version: 66.08
glider: 158
mission: 11
dive: 3
start: 5 3 112 19 15 32
data:
$ID,158
$MISSION,11
$DIVE,3
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$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,40
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51960
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,20
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3200
$TGT_DEFAULT_LON,-7306
$TGT_AUTO_DEFAULT,0
$SM_CC,280
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$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,-719216.38
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,138
$PITCH_MAX,3933
$C_PITCH,1880
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,33
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3794
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,5
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2112
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-40.257854
$PRESSURE_SLOPE,0.0001162534
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043185689
$SEABIRD_T_H,0.00063211145
$SEABIRD_T_I,2.4453147e-05
$SEABIRD_T_J,2.6602299e-06
$SEABIRD_C_G,-9.7588167
$SEABIRD_C_H,1.1098362
$SEABIRD_C_I,-0.00086821435
$SEABIRD_C_J,0.00015583097
$GPS1,030512,191102,4742.183,-12225.221,10,1.6,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-67.7
$GPS2,030512,191508,4742.131,-12225.280,15,1.6,15,18.2
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,HEADING
$TGT_LATLONG,4752.279,-12219.774
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,1.8,20000,-21.7,-10.000
$D_GRID,96
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.69,-97.7,0.0,0.0,0,66,0.00,0.00,-49.67,0.000,2,0.000,0.000,134,2099,1934,0,0,0,0,0,0
$GC,69,-0.69,-97.7,3.1,-4.8,6,103,6.05,2.25,-19.23,0.000,4,0.255,0.058,1647,3507,2513,0,0,0,0,0,0
$GC,135,-0.69,-97.7,10.1,-15.4,15,144,0.00,2.22,0.00,0.000,6,0.000,0.037,1647,2092,2516,0,0,0,0,0,0
$GC,182,-0.69,-97.7,19.1,-19.1,22,191,0.00,2.25,0.00,0.000,4,0.000,0.045,1637,3510,2516,0,0,0,0,0,0
$GC,241,-0.69,-97.7,30.7,-18.7,31,250,0.00,2.22,0.00,0.000,6,0.000,0.037,1637,2096,2516,0,0,0,0,0,0
$GC,288,-0.69,-97.7,40.4,-20.6,38,296,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2095,2516,0,0,0,0,0,0
$GC,333,-0.69,-97.7,48.9,-18.9,45,339,0.00,0.00,0.00,0.000,6,0.000,0.000,1636,2095,2516,0,0,0,0,0,0
$GC,374,-0.69,-97.7,56.6,-17.5,52,383,0.00,2.22,0.00,0.000,4,0.000,0.043,1626,3510,2515,0,0,0,0,0,0
$STATE,607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,607,begin apogee
$GC,614,-0.15,0.0,96.3,15.9,91,702,0.68,0.00,82.05,0.842,6,0.172,0.000,1831,1990,2112,0,0,0,0,0,0
$STATE,703,end apogee,CONTROL_FINISHED_OK
$STATE,703,begin climb
$GC,705,0.69,97.7,102.2,0.0,104,795,0.80,2.38,80.45,0.819,4,0.104,0.044,2100,3407,1713,0,0,0,0,0,0
