version: 66.04
glider: 158
mission: 1
dive: 26
start: 8 16 108 17 38 7
data:
$ID,158
$MISSION,1
$DIVE,26
$D_SURF,4
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,30
$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,600
$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,-9931.8867
$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,0.30000001
$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,34
$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,0
$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
$GPS1,173205,4807.669,-12223.634,12,3.6,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-72.6
$GPS2,173729,4807.657,-12223.582,12,3.9,31,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.106,-0.199
$KALMAN_X,-122.0,215.2,25.9,-816.5,1.1
$KALMAN_Y,123.5,-316.3,10.5,1244.5,21.8
$MHEAD_RNG_PITCHd_Wd,133.6,1414,-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,-107.5,0.0,0.0,0,116,0.00,0.00,-101.35,0.000,2,0.000,0.000,47,2145,2864
$GC,117,-0.68,-107.5,3.0,-3.3,16,169,7.60,2.28,-36.05,0.000,4,0.264,0.061,1896,3553,3940
$GC,417,-0.42,-107.5,42.3,-15.6,81,422,0.35,2.20,0.00,0.000,6,0.176,0.038,1988,2128,3942
$GC,553,-0.45,-107.5,55.4,-8.4,112,559,0.00,2.28,0.00,0.000,4,0.000,0.048,1980,3553,3942
$STATE,610,end dive,TARGET_DEPTH_EXCEEDED
$STATE,610,begin apogee
$GC,615,-0.13,0.0,60.3,8.1,125,698,0.30,0.00,79.35,0.671,6,0.130,0.000,2078,2136,3499
$STATE,698,end apogee,CONTROL_FINISHED_OK
$STATE,698,begin climb
$GC,700,0.68,107.5,63.1,0.0,139,788,0.75,2.30,80.47,0.647,4,0.091,0.047,2349,737,3059
$GC,828,0.47,107.5,52.2,13.7,163,833,0.30,2.28,0.00,0.000,6,0.181,0.041,2277,2144,3058
$GC,965,0.49,129.4,38.5,8.6,194,984,0.00,0.00,17.25,0.617,6,0.000,0.000,2277,2145,2970
$GC,1050,0.52,140.6,30.5,9.3,212,1064,0.00,2.33,9.77,0.578,4,0.000,0.048,2277,3559,2925
$GC,1099,0.52,140.6,25.7,10.2,222,1105,0.00,2.25,0.00,0.000,6,0.000,0.038,2278,2149,2925
$GC,1171,0.54,149.9,18.8,9.4,238,1184,0.00,2.25,8.15,0.563,4,0.000,0.048,2289,728,2888
$GC,1215,0.60,164.7,14.7,9.1,247,1234,0.00,2.28,12.68,0.601,6,0.000,0.043,2289,2142,2826
$GC,1300,0.70,189.9,6.9,8.4,265,1326,0.17,2.25,19.52,0.619,4,0.069,0.046,2365,3557,2723
$STATE,1338,end climb,SURFACE_DEPTH_REACHED
$STATE,1338,begin surface coast
$FINISH,3.9,1.019010
$STATE,1399,end surface coast,CONTROL_FINISHED_OK
$STATE,1399,begin surface
$SM_CCo,1413,235.90,0.623,0,0,1052,600.00
$SM_GC,1.75,0.00,0.00,235.90,0.000,0.000,0.623,46,2138,1052,-6.50,-0.11,600.00
$IRIDIUM_FIX,4751.72,-12226.29,101197,171730
$TT8_MAMPS,0.050622
$HUMID,1965
$INTERNAL_PRESSURE,7.72491
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,24.1,2.950
$10V_AH,10.6,1.636
$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,16.150,27.150,227.200,235.900,0.000,25.568,29.368,183.985,0.000,0.000,0.000,32.372,0.000,364.982,513.525,796.920,298.662,33.309,834.372,0.000,669.848,0.000,0.538,0.000
$DEVICE_MAMPS,263.848,61.360,671.125,622.804,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,PAR,nil,nil,nil,nil
$SENSOR_SECS,195.288,159.843,529.514,127.038,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15945,286
$CAP_FILE_SIZE,35654,0
$CFSIZE,260165632,256966656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160808,180623,4807.553,-12223.493,10,99.0,29,18.3