version: 66.08
glider: 158
mission: 9
dive: 5
start: 4 17 112 21 14 32
data:
$ID,158
$MISSION,9
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$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,50
$T_MISSION,80
$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,80
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51928
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,360
$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,300
$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,45
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-718239.38
$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,1860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,33
$PITCH_TIMEOUT,17
$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,300
$C_ROLL_CLIMB,300
$HEAD_ERRBAND,180
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,8
$R_STBD_OVSHOOT,34
$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,-37.3857
$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
$GPS1,170412,210949,4743.174,-12224.999,9,1.6,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-65.6
$GPS2,170412,211408,4743.157,-12225.002,14,1.3,14,18.2
$SPEED_LIMITS,0.173,0.193
$TGT_NAME,HEADING
$TGT_LATLONG,4753.956,-12225.002
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.163,0.202
$KALMAN_X,172.0,91.8,90.1,-43.9,162.8
$KALMAN_Y,76.3,43.6,42.9,481.7,73.0
$MHEAD_RNG_PITCHd_Wd,341.8,20000,-24.4,-10.000
$D_GRID,178
$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,-0.76,-78.2,0.0,0.0,0,83,0.00,0.00,-65.60,0.000,2,0.000,0.000,139,313,2322,0,0,0,0,0,0
$GC,85,-0.76,-78.2,3.4,-5.7,8,103,5.97,0.00,-3.10,0.000,6,0.262,0.000,1614,313,2434,0,0,0,0,0,0
$GC,142,-0.76,-78.2,14.9,-19.0,16,151,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2437,0,0,0,0,0,0
$GC,190,-0.76,-78.2,23.5,-18.6,23,198,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2437,0,0,0,0,0,0
$GC,237,-0.76,-78.2,32.3,-19.1,30,245,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2437,0,0,0,0,0,0
$GC,284,-0.76,-78.2,41.5,-20.0,37,290,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2438,0,0,0,0,0,0
$GC,326,-0.76,-78.2,50.5,-20.2,44,334,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2437,0,0,0,0,0,0
$GC,371,-0.76,-78.2,58.5,-17.4,51,377,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2437,0,0,0,0,0,0
$GC,413,-0.76,-78.2,66.1,-18.3,58,421,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2437,0,0,0,0,0,0
$GC,458,-0.76,-78.2,73.6,-16.6,65,464,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2437,0,0,0,0,0,0
$GC,499,-0.76,-78.2,80.7,-16.0,72,507,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2437,0,0,0,0,0,0
$GC,544,-0.76,-78.2,87.6,-16.0,79,550,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2437,0,0,0,0,0,0
$GC,586,-0.76,-78.2,94.4,-14.9,86,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2437,0,0,0,0,0,0
$GC,633,-0.76,-78.2,101.5,-16.4,93,639,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2437,0,0,0,0,0,0
$GC,674,-0.76,-78.2,108.9,-15.9,100,683,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2437,0,0,0,0,0,0
$GC,719,-0.76,-78.2,115.3,-14.6,107,725,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2437,0,0,0,0,0,0
$GC,761,-0.76,-78.2,121.8,-14.7,114,770,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2436,0,0,0,0,0,0
$GC,807,-0.76,-78.2,128.0,-14.4,121,813,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2436,0,0,0,0,0,0
$GC,850,-0.76,-78.2,134.6,-14.2,128,859,0.00,0.00,0.00,0.000,6,0.000,0.000,1615,313,2436,0,0,0,0,0,0
$GC,898,-0.76,-78.2,141.8,-15.6,135,904,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2437,0,0,0,0,0,0
$GC,941,-0.76,-78.2,148.5,-15.5,142,949,0.00,0.00,0.00,0.000,6,0.000,0.000,1614,313,2436,0,0,0,0,0,0
$STATE,954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,954,begin apogee
$GC,958,-0.15,0.0,151.3,16.6,144,1034,0.62,0.00,68.28,0.887,6,0.176,0.000,1806,313,2111,0,0,0,0,0,0
$STATE,1035,end apogee,CONTROL_FINISHED_OK
$STATE,1035,begin climb
$GC,1037,0.76,78.2,156.5,0.0,155,1111,0.93,0.00,67.32,0.858,6,0.119,0.000,2108,313,1791,0,0,0,0,0,0
$GC,1149,0.76,78.2,148.7,10.0,172,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1788,0,0,0,0,0,0
