version: 66.08
glider: 158
mission: 9
dive: 2
start: 4 17 112 17 47 26
data:
$ID,158
$MISSION,9
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,30
$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,15
$T_MISSION,25
$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,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51928
$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,3200
$TGT_DEFAULT_LON,-7306
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-718038.44
$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,1845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,28
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3794
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,1950
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,10
$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,0.0012300001
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-37.3857
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$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
$GPS1,170412,173508,4743.093,-12224.689,11,1.5,11,18.2
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-61.2
$GPS2,170412,174631,4743.157,-12224.620,12,1.4,17,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.080,0.247
$KALMAN_X,16.6,16.6,16.6,-8.7,31.7
$KALMAN_Y,13.3,13.3,13.3,245.9,25.3
$MHEAD_RNG_PITCHd_Wd,323.9,1394,-17.5,-10.000
$D_GRID,177
$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,-146.6,0.0,0.0,0,98,0.00,0.00,-81.35,0.000,2,0.000,0.000,107,2076,2519,0,0,0,0,0,0
$GC,101,-0.80,-146.6,3.2,-4.6,10,119,5.90,2.30,-5.03,0.000,4,0.258,0.067,1591,634,2712,0,0,0,0,0,0
$STATE,289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,289,begin apogee
$GC,296,-0.18,0.0,45.2,23.2,40,426,0.68,0.00,120.95,0.798,6,0.181,0.000,1785,1947,2111,0,0,0,0,0,0
$STATE,428,end apogee,CONTROL_FINISHED_OK
$STATE,428,begin climb
$GC,430,0.80,146.6,56.5,0.0,59,552,0.98,0.00,115.65,0.783,6,0.117,0.000,2101,1947,1513,0,0,0,0,0,0
$GC,698,0.80,146.6,28.9,13.6,101,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1948,1508,0,0,0,0,0,0
$GC,783,0.80,146.6,17.7,13.2,114,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2101,1948,1508,0,0,0,0,0,0
$GC,866,0.80,146.6,6.6,12.5,127,875,0.00,2.33,0.00,0.000,4,0.000,0.064,2112,542,1508,0,0,0,0,0,0
$STATE,894,end climb,SURFACE_DEPTH_REACHED
$STATE,894,begin surface coast
$FINISH,0.3,1.009776
$STATE,920,end surface coast,CONTROL_FINISHED_OK
$STATE,920,begin surface
$SM_CCo,935,143.02,0.717,1,0,685,350.04
$SM_GC,0.84,0.00,0.00,143.02,0.000,0.000,0.717,107,2056,685,-5.43,0.17,350.04
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.026215
$HUMID,30.03
$INTERNAL_PRESSURE,8.88778
$TCM_TEMP,13.60
$XPDR_PINGS,8
$24V_AH,24.2,0.303
$10V_AH,10.4,0.159
$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,12.950,9.200,236.600,143.025,0.000,405.317,0.000,20.417,2.000,0.000,18.235,279.540,194.030,376.213,862.935,75.803,30.181,622.243,0.000,467.105,0.000,0.996,0.000
$DEVICE_MAMPS,257.805,67.320,797.895,716.805,0.000,103.000,0.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,101.042,78.045,375.067,57.290,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323452
$DATA_FILE_SIZE,7015,135
$CAP_FILE_SIZE,22355,0
$CFSIZE,260165632,238428160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170412,180614,4743.216,-12224.669,9,1.5,9,18.2