version: 66.04
glider: 158
mission: 1
dive: 21
start: 8 16 108 13 47 29
data:
$ID,158
$MISSION,1
$DIVE,21
$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,-9821.6436
$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,36
$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
$GPS1,133739,4807.442,-12223.458,9,1.7,9,18.3
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-76.3
$GPS2,134650,4807.419,-12223.432,11,1.7,16,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.188
$KALMAN_X,-325.8,206.7,-21.5,-371.1,34.1
$KALMAN_Y,225.0,-333.3,-11.3,742.3,-46.4
$MHEAD_RNG_PITCHd_Wd,308.2,1285,-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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.68,-107.5,0.0,0.0,0,89,0.00,0.00,-76.40,0.000,2,0.000,0.000,47,2137,3178
$GC,91,-0.68,-107.5,3.1,-1.9,12,136,7.70,2.33,-28.42,0.000,4,0.268,0.064,1898,3554,3940
$GC,220,-0.37,-107.5,17.3,-15.4,38,226,0.32,2.22,0.00,0.000,6,0.174,0.039,2002,2142,3941
$GC,292,-0.42,-107.5,24.0,-7.4,54,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2142,3941
$GC,364,-0.47,-107.5,29.3,-7.5,70,370,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2142,3941
$GC,436,-0.53,-107.5,34.9,-7.9,86,442,0.17,0.00,0.00,0.000,6,0.067,0.000,1930,2142,3942
$GC,506,-0.33,-107.5,44.4,-14.8,102,513,0.35,2.25,0.00,0.000,4,0.168,0.049,2021,3551,3942
$GC,552,-0.51,-107.5,48.6,-7.2,112,558,0.15,2.20,0.00,0.000,6,0.048,0.037,1941,2143,3942
$GC,690,-0.36,-107.5,66.0,-13.8,143,695,0.25,2.20,0.00,0.000,4,0.163,0.048,2008,727,3942
$GC,709,-0.28,-107.5,68.5,-12.8,147,714,0.00,2.20,0.00,0.000,6,0.000,0.044,2008,2142,3942
$GC,845,-0.37,-107.5,79.4,-8.1,178,851,0.00,0.00,0.00,0.000,6,0.000,0.000,2009,2143,3942
$GC,985,-0.47,-107.5,90.0,-7.6,209,990,0.12,2.20,0.00,0.000,4,0.074,0.049,1941,3557,3943
$GC,1025,-0.40,-107.5,94.8,-12.1,218,1031,0.17,2.20,0.00,0.000,6,0.150,0.039,1990,2142,3942
$STATE,1117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1117,begin apogee
$GC,1120,-0.13,0.0,103.2,8.4,239,1203,0.28,0.00,79.57,0.728,6,0.137,0.000,2082,2142,3499
$STATE,1203,end apogee,CONTROL_FINISHED_OK
$STATE,1204,begin climb
$GC,1205,0.68,107.5,105.7,0.0,253,1293,0.73,2.35,80.95,0.700,4,0.084,0.045,2339,3555,3059
$GC,1310,0.39,107.5,97.9,12.5,272,1316,0.32,2.33,0.00,0.000,6,0.194,0.038,2250,2140,3059
$GC,1447,0.49,148.8,86.3,7.4,303,1482,0.00,0.00,31.38,0.683,6,0.000,0.000,2251,2140,2891
$GC,1614,0.60,167.6,72.2,8.8,339,1632,0.20,0.00,15.35,0.654,6,0.066,0.000,2330,2140,2815
$GC,1762,0.46,167.6,50.1,15.1,372,1768,0.25,2.30,0.00,0.000,4,0.176,0.048,2261,3557,2813
$GC,1772,0.34,167.6,48.4,15.1,374,1779,0.00,2.25,0.00,0.000,6,0.000,0.038,2263,2142,2813
$GC,1911,0.42,181.5,35.1,9.1,405,1924,0.00,0.00,11.45,0.637,6,0.000,0.000,2263,2142,2759
$GC,1990,0.52,199.4,27.9,8.9,422,2008,0.00,0.00,14.50,0.644,6,0.000,0.000,2263,2142,2687
$GC,2074,0.64,219.5,20.2,8.7,440,2094,0.17,0.00,16.08,0.645,6,0.070,0.000,2341,2142,2604
$GC,2160,0.55,219.5,8.5,14.6,458,2166,0.20,0.00,0.00,0.000,6,0.167,0.000,2292,2142,2603
$STATE,2217,end climb,SURFACE_DEPTH_REACHED
$STATE,2217,begin surface coast
$FINISH,2.7,1.018315
$STATE,2301,end surface coast,CONTROL_FINISHED_OK
$STATE,2301,begin surface
$SM_CCo,2312,198.93,0.650,0,0,1460,500.17
$SM_GC,2.00,0.00,0.00,198.93,0.000,0.000,0.650,49,2140,1460,-6.49,-0.03,500.17
$IRIDIUM_FIX,4748.51,-12226.29,101197,131347
$TT8_MAMPS,0.050622
$HUMID,2019
$INTERNAL_PRESSURE,7.71514
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.0,30.2
$24V_AH,24.1,2.432
$10V_AH,10.6,1.399
$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,17.400,27.025,249.275,198.925,0.000,48.885,117.246,250.106,1.000,0.000,0.000,16.483,0.000,807.040,500.582,1252.304,501.389,33.321,965.426,0.000,1078.682,0.000,9.862,0.000
$DEVICE_MAMPS,268.450,63.661,727.883,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,339.786,244.621,784.193,195.938,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25459,490
$CAP_FILE_SIZE,56600,0
$CFSIZE,260165632,257101824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,143007,4807.614,-12223.620,14,1.5,30,18.3