$GC,1195,0.76,78.2,143.6,11.3,179,1201,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,312,1788,0,0,0,0,0,0
$GC,1236,0.76,78.2,138.9,10.6,186,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1787,0,0,0,0,0,0
$GC,1282,0.76,78.2,134.1,10.9,193,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1787,0,0,0,0,0,0
$GC,1323,0.76,78.2,129.7,10.5,200,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,312,1786,0,0,0,0,0,0
$GC,1369,0.76,78.2,125.2,10.6,207,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1786,0,0,0,0,0,0
$GC,1410,0.76,82.0,120.9,9.7,214,1419,0.00,0.00,3.38,0.474,6,0.000,0.000,2108,313,1779,0,0,0,0,0,0
$GC,1457,0.76,84.7,116.4,9.8,221,1464,0.00,0.00,4.47,0.588,6,0.000,0.000,2107,313,1766,0,0,0,0,0,0
$GC,1501,0.76,84.7,111.7,10.6,228,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,313,1765,0,0,0,0,0,0
$GC,1547,0.76,84.7,106.8,11.1,235,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,312,1765,0,0,0,0,0,0
$GC,1588,0.76,84.7,102.2,10.6,242,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1765,0,0,0,0,0,0
$GC,1633,0.76,84.7,97.6,10.2,249,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1765,0,0,0,0,0,0
$GC,1674,0.76,84.7,93.2,10.5,256,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,312,1765,0,0,0,0,0,0
$GC,1720,0.76,84.7,88.6,10.2,263,1726,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1765,0,0,0,0,0,0
$GC,1761,0.76,84.7,83.9,10.6,270,1769,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1764,0,0,0,0,0,0
$GC,1807,0.76,84.7,79.2,11.4,277,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1764,0,0,0,0,0,0
$GC,1848,0.76,84.7,74.4,11.0,284,1856,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1764,0,0,0,0,0,0
$GC,1893,0.76,84.7,69.4,12.0,291,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1764,0,0,0,0,0,0
$GC,1935,0.76,84.7,64.3,12.3,298,1943,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1764,0,0,0,0,0,0
$GC,1980,0.76,84.7,59.2,11.7,305,1986,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1764,0,0,0,0,0,0
$GC,2021,0.76,84.7,54.1,11.9,312,2029,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1763,0,0,0,0,0,0
$GC,2067,0.76,84.7,48.8,12.0,319,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2107,313,1764,0,0,0,0,0,0
$GC,2109,0.76,85.6,44.1,9.9,326,2117,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1763,0,0,0,0,0,0
$GC,2154,0.76,85.6,39.5,11.2,333,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1764,0,0,0,0,0,0
$GC,2202,0.77,89.1,34.7,9.7,340,2211,0.00,0.00,5.00,0.611,6,0.000,0.000,2108,313,1747,0,0,0,0,0,0
$GC,2251,0.77,98.5,30.2,9.2,347,2268,0.00,0.00,9.40,0.728,6,0.000,0.000,2108,313,1709,0,0,0,0,0,0
$GC,2307,0.77,105.3,25.1,9.4,355,2316,0.00,0.00,6.93,0.673,6,0.000,0.000,2108,312,1682,0,0,0,0,0,0
$GC,2355,0.77,105.3,20.1,11.1,362,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1680,0,0,0,0,0,0
$GC,2403,0.77,105.3,14.9,10.7,369,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1680,0,0,0,0,0,0
$GC,2450,0.77,105.3,9.7,10.8,376,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1680,0,0,0,0,0,0
$GC,2498,0.77,106.9,5.2,9.9,383,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,313,1679,0,0,0,0,0,0
$STATE,2519,end climb,SURFACE_DEPTH_REACHED
$STATE,2519,begin surface coast
$FINISH,0.5,1.010884
$STATE,2557,end surface coast,CONTROL_FINISHED_OK
$STATE,2557,begin surface
$SM_CCo,2569,154.20,0.747,1,0,889,300.00
$SM_GC,1.17,0.00,0.00,154.20,0.000,0.000,0.747,107,312,889,-5.48,0.37,300.00
$IRIDIUM_FIX,4726.11,-12226.07,170412,212155
$TT8_MAMPS,0.026964
$HUMID,29.83
$INTERNAL_PRESSURE,8.85848
$TCM_TEMP,12.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,140.6,58.6
$24V_AH,24.0,0.698
$10V_AH,10.4,0.375
$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,12.875,0.000,164.775,154.200,0.000,0.000,0.000,0.000,2.500,0.000,15.096,889.467,188.626,497.576,1090.452,128.571,0.000,1012.499,0.000,1142.415,0.000,13.370,0.000
$DEVICE_MAMPS,262.395,0.000,887.400,747.405,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,299.973,176.968,838.795,136.219,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323468
$DATA_FILE_SIZE,27083,392
$CAP_FILE_SIZE,84963,0
$CFSIZE,260165632,238268416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170412,220058,4742.932,-12225.215,10,2.3,29,18.2