version: 66.04
glider: 158
mission: 1
dive: 17
start: 8 16 108 10 35 54
data:
$ID,158
$MISSION,1
$DIVE,17
$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,70
$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,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,-9757.4746
$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,33
$ROLL_AD_RATE,350
$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,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
$GPS1,102932,4806.876,-12222.878,8,1.2,13,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-78.6
$GPS2,103515,4806.841,-12222.836,15,1.2,15,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.127,0.187
$KALMAN_X,-499.7,92.5,21.0,611.9,43.7
$KALMAN_Y,567.6,-143.9,-80.1,-792.2,-60.9
$MHEAD_RNG_PITCHd_Wd,307.6,2585,-20.6,-10.000
$D_GRID,103
$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,-0.68,-107.5,0.0,0.0,0,84,0.00,0.00,-70.25,0.000,2,0.000,0.000,45,2133,3062
$GC,86,-0.68,-107.5,3.2,-2.0,11,130,7.70,0.00,-31.70,0.000,6,0.267,0.000,1901,2134,3938
$GC,196,-0.40,-107.5,12.8,-13.2,33,202,0.30,0.00,0.00,0.000,6,0.186,0.000,1989,2134,3940
$GC,268,-0.40,-107.5,19.5,-8.0,49,274,0.00,2.30,0.00,0.000,4,0.000,0.052,1981,3553,3940
$GC,301,-0.40,-107.5,22.2,-8.8,56,307,0.00,2.22,0.00,0.000,6,0.000,0.038,1982,2139,3941
$GC,373,-0.37,-107.5,28.4,-9.0,72,379,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2139,3941
$GC,444,-0.37,-107.5,35.0,-9.5,88,450,0.00,0.00,0.00,0.000,6,0.000,0.000,1982,2139,3941
$GC,515,-0.37,-107.5,42.0,-9.4,104,522,0.00,2.28,0.00,0.000,4,0.000,0.051,1972,3555,3941
$GC,542,-0.37,-107.5,44.8,-10.5,110,550,0.10,2.20,0.00,0.000,6,0.138,0.038,2003,2144,3941
$GC,682,-0.46,-107.5,55.8,-8.1,141,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2004,2144,3941
$GC,816,-0.56,-107.5,66.6,-8.2,172,822,0.20,0.00,0.00,0.000,6,0.061,0.000,1924,2144,3942
$GC,955,-0.36,-107.5,87.1,-16.0,203,960,0.30,2.22,0.00,0.000,4,0.168,0.048,2006,3562,3941
$GC,983,-0.36,-107.5,90.5,-11.9,209,988,0.00,2.17,0.00,0.000,6,0.000,0.038,2006,2140,3941
$GC,1119,-0.45,-107.5,101.5,-7.9,240,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2006,2139,3942
$STATE,1135,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1135,begin apogee
$GC,1139,-0.13,0.0,103.0,8.1,244,1222,0.25,0.00,79.45,0.723,6,0.126,0.000,2081,2139,3498
$STATE,1222,end apogee,CONTROL_FINISHED_OK
$STATE,1222,begin climb
$GC,1224,0.68,107.5,105.5,0.0,258,1313,0.73,0.00,80.97,0.696,6,0.083,0.000,2338,2139,3059
$GC,1443,0.45,107.5,82.5,13.6,303,1449,0.25,2.30,0.00,0.000,4,0.188,0.046,2275,3564,3058
$GC,1497,0.39,107.5,76.3,10.4,315,1502,0.00,2.25,0.00,0.000,6,0.000,0.039,2277,2139,3058
$GC,1633,0.38,131.5,63.7,8.5,346,1656,0.00,0.00,18.70,0.670,6,0.000,0.000,2276,2138,2962
$GC,1787,0.38,131.5,48.4,10.5,380,1793,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2138,2962
$GC,1923,0.38,139.1,35.0,9.5,411,1936,0.00,2.25,7.30,0.596,4,0.000,0.048,2276,3554,2931
$GC,1976,0.36,139.1,29.5,10.6,422,1982,0.17,2.25,0.00,0.000,6,0.163,0.041,2240,2138,2930
$GC,2048,0.57,195.8,24.1,6.5,438,2093,0.20,0.00,42.03,0.678,6,0.064,0.000,2321,2138,2699
$GC,2159,0.50,195.8,9.9,13.8,460,2165,0.17,2.33,0.00,0.000,4,0.173,0.049,2276,3556,2699
$GC,2179,0.50,195.8,7.5,12.8,464,2185,0.00,2.28,0.00,0.000,6,0.000,0.040,2276,2138,2698
$STATE,2223,end climb,SURFACE_DEPTH_REACHED
$STATE,2223,begin surface coast
$FINISH,2.3,1.018464
$STATE,2284,end surface coast,CONTROL_FINISHED_OK
$STATE,2284,begin surface
$SM_CCo,2295,173.07,0.650,0,0,1460,500.17
$SM_GC,1.94,0.00,0.00,173.07,0.000,0.000,0.650,46,2136,1460,-6.50,-0.14,500.17
$IRIDIUM_FIX,4748.51,-12221.84,101197,090940
$TT8_MAMPS,0.051389
$HUMID,2048
$INTERNAL_PRESSURE,7.70537
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,43.8
$24V_AH,24.1,2.051
$10V_AH,10.6,1.181
$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,16.375,27.050,228.450,173.075,0.000,29.462,26.942,210.305,0.500,0.000,0.000,15.515,0.000,746.016,463.768,1243.268,356.207,33.320,930.409,0.000,1078.732,0.000,5.521,0.000
$DEVICE_MAMPS,266.916,52.156,722.514,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,336.868,240.693,781.372,194.667,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25364,488
$CAP_FILE_SIZE,53515,0
$CFSIZE,260165632,257236992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,111732,4807.004,-12223.026,12,1.9,12,18.3