version: 66.08
glider: 158
mission: 9
dive: 4
start: 4 17 112 20 5 32
data:
$ID,158
$MISSION,9
$DIVE,4
$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,80
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51928
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,360
$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,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-718174.19
$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,1860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,33
$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,2150
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,20
$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
$GPS1,170412,200036,4743.273,-12224.783,34,1.4,34,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-59.5
$GPS2,170412,200508,4743.255,-12224.787,15,2.0,15,18.2
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,HEADING
$TGT_LATLONG,4754.054,-12224.787
$TGT_RADIUS,1852.000
$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,341.8,20000,-24.4,-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,-0.76,-78.2,0.0,0.0,0,91,0.00,0.00,-73.18,0.000,2,0.000,0.000,138,2144,2272,0,0,0,0,0,0
$GC,93,-0.76,-78.2,3.3,-5.5,9,112,6.07,2.22,-4.72,0.000,4,0.268,0.068,1619,756,2435,0,0,0,0,0,0
$GC,385,-0.76,-78.2,54.3,-16.0,56,394,0.00,2.25,0.00,0.000,6,0.000,0.050,1610,2146,2437,0,0,0,0,0,0
$GC,431,-0.76,-78.2,61.2,-15.9,63,438,0.00,2.25,0.00,0.000,4,0.000,0.060,1610,747,2437,0,0,0,0,0,0
$GC,481,-0.76,-78.2,70.2,-18.2,71,488,0.00,2.22,0.00,0.000,6,0.000,0.049,1599,2155,2437,0,0,0,0,0,0
$GC,524,-0.76,-78.2,78.1,-18.0,78,532,0.00,2.25,0.00,0.000,4,0.000,0.057,1589,3557,2437,0,0,0,0,0,0
$GC,562,-0.76,-78.2,84.7,-16.8,84,571,0.00,2.22,0.00,0.000,6,0.000,0.049,1589,2170,2437,0,0,0,0,0,0
$GC,611,-0.76,-78.2,92.5,-17.0,91,617,0.00,0.00,0.00,0.000,6,0.000,0.000,1589,2170,2437,0,0,0,0,0,0
$GC,653,-0.76,-78.2,100.4,-17.5,98,662,0.00,2.25,0.00,0.000,4,0.000,0.055,1578,3565,2437,0,0,0,0,0,0
$GC,688,-0.76,-78.2,106.1,-17.4,103,695,0.15,2.25,0.00,0.000,6,0.207,0.050,1615,2149,2437,0,0,0,0,0,0
$GC,731,-0.76,-78.2,113.6,-14.8,110,740,0.00,2.28,0.00,0.000,4,0.000,0.059,1615,733,2437,0,0,0,0,0,0
$GC,756,-0.76,-78.2,116.9,-16.0,113,762,0.00,2.22,0.00,0.000,6,0.000,0.047,1606,2151,2437,0,0,0,0,0,0
$GC,797,-0.76,-78.2,124.0,-15.6,120,806,0.00,0.00,0.00,0.000,6,0.000,0.000,1605,2152,2437,0,0,0,0,0,0
$GC,846,-0.76,-78.2,130.8,-15.9,127,853,0.00,2.25,0.00,0.000,4,0.000,0.055,1605,738,2437,0,0,0,0,0,0
$GC,861,-0.76,-78.2,133.6,-15.4,129,868,0.00,2.22,0.00,0.000,6,0.000,0.047,1595,2161,2437,0,0,0,0,0,0
$GC,905,-0.76,-78.2,140.2,-15.4,136,913,0.00,0.00,0.00,0.000,6,0.000,0.000,1595,2161,2437,0,0,0,0,0,0
$GC,951,-0.76,-78.2,147.0,-15.6,143,958,0.00,2.20,0.00,0.000,4,0.000,0.057,1584,3566,2436,0,0,0,0,0,0
$STATE,968,end dive,TARGET_DEPTH_EXCEEDED
$STATE,968,begin apogee
$GC,975,-0.15,0.0,150.3,16.2,146,1052,0.77,0.00,68.47,0.878,6,0.186,0.000,1814,1991,2113,0,0,0,0,0,0
$STATE,1052,end apogee,CONTROL_FINISHED_OK
$STATE,1053,begin climb
$GC,1054,0.76,78.2,155.2,0.0,157,1130,0.88,2.40,67.12,0.852,4,0.109,0.054,2106,3409,1791,0,0,0,0,0,0
$GC,1143,0.77,92.5,150.4,8.8,170,1166,0.00,2.42,13.18,0.778,6,0.000,0.062,2116,2009,1732,0,0,0,0,0,0
$GC,1204,0.77,92.5,142.3,14.7,179,1210,0.00,2.42,0.00,0.000,4,0.000,0.073,2127,584,1730,0,0,0,0,0,0
$GC,1222,0.77,92.5,139.0,16.2,182,1231,0.00,2.35,0.00,0.000,6,0.000,0.049,2127,1992,1729,0,0,0,0,0,0
$GC,1269,0.77,92.5,131.8,15.7,189,1275,0.00,2.38,0.00,0.000,4,0.000,0.070,2138,573,1729,0,0,0,0,0,0
$GC,1283,0.77,92.5,129.4,16.2,191,1291,0.15,2.35,0.00,0.000,6,0.236,0.053,2105,2016,1728,0,0,0,0,0,0
