version: 66.04
glider: 158
mission: 1
dive: 22
start: 8 16 108 14 36 29
data:
$ID,158
$MISSION,1
$DIVE,22
$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,-9839.3916
$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
$GPS1,143007,4807.614,-12223.620,14,1.5,30,18.3
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,-75.7
$GPS2,143550,4807.611,-12223.633,11,1.5,16,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.122,0.189
$KALMAN_X,-317.2,211.0,-21.9,-630.9,26.9
$KALMAN_Y,192.7,-347.1,0.3,1131.3,-33.2
$MHEAD_RNG_PITCHd_Wd,308.8,851,-20.6,-10.000
$D_GRID,105
$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,-107.5,0.0,0.0,0,90,0.00,0.00,-76.60,0.000,2,0.000,0.000,49,2140,3166
$GC,92,-0.68,-107.5,3.1,-1.7,12,137,7.70,2.33,-28.35,0.000,4,0.268,0.064,1898,3555,3940
$GC,346,-0.41,-107.5,39.1,-16.1,67,353,0.32,2.22,0.00,0.000,6,0.174,0.039,1990,2138,3942
$GC,418,-0.41,-107.5,47.0,-9.2,83,423,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2138,3942
$GC,553,-0.45,-107.5,58.9,-8.7,114,559,0.00,2.28,0.00,0.000,4,0.000,0.050,1984,3558,3942
$GC,577,-0.50,-107.5,61.0,-8.6,119,582,0.00,2.17,0.00,0.000,6,0.000,0.037,1984,2144,3942
$GC,713,-0.50,-107.5,73.5,-9.7,150,719,0.00,0.00,0.00,0.000,6,0.000,0.000,1983,2144,3942
$GC,849,-0.50,-107.5,86.0,-9.5,181,854,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2144,3942
$GC,986,-0.53,-107.5,98.8,-9.2,212,992,0.00,0.00,0.00,0.000,6,0.000,0.000,1984,2144,3942
$STATE,1055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1055,begin apogee
$GC,1058,-0.13,0.0,105.0,8.6,228,1141,0.30,0.00,79.88,0.723,6,0.135,0.000,2079,2144,3499
$STATE,1142,end apogee,CONTROL_FINISHED_OK
$STATE,1142,begin climb
$GC,1143,0.68,107.5,107.4,0.0,242,1232,0.75,2.38,81.18,0.699,4,0.083,0.047,2344,3549,3059
$GC,1241,0.38,107.5,99.9,11.8,259,1247,0.40,2.28,0.00,0.000,6,0.195,0.037,2250,2143,3059
$GC,1378,0.48,146.3,87.9,7.6,290,1413,0.00,0.00,29.75,0.680,6,0.000,0.000,2250,2144,2901
$GC,1543,0.59,165.5,73.7,8.8,326,1562,0.17,0.00,15.55,0.655,6,0.071,0.000,2319,2144,2824
$GC,1692,0.48,165.5,52.3,15.0,359,1698,0.20,0.00,0.00,0.000,6,0.177,0.000,2271,2144,2823
$GC,1829,0.55,174.4,38.1,9.4,390,1842,0.00,2.25,7.45,0.591,4,0.000,0.048,2271,3552,2790
$GC,1860,0.60,174.4,34.9,10.3,396,1866,0.10,2.25,0.00,0.000,6,0.066,0.040,2323,2138,2790
$GC,1932,0.50,174.4,25.3,14.4,412,1939,0.17,2.25,0.00,0.000,4,0.179,0.049,2282,733,2790
$GC,1952,0.46,174.4,22.8,13.1,416,1958,0.00,2.25,0.00,0.000,6,0.000,0.044,2282,2141,2789
$GC,2024,0.50,178.2,15.2,9.8,432,2037,0.00,2.28,4.95,0.517,4,0.000,0.048,2283,3561,2772
$GC,2046,0.52,178.2,13.0,10.1,436,2053,0.00,2.25,0.00,0.000,6,0.000,0.039,2293,2140,2772
$GC,2118,0.63,214.3,6.4,7.7,452,2151,0.12,2.25,27.00,0.662,4,0.078,0.050,2356,727,2625
$STATE,2154,end climb,SURFACE_DEPTH_REACHED
$STATE,2154,begin surface coast
$FINISH,2.9,1.019204
$STATE,2171,end surface coast,CONTROL_FINISHED_OK
$STATE,2171,begin surface
$SM_CCo,2185,187.48,0.648,0,0,1459,500.17
$SM_GC,1.93,0.00,0.00,187.48,0.000,0.000,0.648,47,2151,1459,-6.50,0.25,500.17
$IRIDIUM_FIX,4751.72,-12219.12,101197,131331
$TT8_MAMPS,0.050622
$HUMID,2007
$INTERNAL_PRESSURE,7.69561
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.0,31.9
$24V_AH,24.1,2.529
$10V_AH,10.6,1.450
$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,16.750,31.750,245.750,187.475,0.000,24.261,28.493,212.703,1.250,0.000,0.000,17.120,0.000,720.237,486.200,1161.882,345.505,33.319,932.666,0.000,995.559,0.000,9.871,0.000
$DEVICE_MAMPS,267.683,63.661,722.514,648.115,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,320.298,218.950,697.834,172.290,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25365,462
$CAP_FILE_SIZE,52295,0
$CFSIZE,260165632,257064960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,151632,4807.793,-12223.764,7,2.0,13,18.3