version: 66.08
glider: 158
mission: 11
dive: 13
start: 5 4 112 2 39 32
data:
$ID,158
$MISSION,11
$DIVE,13
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,25
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,55
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51960
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,45
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3200
$TGT_DEFAULT_LON,-7306
$TGT_AUTO_DEFAULT,0
$SM_CC,260
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$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,-719465.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,138
$PITCH_MAX,3933
$C_PITCH,1890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,33
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3794
$ROLL_DEG,20
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2112
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-40.257854
$PRESSURE_SLOPE,0.0001162534
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043185689
$SEABIRD_T_H,0.00063211145
$SEABIRD_T_I,2.4453147e-05
$SEABIRD_T_J,2.6602299e-06
$SEABIRD_C_G,-9.7588167
$SEABIRD_C_H,1.1098362
$SEABIRD_C_I,-0.00086821435
$SEABIRD_C_J,0.00015583097
$GPS1,040512,023255,4741.048,-12226.439,9,1.7,14,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-67.4
$GPS2,040512,023909,4741.037,-12226.525,14,1.7,14,18.2
$SPEED_LIMITS,0.140,0.407
$TGT_NAME,HEADING
$TGT_LATLONG,4748.673,-12215.155
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,26.8,20000,-24.0,-20.000
$D_GRID,137
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.80,-244.3,0.0,0.0,0,58,0.00,0.00,-40.85,0.000,2,0.000,0.000,108,2042,1912,0,0,0,0,0,0
$GC,60,-0.80,-244.3,3.1,-4.7,5,110,6.18,1.12,-35.58,0.000,4,0.258,0.069,1626,2749,3110,0,0,0,0,0,0
$GC,185,-0.80,-244.3,24.3,-22.7,23,193,0.00,1.10,0.00,0.000,6,0.000,0.037,1626,2043,3111,0,0,0,0,0,0
$GC,232,-0.80,-244.3,35.6,-24.1,30,240,0.00,0.00,0.00,0.000,6,0.000,0.000,1626,2043,3110,0,0,0,0,0,0
$GC,277,-0.80,-244.3,46.2,-23.4,37,283,0.00,1.05,0.00,0.000,4,0.000,0.044,1626,1355,3111,0,0,0,0,0,0
$GC,315,-0.80,-244.3,54.8,-22.2,43,322,0.00,1.08,0.00,0.000,6,0.000,0.038,1621,2048,3111,0,0,0,0,0,0
$GC,357,-0.80,-244.3,64.0,-20.5,50,365,0.00,1.08,0.00,0.000,4,0.000,0.044,1615,2747,3111,0,0,0,0,0,0
$GC,383,-0.80,-244.3,69.3,-20.2,54,392,0.00,1.08,0.00,0.000,6,0.000,0.037,1615,2054,3111,0,0,0,0,0,0
$GC,429,-0.80,-244.3,78.2,-21.4,61,435,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2054,3111,0,0,0,0,0,0
$GC,474,-0.80,-244.3,88.3,-21.0,68,482,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2054,3111,0,0,0,0,0,0
$GC,519,-0.80,-244.3,97.1,-20.7,75,525,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,2054,3111,0,0,0,0,0,0
$GC,563,-0.80,-244.3,105.9,-19.8,82,572,0.00,1.08,0.00,0.000,4,0.000,0.042,1610,2747,3111,0,0,0,0,0,0
$GC,605,-0.80,-244.3,114.7,-19.6,88,619,0.00,1.08,0.00,0.000,6,0.000,0.039,1610,2054,3111,0,0,0,0,0,0