$GC,960,0.69,97.7,76.5,11.7,145,967,0.00,2.25,0.00,0.000,6,0.000,0.044,2110,2003,1710,0,0,0,0,0,0
$GC,1002,0.69,97.7,71.5,10.7,152,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2110,2003,1710,0,0,0,0,0,0
$GC,1047,0.69,97.7,66.8,11.5,159,1054,0.00,2.25,0.00,0.000,4,0.000,0.054,2122,584,1710,0,0,0,0,0,0
$GC,1066,0.69,97.7,64.5,10.2,162,1075,0.00,2.25,0.00,0.000,6,0.000,0.038,2122,1997,1709,0,0,0,0,0,0
$GC,1112,0.69,97.7,59.6,11.8,169,1119,0.00,2.20,0.00,0.000,4,0.000,0.047,2122,3412,1709,0,0,0,0,0,0
$GC,1127,0.69,97.7,57.8,11.4,171,1134,0.15,2.25,0.00,0.000,6,0.210,0.046,2096,1999,1709,0,0,0,0,0,0
$GC,1169,0.69,97.7,52.8,10.7,178,1178,0.00,2.28,0.00,0.000,4,0.000,0.054,2106,586,1708,0,0,0,0,0,0
$GC,1192,0.69,100.5,50.8,9.8,181,1199,0.00,2.22,0.00,0.000,6,0.000,0.038,2106,2009,1709,0,0,0,0,0,0
$GC,1236,0.69,104.6,46.2,9.7,188,1251,0.00,2.25,6.38,0.651,4,0.000,0.048,2106,3409,1685,0,0,0,0,0,0
$GC,1294,0.69,104.6,40.1,10.7,197,1300,0.00,2.25,0.00,0.000,6,0.000,0.044,2116,1989,1685,0,0,0,0,0,0
$GC,1339,0.69,104.6,35.5,10.0,204,1348,0.00,2.25,0.00,0.000,4,0.000,0.046,2116,3404,1684,0,0,0,0,0,0
$GC,1356,0.69,119.2,34.0,9.0,206,1374,0.00,2.25,13.40,0.744,6,0.000,0.045,2126,1999,1626,0,0,0,0,0,0
$GC,1413,0.70,130.7,28.8,9.2,214,1430,0.00,2.28,10.30,0.709,4,0.000,0.054,2137,588,1580,0,0,0,0,0,0
$GC,1469,0.70,130.7,23.1,10.6,222,1478,0.10,2.25,0.00,0.000,6,0.189,0.038,2107,1996,1578,0,0,0,0,0,0
$GC,1517,0.70,133.0,18.3,9.8,229,1525,0.00,2.25,0.00,0.000,4,0.000,0.047,2107,3412,1577,0,0,0,0,0,0
$GC,1576,0.70,142.6,12.5,9.3,238,1594,0.00,2.28,11.23,0.720,6,0.000,0.044,2116,1994,1530,0,0,0,0,0,0
$GC,1632,0.71,170.5,7.9,8.1,246,1666,0.00,2.33,23.33,0.757,4,0.000,0.056,2127,595,1415,0,0,0,0,0,0
$GC,1674,0.71,172.6,3.9,9.9,251,1683,0.00,2.28,0.00,0.000,6,0.000,0.039,2127,2004,1414,0,0,0,0,0,0
$STATE,1690,end climb,SURFACE_DEPTH_REACHED
$STATE,1690,begin surface coast
$FINISH,0.4,1.009161
$STATE,1722,end surface coast,CONTROL_FINISHED_OK
$STATE,1722,begin surface
$SM_CCo,1735,88.95,0.707,1,0,970,280.13
$SM_GC,1.21,0.00,0.00,88.95,0.000,0.000,0.707,107,2128,970,-5.54,0.82,280.13
$IRIDIUM_FIX,4726.11,-12213.55,030512,191921
$TT8_MAMPS,0.026215
$HUMID,38.46
$INTERNAL_PRESSURE,9.04403
$TCM_TEMP,14.00
$XPDR_PINGS,2
$24V_AH,24.2,1.618
$10V_AH,10.4,0.765
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,13.200,54.425,227.125,88.950,0.000,0.000,0.000,0.000,1.000,0.000,16.625,588.431,108.979,378.573,782.896,45.236,0.000,753.372,0.000,782.695,0.000,5.368,0.000
$DEVICE_MAMPS,254.745,71.910,841.500,706.860,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,178.257,124.599,612.170,96.841,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,16973,258
$CAP_FILE_SIZE,90477,0
$CFSIZE,260165632,240271360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030512,194704,4742.078,-12225.495,8,99.0,27,18.2