$GC,1327,0.77,92.5,122.8,14.0,198,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2016,1728,0,0,0,0,0,0
$GC,1372,0.77,92.5,117.1,12.6,205,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,2016,1727,0,0,0,0,0,0
$GC,1413,0.77,92.5,111.7,12.5,212,1422,0.00,2.30,0.00,0.000,4,0.000,0.062,2105,3408,1727,0,0,0,0,0,0
$GC,1428,0.77,92.5,109.8,13.0,214,1437,0.00,2.38,0.00,0.000,6,0.000,0.062,2115,1989,1727,0,0,0,0,0,0
$GC,1474,0.77,92.5,103.9,13.0,221,1481,0.00,2.33,0.00,0.000,4,0.000,0.068,2126,576,1727,0,0,0,0,0,0
$GC,1501,0.77,92.5,100.4,13.2,225,1507,0.00,2.30,0.00,0.000,6,0.000,0.050,2125,2000,1727,0,0,0,0,0,0
$GC,1545,0.77,92.5,94.7,13.0,232,1553,0.00,2.33,0.00,0.000,4,0.000,0.060,2125,3408,1727,0,0,0,0,0,0
$GC,1579,0.77,92.5,89.9,14.5,237,1586,0.00,2.30,0.00,0.000,6,0.000,0.059,2136,1990,1727,0,0,0,0,0,0
$GC,1622,0.77,92.5,83.8,13.5,244,1631,0.00,2.33,0.00,0.000,4,0.000,0.057,2136,3411,1727,0,0,0,0,0,0
$GC,1656,0.77,92.5,79.1,14.9,249,1664,0.17,2.28,0.00,0.000,6,0.246,0.057,2107,2001,1727,0,0,0,0,0,0
$GC,1701,0.77,92.5,73.6,11.4,256,1710,0.00,2.30,0.00,0.000,4,0.000,0.057,2107,3409,1727,0,0,0,0,0,0
$GC,1716,0.77,92.5,71.8,10.8,258,1724,0.00,2.33,0.00,0.000,6,0.000,0.059,2116,1998,1727,0,0,0,0,0,0
$GC,1762,0.77,92.5,66.8,11.0,265,1768,0.00,2.28,0.00,0.000,4,0.000,0.067,2127,585,1726,0,0,0,0,0,0
$GC,1776,0.77,92.5,65.2,11.0,267,1783,0.00,2.28,0.00,0.000,6,0.000,0.050,2127,2002,1726,0,0,0,0,0,0
$GC,1819,0.77,92.5,60.0,11.5,274,1827,0.00,0.00,0.00,0.000,6,0.000,0.000,2127,2003,1726,0,0,0,0,0,0
$GC,1864,0.77,92.5,55.0,11.5,281,1871,0.00,2.25,0.00,0.000,4,0.000,0.060,2127,3408,1726,0,0,0,0,0,0
$GC,1894,0.77,92.5,51.3,12.0,286,1904,0.12,2.33,0.00,0.000,6,0.235,0.059,2105,1992,1726,0,0,0,0,0,0
$GC,1942,0.77,96.7,46.8,9.6,293,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2105,1992,1726,0,0,0,0,0,0
$GC,1985,0.77,106.9,43.1,9.1,300,2008,0.00,2.35,11.73,0.754,4,0.000,0.057,2105,3413,1676,0,0,0,0,0,0
$GC,2029,0.77,106.9,38.7,10.9,306,2037,0.00,2.35,0.00,0.000,6,0.000,0.060,2114,1993,1675,0,0,0,0,0,0
$GC,2077,0.77,106.9,33.2,11.7,313,2086,0.00,2.33,0.00,0.000,4,0.000,0.068,2125,583,1675,0,0,0,0,0,0
$GC,2204,0.77,106.9,17.0,12.6,333,2214,0.00,2.30,0.00,0.000,6,0.000,0.050,2125,2003,1674,0,0,0,0,0,0
$GC,2252,0.77,106.9,10.3,13.3,340,2262,0.00,2.28,0.00,0.000,4,0.000,0.059,2125,3409,1673,0,0,0,0,0,0
$GC,2282,0.77,106.9,6.3,14.2,344,2291,0.00,2.33,0.00,0.000,6,0.000,0.060,2135,1993,1673,0,0,0,0,0,0
$STATE,2310,end climb,SURFACE_DEPTH_REACHED
$STATE,2310,begin surface coast
$FINISH,0.4,1.010470
$STATE,2336,end surface coast,CONTROL_FINISHED_OK
$STATE,2336,begin surface
$SM_CCo,2350,152.65,0.747,1,0,889,300.00
$SM_GC,1.04,0.00,0.00,152.65,0.000,0.000,0.747,111,2160,889,-5.47,0.28,300.00
$IRIDIUM_FIX,4726.11,-12223.37,170412,191927
$TT8_MAMPS,0.026964
$HUMID,30.27
$INTERNAL_PRESSURE,8.85848
$TCM_TEMP,13.30
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,130.8,64.5
$24V_AH,24.0,0.585
$10V_AH,10.4,0.304
$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,13.775,92.400,160.500,152.650,0.000,0.000,0.000,0.000,2.500,0.000,16.556,826.889,155.582,494.947,987.951,118.219,0.000,970.891,0.000,1033.145,0.000,11.827,0.000
$DEVICE_MAMPS,267.750,72.675,878.220,747.405,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.501,157.714,759.810,123.383,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323468
$DATA_FILE_SIZE,23687,352
$CAP_FILE_SIZE,87872,0
$CFSIZE,260165632,238309376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170412,204808,4743.271,-12224.978,13,1.7,13,18.2