$GC,656,-0.80,-244.3,124.2,-19.7,95,663,0.00,1.08,0.00,0.000,4,0.000,0.044,1611,1348,3111,0,0,0,0,0,0
$GC,675,-0.80,-244.3,128.7,-20.7,98,684,0.00,1.08,0.00,0.000,6,0.000,0.037,1605,2050,3111,0,0,0,0,0,0
$STATE,719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,719,begin apogee
$GC,724,-0.15,0.0,137.9,21.2,105,928,0.75,0.00,192.93,0.850,6,0.166,0.000,1837,1993,2111,0,0,0,0,0,0
$STATE,929,end apogee,CONTROL_FINISHED_OK
$STATE,929,begin climb
$GC,930,0.80,244.3,146.8,0.0,135,1128,0.95,1.20,191.60,0.825,4,0.098,0.050,2157,1297,1116,0,0,0,0,0,0
$GC,1194,0.80,244.3,104.4,21.3,175,1201,0.00,1.12,0.00,0.000,6,0.000,0.038,2157,1992,1113,0,0,0,0,0,0
$GC,1236,0.80,244.3,94.8,21.6,182,1245,0.00,1.12,0.00,0.000,4,0.000,0.043,2157,2709,1112,0,0,0,0,0,0
$GC,1259,0.80,244.3,90.3,22.1,185,1266,0.00,1.15,0.00,0.000,6,0.000,0.044,2163,2004,1113,0,0,0,0,0,0
$GC,1302,0.80,244.3,80.6,22.1,192,1311,0.00,1.12,0.00,0.000,4,0.000,0.050,2168,1300,1112,0,0,0,0,0,0
$GC,1337,0.80,244.3,73.1,22.8,197,1343,0.00,1.12,0.00,0.000,6,0.000,0.039,2169,2004,1112,0,0,0,0,0,0
$GC,1378,0.80,244.3,63.8,21.7,204,1387,0.00,1.15,0.00,0.000,4,0.000,0.050,2174,1295,1112,0,0,0,0,0,0
$GC,1424,0.80,244.3,54.5,21.7,211,1431,0.00,1.12,0.00,0.000,6,0.000,0.040,2174,2001,1112,0,0,0,0,0,0
$GC,1466,0.80,244.3,45.0,21.3,218,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2174,2002,1112,0,0,0,0,0,0
$GC,1511,0.80,244.3,36.3,20.1,225,1520,0.00,1.12,0.00,0.000,4,0.000,0.050,2179,1299,1112,0,0,0,0,0,0
$GC,1535,0.81,265.5,31.9,18.8,228,1560,0.00,1.12,17.62,0.729,6,0.000,0.040,2179,2012,1028,0,0,0,0,0,0
$GC,1599,0.81,265.5,18.7,21.2,237,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2179,2012,1026,0,0,0,0,0,0
$GC,1645,0.81,265.5,8.9,21.5,244,1654,0.00,1.08,0.00,0.000,4,0.000,0.044,2179,2707,1026,0,0,0,0,0,0
$STATE,1673,end climb,SURFACE_DEPTH_REACHED
$STATE,1673,begin surface coast
$FINISH,0.5,1.016018
$STATE,1686,end surface coast,CONTROL_FINISHED_OK
$STATE,1687,begin surface
$SM_CCo,1760,0.00,0.000,0,0,1025,266.64
$SM_GC,1.32,5.50,0.00,0.00,0.048,0.000,0.000,114,2047,1025,-5.46,-0.08,266.64
$IRIDIUM_FIX,4722.92,-12221.66,040512,010104
$TT8_MAMPS,0.026215
$HUMID,37.59
$INTERNAL_PRESSURE,9.00497
$TCM_TEMP,13.40
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,115.8,47.4
$24V_AH,24.0,2.627
$10V_AH,10.4,1.191
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.375,24.400,402.150,0.000,0.000,25.932,30.834,220.390,3.500,0.000,14.903,506.104,147.649,406.598,1005.434,83.491,0.000,836.700,0.000,717.755,0.000,22.076,0.000
$DEVICE_MAMPS,257.805,104.040,849.915,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,167.224,106.806,532.837,78.132,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323392
$DATA_FILE_SIZE,16997,250
$CAP_FILE_SIZE,60057,0
$CFSIZE,260165632,239955968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040512,030958,4741.301,-12226.151,13,3.7,32,18.2