version: 66.04
glider: 158
mission: 1
dive: 10
start: 8 16 108 3 39 27
data:
$ID,158
$MISSION,1
$DIVE,10
$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,-9618.418
$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
$GPS1,032048,4806.150,-12222.059,9,2.9,28,18.3
$_CALLS,4
$_XMS_NAKs,33
$_XMS_TOUTs,1
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-73.6
$GPS2,033847,4806.095,-12222.015,12,99.0,31,18.3
$SPEED_LIMITS,0.121,0.174
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.107,0.137
$KALMAN_X,-816.1,-163.9,10.4,2208.6,49.5
$KALMAN_Y,1209.5,207.3,1.2,-3246.7,-16.6
$MHEAD_RNG_PITCHd_Wd,303.6,4298,-17.7,-6.965
$D_GRID,108
$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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.65,-78.2,0.0,0.0,0,97,0.00,0.00,-83.22,0.000,2,0.000,0.000,45,2139,3249
$GC,99,-0.65,-78.2,3.3,-2.5,13,131,7.55,0.00,-18.80,0.000,6,0.262,0.000,1901,2137,3817
$GC,197,-0.19,-78.2,10.8,-10.3,33,203,0.50,2.17,0.00,0.000,4,0.176,0.047,2057,735,3818
$GC,239,-0.21,-78.2,13.5,-5.9,42,245,0.00,2.22,0.00,0.000,6,0.000,0.044,2056,2135,3818
$GC,311,-0.35,-78.2,16.3,-3.8,58,317,0.15,0.00,0.00,0.000,6,0.060,0.000,1981,2135,3818
$GC,382,-0.15,-78.2,21.5,-8.0,74,389,0.30,0.00,0.00,0.000,6,0.150,0.000,2066,2135,3818
$GC,455,-0.40,-78.2,24.6,-3.4,90,461,0.22,2.25,0.00,0.000,4,0.047,0.048,1954,3558,3819
$GC,479,-0.46,-78.2,26.4,-5.2,95,485,0.00,2.17,0.00,0.000,6,0.000,0.037,1953,2147,3818
$GC,551,-0.18,-78.2,34.1,-11.4,111,557,0.35,0.00,0.00,0.000,6,0.160,0.000,2054,2146,3818
$GC,622,-0.40,-78.2,38.3,-4.4,127,629,0.17,0.00,0.00,0.000,6,0.054,0.000,1969,2146,3818
$GC,694,-0.19,-78.2,44.8,-10.1,143,699,0.30,0.00,0.00,0.000,6,0.151,0.000,2056,2146,3819
$GC,830,-0.43,-78.2,51.5,-4.5,174,837,0.20,2.22,0.00,0.000,4,0.050,0.049,1954,3548,3818
$GC,858,-0.46,-78.2,53.7,-6.7,180,864,0.00,2.15,0.00,0.000,6,0.000,0.038,1953,2144,3819
$GC,996,-0.21,-78.2,70.2,-12.6,211,1001,0.32,0.00,0.00,0.000,6,0.157,0.000,2047,2144,3818
$GC,1132,-0.42,-78.2,77.8,-4.8,242,1138,0.17,0.00,0.00,0.000,6,0.054,0.000,1963,2144,3818
$GC,1269,-0.23,-78.2,91.2,-10.6,273,1275,0.28,2.20,0.00,0.000,4,0.153,0.050,2041,3554,3818
$GC,1306,-0.32,-78.2,93.7,-7.0,281,1311,0.00,2.12,0.00,0.000,6,0.000,0.038,2041,2140,3818
$GC,1442,-0.48,-78.2,100.3,-4.8,312,1448,0.20,2.17,0.00,0.000,4,0.052,0.048,1938,744,3818
$GC,1469,-0.43,-78.2,102.8,-7.5,318,1476,0.17,2.17,0.00,0.000,6,0.165,0.044,1974,2137,3818
$STATE,1527,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1527,begin apogee
$GC,1530,-0.16,0.0,108.2,9.1,331,1590,0.28,0.00,57.03,0.732,6,0.143,0.000,2065,2136,3499
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1592,0.65,78.2,110.7,0.0,341,1657,0.75,0.00,58.58,0.704,6,0.095,0.000,2328,2136,3179
$GC,1786,0.28,78.2,94.2,10.7,382,1793,0.45,0.00,0.00,0.000,6,0.183,0.000,2212,2137,3178
$GC,1924,0.41,117.4,86.9,4.6,413,1960,0.15,0.00,29.85,0.696,6,0.069,0.000,2270,2137,3019
$GC,2091,0.29,117.4,72.4,9.2,449,2096,0.20,2.25,0.00,0.000,4,0.164,0.048,2214,3558,3018
$GC,2144,0.40,117.4,68.4,7.2,461,2149,0.00,2.20,0.00,0.000,6,0.000,0.040,2216,2141,3017
$GC,2280,0.51,132.8,60.1,6.0,492,2298,0.17,0.00,12.50,0.662,6,0.064,0.000,2298,2141,2956
$GC,2429,0.31,132.8,43.6,11.9,525,2435,0.28,2.25,0.00,0.000,4,0.173,0.048,2218,3557,2955
$GC,2452,0.21,132.8,41.3,10.8,530,2458,0.10,2.20,0.00,0.000,6,0.144,0.041,2191,2150,2955
$GC,2590,0.54,178.0,35.0,4.2,561,2629,0.28,0.00,33.70,0.687,6,0.050,0.000,2310,2150,2772
$GC,2694,0.36,178.0,23.2,13.6,582,2701,0.25,0.00,0.00,0.000,6,0.167,0.000,2243,2150,2770
$GC,2766,0.49,178.0,16.9,7.4,598,2773,0.15,0.00,0.00,0.000,6,0.068,0.000,2302,2150,2770
$GC,2838,0.37,178.0,9.1,11.5,614,2845,0.22,2.25,0.00,0.000,4,0.162,0.051,2243,741,2770
$GC,2849,0.27,178.0,8.0,11.0,616,2856,0.12,2.22,0.00,0.000,6,0.131,0.044,2207,2138,2769
$GC,2922,0.77,242.6,5.2,3.1,632,2949,0.43,0.00,25.02,0.667,2,0.050,0.000,2381,2138,2634
$STATE,2949,end climb,SURFACE_DEPTH_REACHED
$STATE,2949,begin surface coast
$FINISH,2.8,1.019361
$STATE,3053,end surface coast,CONTROL_FINISHED_OK
$STATE,3054,begin surface
$SM_CCo,3065,197.75,0.654,0,0,1255,550.21
$SM_GC,2.05,0.00,0.00,197.75,0.000,0.000,0.654,49,2138,1255,-6.47,-0.11,550.21
$IRIDIUM_FIX,4748.51,-12224.57,101197,030315
$TT8_MAMPS,0.051389
$HUMID,2092
$INTERNAL_PRESSURE,7.71514
$TCM_TEMP,16.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,47.4
$24V_AH,24.2,1.316
$10V_AH,10.6,0.736
$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,21.400,35.250,216.675,197.750,0.000,103.622,209.532,480.930,1.000,0.000,0.000,32.888,0.000,1230.656,509.021,1691.981,906.531,33.324,1097.165,0.000,1450.453,0.000,7.061,0.000
$DEVICE_MAMPS,262.314,50.622,732.485,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,457.106,328.012,1057.415,268.634,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34795,660
$CAP_FILE_SIZE,82012,0
$CFSIZE,260165632,257470464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,160808,043438,4806.259,-12222.216,32,1.3,32,18.3