version: 66.04
glider: 158
mission: 1
dive: 14
start: 8 16 108 7 52 16
data:
$ID,158
$MISSION,1
$DIVE,14
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,500
$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,-9713.8428
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4014
$C_PITCH,2125
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$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,35
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$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
$GPS1,074459,4806.381,-12222.419,9,2.7,28,18.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-77.9
$GPS2,075137,4806.368,-12222.421,13,1.7,29,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.113,0.195
$KALMAN_X,-772.6,-26.0,109.4,1427.1,4.0
$KALMAN_Y,918.8,57.4,-130.8,-2169.1,-70.0
$MHEAD_RNG_PITCHd_Wd,311.8,3599,-20.6,-10.000
$D_GRID,150
$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,-0.68,-107.5,0.0,0.0,0,83,0.00,0.00,-69.97,0.000,2,0.000,0.000,46,2136,3015
$GC,85,-0.68,-107.5,3.1,-2.2,11,136,7.65,2.25,-36.45,0.000,4,0.266,0.064,1905,736,3939
$GC,141,-0.30,-107.5,5.1,-5.7,20,147,0.40,2.25,0.00,0.000,6,0.171,0.046,2028,2135,3939
$GC,213,-0.46,-107.5,10.0,-5.6,36,220,0.17,2.28,0.00,0.000,4,0.059,0.048,1944,3558,3940
$GC,251,-0.32,-107.5,13.5,-10.9,44,257,0.25,2.22,0.00,0.000,6,0.160,0.038,2026,2131,3941
$GC,323,-0.44,-107.5,18.7,-6.4,60,329,0.17,0.00,0.00,0.000,6,0.061,0.000,1958,2131,3940
$GC,395,-0.30,-107.5,26.7,-12.2,76,401,0.25,0.00,0.00,0.000,6,0.163,0.000,2024,2131,3941
$GC,467,-0.45,-107.5,32.3,-6.5,92,473,0.17,0.00,0.00,0.000,6,0.061,0.000,1948,2131,3941
$GC,537,-0.29,-107.5,40.9,-13.5,108,544,0.32,0.00,0.00,0.000,6,0.163,0.000,2034,2131,3941
$GC,675,-0.50,-107.5,49.5,-5.3,139,681,0.20,2.25,0.00,0.000,4,0.054,0.050,1935,3558,3941
$GC,712,-0.40,-107.5,53.1,-11.9,147,717,0.25,2.15,0.00,0.000,6,0.159,0.039,1998,2147,3941
$GC,848,-0.47,-107.5,65.3,-8.9,178,854,0.00,0.00,0.00,0.000,6,0.000,0.000,1998,2147,3941
$GC,985,-0.55,-107.5,76.5,-8.0,209,990,0.17,2.22,0.00,0.000,4,0.063,0.049,1910,3564,3941
$GC,1004,-0.55,-107.5,78.6,-9.9,213,1009,0.17,2.17,0.00,0.000,6,0.174,0.039,1948,2130,3941
$GC,1140,-0.46,-107.5,96.2,-12.4,244,1146,0.00,0.00,0.00,0.000,6,0.000,0.000,1948,2130,3941
$GC,1277,-0.38,-107.5,112.6,-12.2,275,1283,0.17,2.22,0.00,0.000,4,0.163,0.049,2004,3555,3941
$GC,1305,-0.44,-107.5,115.4,-9.9,281,1310,0.00,2.15,0.00,0.000,6,0.000,0.038,2004,2133,3941
$STATE,1313,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1313,begin apogee
$GC,1317,-0.13,0.0,116.0,8.1,283,1400,0.25,0.00,79.53,0.739,6,0.128,0.000,2079,2133,3499
$STATE,1400,end apogee,CONTROL_FINISHED_OK
$STATE,1401,begin climb
$GC,1402,0.68,107.5,118.5,0.0,297,1489,0.75,0.00,80.95,0.713,6,0.087,0.000,2342,2132,3060
$GC,1619,0.43,107.5,94.6,14.2,342,1626,0.32,2.30,0.00,0.000,4,0.189,0.047,2261,3548,3059
$GC,1661,0.39,107.5,89.7,10.9,351,1667,0.00,2.20,0.00,0.000,6,0.000,0.039,2262,2145,3058
$GC,1797,0.42,134.5,77.9,8.3,382,1821,0.00,0.00,21.00,0.686,6,0.000,0.000,2262,2145,2950
$GC,1951,0.43,140.4,63.8,9.6,416,1958,0.00,0.00,5.97,0.568,6,0.000,0.000,2262,2145,2925
$GC,2089,0.45,153.1,50.8,9.2,447,2107,0.00,2.28,10.93,0.648,4,0.000,0.050,2262,3548,2874
$GC,2120,0.45,153.7,47.6,10.0,453,2126,0.00,2.20,0.00,0.000,6,0.000,0.041,2273,2140,2874
$GC,2256,0.45,153.7,33.4,10.5,484,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2139,2873
$GC,2328,0.45,153.7,26.2,10.3,500,2334,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2140,2873
$GC,2400,0.47,153.9,19.2,10.0,516,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2273,2139,2873
$GC,2471,0.52,167.4,12.5,9.2,532,2485,0.00,0.00,11.65,0.650,6,0.000,0.000,2273,2139,2816
$GC,2550,0.67,197.2,5.8,8.1,549,2577,0.17,2.33,22.60,0.663,4,0.066,0.050,2353,3556,2694
$STATE,2581,end climb,SURFACE_DEPTH_REACHED
$STATE,2581,begin surface coast
$FINISH,3.2,1.017824
$STATE,2629,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2644,196.65,0.651,0,0,1459,500.17
$SM_GC,2.09,0.00,0.00,196.65,0.000,0.000,0.651,49,2129,1459,-6.49,-0.37,500.17
$IRIDIUM_FIX,4748.51,-12224.57,101197,060647
$TT8_MAMPS,0.051389
$HUMID,2043
$INTERNAL_PRESSURE,7.71514
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,45.5
$24V_AH,24.1,1.752
$10V_AH,10.6,1.007
$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,18.900,35.750,232.625,196.650,0.000,22.651,28.289,254.635,0.750,0.000,0.000,29.506,0.000,888.659,507.807,1442.742,395.913,33.320,1028.612,0.000,1231.252,0.000,5.530,0.000
$DEVICE_MAMPS,266.149,63.661,739.388,651.183,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,390.152,274.184,882.397,222.754,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28528,565
$CAP_FILE_SIZE,64489,0
$CFSIZE,260165632,257339392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,160808,084023,4806.597,-12222.635,10,2.5,29,18.3