version: 66.04
glider: 158
mission: 1
dive: 9
start: 8 16 108 2 27 19
data:
$ID,158
$MISSION,1
$DIVE,9
$D_SURF,4
$D_FLARE,3
$D_TGT,140
$D_ABORT,1090
$D_NO_BLEED,80
$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,67
$T_MISSION,72
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51600
$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,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-9584.9023
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4014
$C_PITCH,2120
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,0.5
$ROLL_MIN,225
$ROLL_MAX,3911
$ROLL_DEG,40
$C_ROLL_DIVE,2142
$C_ROLL_CLIMB,2142
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,3499
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.617783
$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,70
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,103
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043197535
$SEABIRD_T_H,0.0006381399
$SEABIRD_T_I,2.5446814e-05
$SEABIRD_T_J,2.8593313e-06
$SEABIRD_C_G,-10.195082
$SEABIRD_C_H,1.1596043
$SEABIRD_C_I,-0.0010232648
$SEABIRD_C_J,0.00017862333
$GPS1,022004,4806.408,-12222.305,11,1.6,11,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-75.4
$GPS2,022640,4806.379,-12222.312,12,1.7,12,18.3
$SPEED_LIMITS,0.121,0.174
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.082,-0.153
$KALMAN_X,-883.5,-148.1,-41.4,1947.0,-15.7
$KALMAN_Y,1200.8,205.0,60.0,-2769.2,39.1
$MHEAD_RNG_PITCHd_Wd,133.5,801,-17.7,-6.965
$D_GRID,107
$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
$STATE,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.65,-78.2,0.0,0.0,0,64,0.00,0.00,-51.10,0.000,2,0.000,0.000,46,2137,2431
$GC,66,-0.65,-78.2,3.1,-2.2,8,131,7.68,2.28,-53.17,0.000,4,0.266,0.062,1905,728,3819
$GC,380,-0.23,-78.2,34.2,-13.0,75,386,0.45,2.25,0.00,0.000,6,0.166,0.044,2048,2145,3821
$GC,452,-0.39,-78.2,38.5,-4.4,91,458,0.17,2.25,0.00,0.000,4,0.056,0.047,1966,729,3821
$GC,510,-0.18,-78.2,44.0,-10.3,104,516,0.32,2.22,0.00,0.000,6,0.144,0.044,2064,2138,3821
$GC,647,-0.45,-78.2,49.6,-3.9,135,653,0.25,0.00,0.00,0.000,6,0.046,0.000,1945,2138,3821
$GC,783,-0.16,-78.2,65.0,-12.7,166,789,0.40,0.00,0.00,0.000,6,0.160,0.000,2061,2138,3822
$GC,921,-0.43,-78.2,71.1,-3.7,197,926,0.22,0.00,0.00,0.000,6,0.049,0.000,1949,2138,3821
$GC,1057,-0.17,-78.2,85.7,-12.4,228,1063,0.38,2.20,0.00,0.000,4,0.158,0.050,2057,3564,3821
$GC,1098,-0.33,-78.2,88.5,-6.3,237,1104,0.15,2.15,0.00,0.000,6,0.067,0.038,1985,2138,3822
$GC,1235,-0.23,-78.2,99.9,-8.7,268,1241,0.22,0.00,0.00,0.000,6,0.143,0.000,2043,2138,3821
$GC,1373,-0.46,-78.2,106.1,-4.3,299,1378,0.20,0.00,0.00,0.000,6,0.051,0.000,1949,2138,3821
$STATE,1390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1390,begin apogee
$GC,1393,-0.16,0.0,107.4,5.2,303,1453,0.40,0.00,57.90,0.729,6,0.157,0.000,2065,2139,3499
$STATE,1454,end apogee,CONTROL_FINISHED_OK
$STATE,1454,begin climb
$GC,1455,0.65,78.2,109.9,0.0,313,1520,0.75,2.28,58.58,0.704,4,0.097,0.048,2336,740,3179
$GC,1542,0.25,78.2,105.1,7.5,329,1548,0.50,2.28,0.00,0.000,6,0.196,0.043,2203,2145,3179
$GC,1678,0.40,119.4,98.5,4.5,360,1714,0.17,2.28,31.23,0.697,4,0.066,0.048,2270,3550,3012
$GC,1775,0.22,119.4,89.5,10.9,380,1781,0.28,2.22,0.00,0.000,6,0.169,0.040,2192,2153,3011
$GC,1912,0.49,158.1,82.0,4.6,411,1948,0.22,2.28,29.75,0.693,4,0.054,0.050,2300,732,2853
$GC,1966,0.35,158.1,76.9,10.3,421,1971,0.28,2.28,0.00,0.000,6,0.168,0.044,2231,2148,2852
$GC,2102,0.45,158.1,65.4,8.0,452,2108,0.12,2.25,0.00,0.000,4,0.076,0.049,2280,3547,2852
$GC,2143,0.37,158.1,60.8,11.3,461,2149,0.22,2.20,0.00,0.000,6,0.166,0.041,2236,2134,2852
$GC,2279,0.46,158.1,49.7,7.6,492,2285,0.00,2.22,0.00,0.000,4,0.000,0.052,2237,739,2851
$GC,2306,0.56,158.7,47.8,6.9,498,2313,0.15,2.25,0.00,0.000,6,0.053,0.045,2313,2145,2851
$GC,2444,0.33,158.7,30.2,14.2,529,2450,0.30,2.22,0.00,0.000,4,0.169,0.048,2223,3551,2851
$GC,2481,0.33,158.7,26.2,10.4,537,2487,0.00,2.20,0.00,0.000,6,0.000,0.041,2225,2141,2851
$GC,2553,0.48,161.9,21.3,6.8,553,2561,0.15,2.28,4.12,0.488,4,0.067,0.050,2303,725,2838
$GC,2587,0.48,161.9,18.0,8.8,560,2594,0.00,2.25,0.00,0.000,6,0.000,0.044,2303,2142,2837
$GC,2659,0.32,161.9,10.0,11.2,576,2666,0.28,2.22,0.00,0.000,4,0.168,0.048,2221,3552,2837
$GC,2688,0.34,161.9,7.6,9.2,582,2694,0.00,2.20,0.00,0.000,6,0.000,0.041,2222,2139,2837
$GC,2760,0.71,228.2,4.8,3.0,598,2781,0.32,0.00,19.35,0.670,2,0.047,0.000,2374,2139,2733
$STATE,2782,end climb,SURFACE_DEPTH_REACHED
$STATE,2782,begin surface coast
$FINISH,3.0,1.019164
$STATE,2933,end surface coast,CONTROL_FINISHED_OK
$STATE,2933,begin surface
$SM_CCo,2944,218.45,0.653,0,0,1255,550.21
$SM_GC,2.06,0.00,0.00,218.45,0.000,0.000,0.653,45,2138,1255,-6.49,-0.11,550.21
$IRIDIUM_FIX,4748.51,-12226.29,101197,010128
$TT8_MAMPS,0.050622
$HUMID,2145
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.3,35.3
$24V_AH,24.2,1.194
$10V_AH,10.6,0.657
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.225,49.250,200.925,218.450,0.000,23.106,29.286,266.711,1.500,0.000,0.000,13.036,0.000,1031.374,510.165,1598.015,415.564,33.337,1061.955,0.000,1380.363,0.000,11.425,0.000
$DEVICE_MAMPS,266.149,62.127,729.417,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,437.274,302.118,984.304,252.158,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34820,636
$CAP_FILE_SIZE,70496,0
$CFSIZE,260165632,257523712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,160808,032048,4806.150,-12222.059,9,2.9,28,18.3