version: 66.08
glider: 158
mission: 9
dive: 3
start: 4 17 112 18 50 28
data:
$ID,158
$MISSION,9
$DIVE,3
$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,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,-718103.25
$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,28
$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,-37.3857
$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,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
$GPS1,170412,184307,4743.336,-12224.435,8,1.5,13,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-60.3
$GPS2,170412,184932,4743.351,-12224.400,14,1.6,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.163,0.202
$KALMAN_X,172.0,91.8,90.1,-43.9,162.8
$KALMAN_Y,76.3,43.6,42.9,481.7,73.0
$MHEAD_RNG_PITCHd_Wd,302.8,1132,-17.5,-10.000
$D_GRID,175
$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,16,-0.67,-146.6,0.0,0.0,0,99,0.00,0.00,-80.72,0.000,2,0.000,0.000,139,2056,2480,0,0,0,0,0,0
$GC,101,-0.67,-146.6,3.5,-6.3,10,120,6.07,2.28,-5.80,0.000,4,0.267,0.070,1632,622,2712,0,0,0,0,0,0
$GC,311,-0.67,-146.6,44.9,-18.4,43,318,0.00,2.28,0.00,0.000,6,0.000,0.052,1622,2049,2714,0,0,0,0,0,0
$GC,459,-0.67,-146.6,71.3,-16.7,68,467,0.00,2.28,0.00,0.000,4,0.000,0.060,1612,3462,2714,0,0,0,0,0,0
$GC,529,-0.67,-146.6,82.6,-16.6,79,536,0.00,2.25,0.00,0.000,6,0.000,0.054,1612,2038,2714,0,0,0,0,0,0
$GC,678,-0.67,-146.6,112.1,-20.2,104,686,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2038,2714,0,0,0,0,0,0
$GC,833,-0.67,-146.6,139.3,-18.2,129,839,0.00,0.00,0.00,0.000,6,0.000,0.000,1612,2038,2714,0,0,0,0,0,0
$STATE,896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,896,begin apogee
$GC,901,-0.18,0.0,151.0,17.1,140,1033,0.57,0.00,122.75,0.877,6,0.179,0.000,1786,1937,2112,0,0,0,0,0,0
$STATE,1034,end apogee,CONTROL_FINISHED_OK
$STATE,1034,begin climb
$GC,1036,0.67,146.6,158.5,0.0,159,1159,0.85,0.00,117.30,0.847,6,0.119,0.000,2058,1937,1514,0,0,0,0,0,0
$GC,1303,0.67,146.6,133.1,13.3,201,1309,0.00,0.00,0.00,0.000,6,0.000,0.000,2058,1937,1509,0,0,0,0,0,0
$GC,1449,0.67,146.6,114.0,11.7,226,1458,0.00,2.28,0.00,0.000,4,0.000,0.064,2069,556,1508,0,0,0,0,0,0
$GC,1507,0.67,146.6,107.3,13.0,235,1514,0.00,2.25,0.00,0.000,6,0.000,0.050,2069,1954,1508,0,0,0,0,0,0
$GC,1656,0.67,146.6,87.4,14.2,260,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1955,1507,0,0,0,0,0,0
$GC,1806,0.67,146.6,66.2,14.6,285,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1955,1507,0,0,0,0,0,0
$GC,1953,0.67,146.6,47.1,11.1,310,1961,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1955,1507,0,0,0,0,0,0
$GC,2107,0.67,146.6,31.0,10.6,335,2116,0.00,0.00,0.00,0.000,6,0.000,0.000,2068,1955,1507,0,0,0,0,0,0
$GC,2192,0.67,146.6,22.0,10.5,348,2200,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1955,1507,0,0,0,0,0,0
$GC,2276,0.67,146.6,12.3,11.7,361,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,2069,1955,1507,0,0,0,0,0,0
$STATE,2352,end climb,SURFACE_DEPTH_REACHED
$STATE,2352,begin surface coast
$FINISH,0.5,1.008743
$STATE,2378,end surface coast,CONTROL_FINISHED_OK
$STATE,2378,begin surface
$SM_CCo,2391,162.45,0.741,1,0,685,350.04
$SM_GC,1.09,0.00,0.00,162.45,0.000,0.000,0.741,115,2072,685,-5.40,0.62,350.04
$IRIDIUM_FIX,4726.11,-12220.67,170412,181825
$TT8_MAMPS,0.026215
$HUMID,31.17
$INTERNAL_PRESSURE,8.85848
$TCM_TEMP,13.40
$XPDR_PINGS,25
$ALTIM_BOTTOM_PING,130.5,57.6
$24V_AH,24.0,0.458
$10V_AH,10.4,0.234
$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,12.675,13.875,240.050,162.450,0.000,0.000,0.000,0.000,7.750,0.000,15.254,824.034,221.425,435.666,1053.839,99.255,31.418,848.875,0.000,1104.698,0.000,12.647,0.000
$DEVICE_MAMPS,266.985,94.860,877.455,740.520,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.713,180.727,807.965,135.346,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323332
$DATA_FILE_SIZE,27070,377
$CAP_FILE_SIZE,70274,0
$CFSIZE,260165632,238362624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,170412,193416,4743.399,-12224.804,13,2.8,32,18.2