version: 66.04
glider: 157
mission: 2
dive: 5
start: 8 28 108 21 58 32
data:
$ID,157
$MISSION,2
$DIVE,5
$D_SURF,4
$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,75
$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,150
$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,-12547.721
$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,0.029999999
$PITCH_ADJ_DBAND,1
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,215214,4807.757,-12223.891,12,1.9,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-67.7
$GPS2,215753,4807.822,-12223.963,15,2.2,34,18.3
$SPEED_LIMITS,0.121,0.228
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.187,-0.131
$KALMAN_X,-1496.4,-981.3,-516.8,1693.3,-684.1
$KALMAN_Y,1028.1,704.6,379.1,-1411.7,435.3
$MHEAD_RNG_PITCHd_Wd,106.8,4157,-12.0,-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,11,begin dive
$GC,12,-0.50,-146.6,0.0,0.0,0,91,0.00,0.00,-76.50,0.000,2,0.000,0.000,91,2413,2748
$GC,93,-0.50,-146.6,3.4,-4.3,12,113,6.32,0.00,-11.55,0.000,6,0.244,0.000,1728,2413,3258
$GC,179,-0.15,-146.6,13.0,-6.6,30,185,0.35,2.30,0.00,0.000,4,0.148,0.062,1840,981,3260
$GC,269,-0.36,-146.6,15.2,-2.6,50,275,0.17,2.35,0.00,0.000,6,0.057,0.066,1759,2408,3261
$GC,341,-0.20,-146.6,17.6,-3.4,66,348,0.20,2.33,0.00,0.000,4,0.137,0.074,1816,3823,3261
$GC,379,-0.30,-146.6,18.8,-3.1,74,385,0.00,2.28,0.00,0.000,6,0.000,0.055,1816,2406,3262
$GC,451,-0.53,-146.6,21.2,-3.6,90,457,0.25,2.25,0.00,0.000,4,0.061,0.060,1703,996,3262
$GC,519,-0.13,-146.6,25.3,-6.5,105,526,0.47,2.33,0.00,0.000,6,0.156,0.066,1843,2415,3262
$GC,591,-0.48,-146.6,27.0,-1.4,121,597,0.30,0.00,0.00,0.000,6,0.071,0.000,1724,2415,3262
$GC,663,-0.21,-146.6,30.3,-5.3,137,669,0.30,0.00,0.00,0.000,6,0.145,0.000,1820,2415,3262
$GC,735,-0.41,-146.6,32.1,-2.3,153,742,0.17,2.28,0.00,0.000,4,0.061,0.061,1732,1000,3262
$GC,764,-0.41,-146.6,33.5,-4.0,159,771,0.10,2.30,0.00,0.000,6,0.144,0.067,1757,2407,3262
$GC,837,-0.29,-146.6,36.9,-4.4,175,843,0.15,0.00,0.00,0.000,6,0.142,0.000,1802,2407,3263
$GC,909,-0.39,-146.6,38.9,-2.7,191,915,0.15,0.00,0.00,0.000,6,0.061,0.000,1714,2408,3262
$GC,981,-0.09,-146.6,43.0,-6.1,207,986,0.43,0.00,0.00,0.000,6,0.142,0.000,1854,2409,3263
$GC,1117,-0.67,-146.6,45.9,-3.6,238,1123,0.50,2.22,0.00,0.000,4,0.091,0.061,1675,994,3263
$GC,1136,-0.93,-146.6,46.8,-4.2,242,1142,0.20,2.33,0.00,0.000,6,0.051,0.067,1570,2415,3263
$GC,1273,-0.10,-146.6,63.5,-15.1,273,1279,0.95,2.25,0.00,0.000,4,0.192,0.062,1861,985,3263
$GC,1310,-0.10,-146.6,65.2,-5.5,281,1315,0.00,2.28,0.00,0.000,6,0.000,0.064,1861,2411,3263
$GC,1446,-0.62,-146.6,69.2,-3.9,312,1453,0.47,2.22,0.00,0.000,4,0.087,0.060,1687,992,3263
$GC,1500,-0.21,-146.6,72.0,-4.9,324,1506,0.43,2.30,0.00,0.000,6,0.160,0.067,1827,2405,3263
$GC,1638,-0.73,-146.6,75.8,-3.2,355,1643,0.47,0.00,0.00,0.000,6,0.085,0.000,1649,2406,3262
$GC,1774,-0.20,-146.6,86.4,-9.2,386,1780,0.55,2.22,0.00,0.000,4,0.165,0.063,1821,994,3262
$GC,1807,-0.10,-146.6,87.7,-5.0,393,1813,0.12,2.28,0.00,0.000,6,0.106,0.067,1865,2413,3262
$GC,1944,-0.71,-146.6,91.6,-3.9,424,1950,0.57,2.25,0.00,0.000,4,0.096,0.073,1656,3835,3262
$GC,2041,-0.21,-146.6,98.2,-8.4,446,2048,0.52,2.28,0.00,0.000,6,0.161,0.058,1823,2415,3262
$GC,2180,-0.63,-146.6,101.2,-2.9,477,2185,0.38,2.22,0.00,0.000,4,0.074,0.061,1678,984,3262
$STATE,2253,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2253,begin apogee
$GC,2258,-0.13,0.0,105.9,6.9,494,2372,0.55,0.00,108.72,0.752,6,0.157,0.000,1847,2213,2659
$STATE,2373,end apogee,CONTROL_FINISHED_OK
$STATE,2373,begin climb
$GC,2374,0.50,146.6,105.2,0.0,513,2493,0.57,0.00,111.32,0.702,6,0.071,0.000,2057,2213,2059
$GC,2624,0.16,146.6,62.5,19.0,563,2629,0.38,2.33,0.00,0.000,4,0.157,0.068,1941,3626,2057
$GC,2660,0.07,146.6,57.6,14.1,571,2666,0.15,2.33,0.00,0.000,6,0.114,0.058,1901,2203,2057
$GC,2797,0.65,146.6,49.8,7.2,602,2803,0.50,2.28,0.00,0.000,4,0.042,0.064,2125,779,2056
$GC,2812,1.01,146.6,48.3,8.2,605,2818,0.28,2.33,0.00,0.000,6,0.059,0.061,2239,2210,2056
$STATE,2944,end climb,SURFACE_DEPTH_REACHED
$STATE,2944,begin surface coast
$FINISH,1.4,1.018128
$STATE,2952,end surface coast,CONTROL_FINISHED_OK
$STATE,2952,begin surface
$SM_CCo,2963,241.12,0.650,0,0,783,460.18
$SM_GC,0.76,0.00,0.00,241.12,0.000,0.000,0.650,90,2424,783,-5.63,0.40,460.18
$IRIDIUM_FIX,4751.72,-12223.57,221197,212142
$TT8_MAMPS,0.04602
$HUMID,1954
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,38.8
$24V_AH,24.2,4.664
$10V_AH,10.7,1.990
$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,22.950,54.850,220.050,241.125,0.000,24.045,29.105,182.841,0.500,0.000,0.000,37.010,0.000,1020.042,549.110,1628.278,343.420,33.312,1115.414,0.000,1381.369,0.000,5.498,0.000
$DEVICE_MAMPS,243.906,76.700,752.427,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,435.445,317.087,988.115,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34832,637
$CAP_FILE_SIZE,72539,0
$CFSIZE,260165632,257847296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,225237,4807.783,-12223.866,11,1.3,21,18.3