version: 66.08
glider: 158
mission: 11
dive: 43
start: 5 4 112 15 1 20
data:
$ID,158
$MISSION,11
$DIVE,43
$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,50
$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,150
$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,-1
$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,300
$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,-719502.69
$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,1885
$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,30
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,20
$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
$GPS1,040512,144832,4743.452,-12223.290,12,1.7,12,18.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-66.6
$GPS2,040512,150055,4743.592,-12223.185,14,1.6,31,18.2
$SPEED_LIMITS,0.070,0.260
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$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,212.4,2604,-17.5,-10.000
$D_GRID,138
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.57,-146.6,0.0,0.0,0,58,0.00,0.00,-40.33,0.000,2,0.000,0.000,111,2014,1804,0,0,0,0,0,0
$GC,60,-0.57,-146.6,3.4,-5.7,5,101,6.40,0.00,-25.35,0.000,6,0.254,0.000,1701,2015,2712,0,0,0,0,0,0
$GC,140,-0.57,-146.6,14.2,-16.2,16,148,0.00,1.65,0.00,0.000,4,0.000,0.045,1701,987,2714,0,0,0,0,0,0
$GC,156,-0.57,-146.6,17.1,-17.2,18,165,0.00,1.67,0.00,0.000,6,0.000,0.035,1694,2050,2713,0,0,0,0,0,0
$GC,206,-0.57,-146.6,26.7,-18.8,25,214,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,2051,2713,0,0,0,0,0,0
$GC,253,-0.57,-146.6,33.7,-12.9,32,262,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,2051,2713,0,0,0,0,0,0
$GC,302,-0.57,-146.6,39.9,-12.2,39,311,0.00,0.00,0.00,0.000,6,0.000,0.000,1694,2051,2713,0,0,0,0,0,0
$GC,347,-0.57,-146.6,46.3,-13.8,46,356,0.00,1.65,0.00,0.000,4,0.000,0.044,1686,3101,2713,0,0,0,0,0,0
$GC,421,-0.57,-146.6,56.6,-14.3,58,430,0.00,1.67,0.00,0.000,6,0.000,0.037,1686,2042,2714,0,0,0,0,0,0
$GC,467,-0.57,-146.6,62.3,-13.4,65,473,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2042,2714,0,0,0,0,0,0
$GC,510,-0.57,-146.6,67.8,-12.0,72,518,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2041,2713,0,0,0,0,0,0
$GC,558,-0.57,-146.6,73.8,-13.4,79,564,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2041,2713,0,0,0,0,0,0
$GC,600,-0.57,-146.6,79.5,-12.9,86,613,0.00,0.00,0.00,0.000,6,0.000,0.000,1685,2041,2714,0,0,0,0,0,0
$GC,650,-0.57,-146.6,85.4,-12.4,93,656,0.00,1.65,0.00,0.000,4,0.000,0.047,1686,980,2713,0,0,0,0,0,0
$GC,715,-0.57,-146.6,94.9,-14.9,104,724,0.00,1.67,0.00,0.000,6,0.000,0.034,1678,2052,2713,0,0,0,0,0,0
$GC,761,-0.57,-146.6,101.0,-14.5,111,767,0.00,0.00,0.00,0.000,6,0.000,0.000,1678,2052,2713,0,0,0,0,0,0
$GC,802,-0.57,-146.6,107.3,-14.0,118,810,0.00,0.00,0.00,0.000,6,0.000,0.000,1678,2052,2713,0,0,0,0,0,0
$GC,847,-0.57,-146.6,113.4,-14.2,125,853,0.00,1.62,0.00,0.000,4,0.000,0.042,1670,3100,2713,0,0,0,0,0,0
$GC,873,-0.57,-146.6,117.0,-13.7,129,880,0.00,1.65,0.00,0.000,6,0.000,0.039,1670,2052,2713,0,0,0,0,0,0
$GC,916,-0.57,-146.6,122.9,-12.7,136,924,0.00,0.00,0.00,0.000,6,0.000,0.000,1670,2051,2713,0,0,0,0,0,0
$GC,961,-0.57,-146.6,128.4,-12.2,143,968,0.00,1.65,0.00,0.000,4,0.000,0.042,1662,3121,2713,0,0,0,0,0,0
$GC,977,-0.57,-146.6,130.5,-12.5,145,984,0.15,1.67,0.00,0.000,6,0.169,0.036,1703,2031,2713,0,0,0,0,0,0
$GC,1019,-0.57,-146.6,135.6,-10.2,152,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,1703,2026,2713,0,0,0,0,0,0
$STATE,1040,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1040,begin apogee
$GC,1043,-0.15,0.0,138.4,14.0,155,1173,0.40,0.00,120.38,0.840,6,0.142,0.000,1835,2027,2110,0,0,0,0,0,0
$STATE,1174,end apogee,CONTROL_FINISHED_OK
$STATE,1174,begin climb
