.000,1952,2139,3942
$GC,1029,-0.36,-107.5,98.7,-12.9,219,1034,0.20,0.00,0.00,0.000,6,0.163,0.000,2004,2140,3942
$STATE,1076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1076,begin apogee
$GC,1079,-0.13,0.0,103.1,7.5,230,1162,0.22,0.00,79.43,0.729,6,0.130,0.000,2081,2139,3498
$STATE,1162,end apogee,CONTROL_FINISHED_OK
$STATE,1162,begin climb
$GC,1164,0.68,107.5,105.7,0.0,244,1253,0.75,2.35,80.68,0.706,4,0.087,0.049,2354,742,3059
$GC,1280,0.42,107.5,97.0,12.9,265,1286,0.35,2.30,0.00,0.000,6,0.191,0.044,2262,2148,3058
$GC,1416,0.45,132.3,84.1,8.4,296,1440,0.00,2.33,19.50,0.671,4,0.000,0.048,2262,3552,2959
$GC,1466,0.45,132.3,79.2,10.4,306,1473,0.00,2.28,0.00,0.000,6,0.000,0.038,2263,2145,2958
$GC,1604,0.45,134.5,65.7,9.9,337,1609,0.00,2.25,0.00,0.000,4,0.000,0.050,2275,727,2958
$GC,1614,0.45,137.4,64.7,9.8,339,1626,0.00,2.25,5.15,0.529,6,0.000,0.041,2275,2151,2940
$GC,1756,0.45,137.4,49.7,10.5,371,1761,0.00,0.00,0.00,0.000,6,0.000,0.000,2275,2151,2939
$GC,1892,0.46,141.0,35.9,9.8,402,1905,0.00,2.25,4.55,0.506,4,0.000,0.048,2275,3552,2924
$GC,1936,0.42,141.0,31.2,10.7,411,1942,0.00,2.22,0.00,0.000,6,0.000,0.041,2285,2146,2924
$GC,2008,0.39,141.0,23.7,10.7,427,2014,0.17,0.00,0.00,0.000,6,0.166,0.000,2239,2146,2923
$GC,2079,0.62,193.2,18.3,6.7,443,2125,0.22,2.30,38.58,0.680,4,0.061,0.049,2332,3545,2711
$GC,2152,0.48,193.2,9.1,16.2,456,2158,0.22,2.25,0.00,0.000,6,0.178,0.041,2270,2148,2710
$STATE,2209,end climb,SURFACE_DEPTH_REACHED
$STATE,2209,begin surface coast
$FINISH,2.1,1.019000
$STATE,2275,end surface coast,CONTROL_FINISHED_OK
$STATE,2275,begin surface
$SM_CCo,2286,174.65,0.653,0,0,1459,500.17
$SM_GC,1.81,0.00,0.00,174.65,0.000,0.000,0.653,46,2147,1459,-6.50,0.11,500.17
$IRIDIUM_FIX,4748.51,-12224.57,101197,101038
$TT8_MAMPS,0.051389
$HUMID,2027
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,46.1
$24V_AH,24.2,2.142
$10V_AH,10.6,1.236
$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,17.100,36.275,227.875,174.650,0.000,25.503,24.530,201.748,0.750,0.000,0.000,16.352,0.000,733.651,473.647,1242.891,339.598,33.352,940.467,0.000,1068.516,0.000,5.527,0.000
$DEVICE_MAMPS,267.683,63.661,729.417,653.484,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,333.259,240.205,780.768,194.323,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25576,484
$CAP_FILE_SIZE,55836,0
$CFSIZE,260165632,257200128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,120537,4807.141,-12223.183,37,0.9,37,18.3