version: 66.04
glider: 157
mission: 2
dive: 3
start: 8 28 108 20 5 27
data:
$ID,157
$MISSION,2
$DIVE,3
$D_SURF,3
$D_FLARE,3
$D_TGT,140
$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,67
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51679
$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,460
$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,-12495.216
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,1890
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,38
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,231
$ROLL_MAX,3879
$ROLL_DEG,40
$C_ROLL_DIVE,2410
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2659
$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,7
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,112
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.55625
$PRESSURE_SLOPE,0.0001140972
$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,10
$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,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$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,0.004313
$SEABIRD_T_H,0.00063151005
$SEABIRD_T_I,2.4073433e-05
$SEABIRD_T_J,2.5600611e-06
$SEABIRD_C_G,-10.151347
$SEABIRD_C_H,1.1458639
$SEABIRD_C_I,-0.00036424753
$SEABIRD_C_J,0.00012563137
$GPS1,200135,4807.689,-12223.671,12,4.5,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-65.8
$GPS2,200451,4807.732,-12223.733,11,1.6,11,18.3
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,-0.118
$KALMAN_X,-487.2,-435.2,-409.3,324.3,-730.4
$KALMAN_Y,362.8,328.0,310.4,-472.0,538.8
$MHEAD_RNG_PITCHd_Wd,106.3,3858,-13.9,-6.965
$D_GRID,140
$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,-0.51,-117.3,0.0,0.0,0,91,0.00,0.00,-76.65,0.000,2,0.000,0.000,93,2434,2725
$GC,92,-0.51,-117.3,3.4,-4.0,12,112,6.12,0.00,-9.70,0.000,6,0.238,0.000,1724,2435,3140
$GC,178,-0.51,-117.3,13.4,-6.2,30,184,0.00,2.25,0.00,0.000,4,0.000,0.071,1715,3824,3141
$GC,389,-0.51,-117.3,19.4,-3.9,78,395,0.00,2.25,0.00,0.000,6,0.000,0.054,1715,2406,3141
$GC,461,-0.51,-117.3,21.6,-3.0,94,467,0.00,2.22,0.00,0.000,4,0.000,0.060,1715,991,3142
$GC,532,-0.51,-117.3,24.2,-3.7,110,539,0.00,2.28,0.00,0.000,6,0.000,0.063,1705,2404,3142
$GC,604,-0.51,-117.3,26.8,-3.8,126,611,0.00,2.28,0.00,0.000,4,0.000,0.070,1694,3822,3142
$GC,711,-0.51,-117.3,31.9,-5.0,150,718,0.10,2.22,0.00,0.000,6,0.169,0.054,1725,2417,3141
$GC,783,-0.51,-117.3,35.0,-4.2,166,789,0.00,2.22,0.00,0.000,4,0.000,0.060,1725,997,3142
$GC,846,-0.51,-117.3,37.8,-4.4,180,852,0.00,2.28,0.00,0.000,6,0.000,0.064,1717,2411,3142
$GC,917,-0.51,-117.3,40.7,-4.1,196,923,0.00,0.00,0.00,0.000,6,0.000,0.000,1717,2411,3142
$GC,1054,-0.51,-117.3,46.6,-4.2,227,1059,0.00,2.22,0.00,0.000,4,0.000,0.059,1717,989,3142
$GC,1076,-0.51,-117.3,47.7,-4.5,232,1083,0.00,2.30,0.00,0.000,6,0.000,0.063,1707,2417,3142
$GC,1215,-0.51,-117.3,54.5,-4.9,263,1220,0.00,2.22,0.00,0.000,4,0.000,0.058,1707,993,3142
$GC,1237,-0.51,-117.3,55.7,-5.0,268,1244,0.00,2.28,0.00,0.000,6,0.000,0.064,1697,2409,3142
$GC,1375,-0.51,-117.3,63.2,-5.7,299,1380,0.00,0.00,0.00,0.000,6,0.000,0.000,1697,2408,3142
$GC,1510,-0.51,-117.3,70.8,-5.8,330,1517,0.00,2.25,0.00,0.000,4,0.000,0.072,1689,3814,3142
$GC,1538,-0.51,-117.3,72.7,-6.0,336,1544,0.10,2.25,0.00,0.000,6,0.165,0.058,1722,2400,3142
$GC,1675,-0.51,-117.3,78.8,-4.4,367,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2400,3142
$GC,1811,-0.51,-117.3,84.5,-4.3,398,1817,0.00,0.00,0.00,0.000,6,0.000,0.000,1722,2400,3142
$GC,1947,-0.51,-117.3,90.4,-4.1,429,1953,0.00,2.20,0.00,0.000,4,0.000,0.064,1723,984,3141
$GC,1984,-0.51,-117.3,92.0,-4.6,437,1989,0.00,2.28,0.00,0.000,6,0.000,0.065,1714,2418,3141
$STATE,2105,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2105,begin apogee
$GC,2109,-0.13,0.0,97.2,4.1,465,2199,0.40,0.00,86.55,0.736,6,0.143,0.000,1845,2203,2659
$STATE,2199,end apogee,CONTROL_FINISHED_OK
$STATE,2199,begin climb
$GC,2201,0.51,117.3,96.6,0.0,480,2296,0.60,2.33,88.07,0.690,4,0.087,0.060,2070,801,2179
$GC,2336,0.51,117.3,76.1,17.7,505,2341,0.00,2.35,0.00,0.000,6,0.000,0.061,2070,2216,2178
$GC,2471,0.51,117.3,49.6,19.5,536,2478,0.00,2.30,0.00,0.000,4,0.000,0.067,2070,3620,2176
$GC,2495,0.51,117.3,44.6,20.6,541,2501,0.00,2.28,0.00,0.000,6,0.000,0.057,2080,2210,2176
$GC,2632,0.51,117.3,16.7,20.1,572,2638,0.00,2.30,0.00,0.000,4,0.000,0.064,2090,785,2176
$GC,2682,0.51,117.3,7.8,17.0,583,2689,0.12,2.35,0.00,0.000,6,0.137,0.067,2047,2206,2175
$GC,2754,0.65,232.0,5.0,2.3,599,2826,0.17,0.00,69.93,0.665,2,0.058,0.000,2140,2206,1795
$STATE,2827,end climb,SURFACE_DEPTH_REACHED
$STATE,2827,begin surface coast
$FINISH,0.1,1.016450
$STATE,2943,end surface coast,CONTROL_FINISHED_OK
$STATE,2943,begin surface
$SM_CCo,2954,190.20,0.632,0,0,782,460.18
$SM_GC,0.75,0.00,0.00,190.20,0.000,0.000,0.632,91,2427,782,-5.62,0.48,460.18
$IRIDIUM_FIX,4748.51,-12215.68,221197,202039
$TT8_MAMPS,0.048321
$HUMID,1996
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,16.60
$XPDR_PINGS,3
$ALTIM_BOTTOM_PING,80.2,38.1
$24V_AH,24.3,4.462
$10V_AH,10.7,1.859
$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,13.075,50.575,244.550,190.200,0.000,0.000,0.000,0.000,1.250,0.000,0.000,13.063,0.000,993.547,496.624,1626.645,69.789,31.399,1061.467,0.000,1420.375,0.000,5.497,0.000
$DEVICE_MAMPS,237.770,72.098,736.320,632.008,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,435.713,330.869,1059.578,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34842,637
$CAP_FILE_SIZE,74018,0
$CFSIZE,260165632,257908736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,205820,4807.701,-12223.788,9,1.9,9,18.3