$GC,1175,0.57,146.6,143.0,0.0,174,1299,0.70,0.00,117.12,0.817,6,0.096,0.000,2071,2026,1513,0,0,0,0,0,0
$GC,1337,0.57,146.6,127.6,11.3,198,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2071,2026,1510,0,0,0,0,0,0
$GC,1382,0.58,161.8,123.2,9.3,205,1403,0.00,1.80,13.12,0.744,4,0.000,0.051,2079,956,1451,0,0,0,0,0,0
$GC,1439,0.58,161.8,117.4,10.0,214,1448,0.00,1.70,0.00,0.000,6,0.000,0.036,2079,1998,1449,0,0,0,0,0,0
$GC,1485,0.58,161.8,112.4,10.9,221,1492,0.00,1.67,0.00,0.000,4,0.000,0.042,2079,3063,1449,0,0,0,0,0,0
$GC,1523,0.58,161.8,107.5,13.6,227,1530,0.00,1.70,0.00,0.000,6,0.000,0.045,2087,2007,1449,0,0,0,0,0,0
$GC,1565,0.58,161.8,102.1,12.2,234,1574,0.00,1.75,0.00,0.000,4,0.000,0.054,2095,935,1449,0,0,0,0,0,0
$GC,1623,0.58,161.8,95.0,13.3,243,1629,0.00,1.70,0.00,0.000,6,0.000,0.037,2095,2009,1448,0,0,0,0,0,0
$GC,1666,0.58,161.8,89.0,14.1,250,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2009,1448,0,0,0,0,0,0
$GC,1711,0.58,161.8,83.2,12.9,257,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2095,2009,1448,0,0,0,0,0,0
$GC,1753,0.58,161.8,77.8,11.8,264,1762,0.00,1.75,0.00,0.000,4,0.000,0.053,2103,938,1448,0,0,0,0,0,0
$GC,1799,0.58,161.8,72.2,12.5,271,1806,0.15,1.67,0.00,0.000,6,0.175,0.037,2063,2004,1448,0,0,0,0,0,0
$GC,1842,0.58,161.8,67.3,10.6,278,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2005,1447,0,0,0,0,0,0
$GC,1887,0.58,161.8,62.2,12.1,285,1893,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2005,1448,0,0,0,0,0,0
$GC,1928,0.58,161.8,57.5,10.4,292,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2063,2004,1448,0,0,0,0,0,0
$GC,1973,0.59,186.4,53.5,8.9,299,2002,0.00,1.75,20.08,0.753,4,0.000,0.050,2070,946,1353,0,0,0,0,0,0
$GC,2016,0.59,186.4,49.2,10.7,305,2023,0.00,1.65,0.00,0.000,6,0.000,0.037,2070,2004,1352,0,0,0,0,0,0
$GC,2059,0.59,186.4,44.2,11.5,312,2068,0.00,1.67,0.00,0.000,4,0.000,0.044,2069,3062,1351,0,0,0,0,0,0
$GC,2105,0.59,186.4,38.8,12.1,319,2114,0.00,1.73,0.00,0.000,6,0.000,0.044,2078,1997,1351,0,0,0,0,0,0
$GC,2152,0.59,186.4,33.4,11.5,326,2161,0.00,1.70,0.00,0.000,4,0.000,0.055,2085,948,1351,0,0,0,0,0,0
$GC,2211,0.59,186.4,25.5,13.7,335,2220,0.00,1.67,0.00,0.000,6,0.000,0.036,2085,2000,1350,0,0,0,0,0,0
$GC,2259,0.59,187.4,20.5,10.0,342,2268,0.00,1.75,0.00,0.000,4,0.000,0.053,2093,937,1350,0,0,0,0,0,0
$GC,2324,0.59,187.4,13.3,10.2,352,2333,0.00,1.70,0.00,0.000,6,0.000,0.037,2093,2007,1350,0,0,0,0,0,0
$GC,2371,0.59,198.7,8.6,9.5,359,2388,0.00,0.00,11.23,0.697,6,0.000,0.000,2093,2007,1300,0,0,0,0,0,0
$GC,2427,0.60,227.1,3.5,8.7,367,2436,0.00,0.00,7.78,0.088,2,0.000,0.000,2093,2007,1289,0,0,0,0,0,0
$STATE,2437,end climb,SURFACE_DEPTH_REACHED
$STATE,2437,begin surface coast
$FINISH,0.6,1.017598
$STATE,2481,end surface coast,CONTROL_FINISHED_OK
$STATE,2481,begin surface
$SM_CCo,2493,82.18,0.683,1,0,889,300.00
$SM_GC,1.50,0.00,0.00,82.18,0.000,0.000,0.683,108,2011,889,-5.55,-1.07,300.00
$IRIDIUM_FIX,4726.11,-12227.78,040512,141449
$TT8_MAMPS,0.025466
$HUMID,36.37
$INTERNAL_PRESSURE,9.01473
$TCM_TEMP,13.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,80.2,8.0
$24V_AH,24.1,5.469
$10V_AH,10.4,2.058
$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,13.075,43.950,289.700,82.175,0.000,108.310,120.147,215.741,5.000,0.000,32.219,839.848,347.473,491.921,1552.732,111.913,0.000,1027.017,0.000,1077.844,0.000,26.097,0.000
$DEVICE_MAMPS,253.980,55.080,839.970,683.145,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.781,163.562,811.553,128.733,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323240
$DATA_FILE_SIZE,23830,375
$CAP_FILE_SIZE,84556,0
$CFSIZE,260165632,239194112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040512,154537,4743.615,-12223.533,41,1.3,41,18.2