version: 66.04
glider: 157
mission: 2
dive: 8
start: 8 29 108 0 44 6
data:
$ID,157
$MISSION,2
$DIVE,8
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$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,50
$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,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,430
$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,-12632.775
$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,39
$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,2270
$C_ROLL_CLIMB,2422
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,18
$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
$GPS1,003844,4807.740,-12223.855,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-70.0
$GPS2,004327,4807.805,-12223.906,12,1.4,12,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.188,-0.179
$KALMAN_X,-3629.3,-1245.1,41.8,3604.0,-573.5
$KALMAN_Y,2974.2,852.6,-27.1,-3132.1,548.7
$MHEAD_RNG_PITCHd_Wd,115.2,4091,-17.5,-10.000
$D_GRID,150
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.63,-146.6,0.0,0.0,0,90,0.00,0.00,-76.45,0.000,2,0.000,0.000,93,2248,2939
$GC,91,-0.63,-146.6,3.6,-5.9,12,111,6.38,2.25,-7.40,0.000,4,0.255,0.077,1688,852,3258
$GC,116,-0.63,-146.6,8.3,-14.8,16,122,0.00,2.38,0.00,0.000,6,0.000,0.066,1679,2275,3259
$GC,188,-0.63,-146.6,13.0,-5.8,32,194,0.00,2.33,0.00,0.000,4,0.000,0.062,1680,860,3260
$GC,225,-0.63,-146.6,15.2,-5.9,40,231,0.00,2.35,0.00,0.000,6,0.000,0.067,1678,2275,3259
$GC,297,-0.63,-146.6,19.3,-6.3,56,303,0.00,2.33,0.00,0.000,4,0.000,0.078,1667,3688,3260
$GC,369,-0.63,-146.6,24.5,-7.6,72,375,0.00,2.30,0.00,0.000,6,0.000,0.058,1669,2272,3260
$GC,441,-0.63,-146.6,30.2,-8.3,88,447,0.00,2.28,0.00,0.000,4,0.000,0.063,1669,856,3260
$GC,517,-0.63,-146.6,36.6,-8.3,105,524,0.00,2.33,0.00,0.000,6,0.000,0.064,1661,2275,3260
$GC,589,-0.63,-146.6,43.0,-9.0,121,594,0.00,0.00,0.00,0.000,6,0.000,0.000,1661,2275,3260
$GC,724,-0.63,-146.6,55.9,-9.9,152,730,0.00,2.30,0.00,0.000,4,0.000,0.071,1650,3690,3261
$GC,795,-0.63,-146.6,64.0,-11.3,168,801,0.10,2.30,0.00,0.000,6,0.183,0.058,1681,2262,3261
$GC,932,-0.63,-146.6,75.6,-8.3,199,937,0.00,2.30,0.00,0.000,4,0.000,0.071,1673,3685,3261
$GC,968,-0.63,-146.6,78.6,-8.7,207,973,0.00,2.25,0.00,0.000,6,0.000,0.058,1673,2265,3261
$GC,1105,-0.63,-146.6,90.8,-8.8,238,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,1673,2265,3261
$GC,1242,-0.63,-146.6,103.1,-8.3,269,1247,0.00,2.22,0.00,0.000,4,0.000,0.065,1673,852,3260
$STATE,1294,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1294,begin apogee
$GC,1300,-0.13,0.0,107.8,8.8,281,1413,0.60,0.00,109.50,0.731,6,0.162,0.000,1849,2436,2659
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1415,0.63,146.6,107.8,0.0,300,1534,0.70,2.38,111.53,0.680,4,0.083,0.061,2108,1009,2059
$GC,1607,0.63,146.6,69.6,21.6,337,1613,0.00,2.38,0.00,0.000,6,0.000,0.063,2108,2428,2058
$GC,1744,0.63,146.6,36.2,24.8,368,1751,0.00,2.35,0.00,0.000,4,0.000,0.062,2117,1010,2057
$GC,1777,0.63,146.6,28.2,24.1,375,1783,0.00,2.35,0.00,0.000,6,0.000,0.064,2117,2420,2057
$GC,1849,0.63,146.6,11.1,24.0,391,1855,0.00,2.33,0.00,0.000,4,0.000,0.064,2127,1012,2056
$GC,1868,0.63,146.6,6.6,23.4,395,1875,0.12,2.33,0.00,0.000,6,0.179,0.062,2091,2421,2056
$STATE,1882,end climb,SURFACE_DEPTH_REACHED
$STATE,1882,begin surface coast
$FINISH,0.4,1.017843
$STATE,1900,end surface coast,CONTROL_FINISHED_OK
$STATE,1900,begin surface
$SM_CCo,1911,219.27,0.633,1,0,905,430.01
$SM_GC,0.72,0.00,0.00,219.27,0.000,0.000,0.633,92,2259,905,-5.62,-0.31,430.01
$IRIDIUM_FIX,4748.51,-12221.84,231197,000052
$TT8_MAMPS,0.048321
$HUMID,1926
$INTERNAL_PRESSURE,8.79917
$TCM_TEMP,16.10
$XPDR_PINGS,6
$ALTIM_BOTTOM_PING,80.3,37.5
$24V_AH,24.1,4.964
$10V_AH,10.7,2.159
$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,13.150,46.850,221.025,219.275,0.000,29.945,26.846,152.004,2.000,0.000,0.000,14.543,0.000,595.997,498.914,1035.474,288.898,33.334,896.252,0.000,885.337,0.000,5.491,0.000
$DEVICE_MAMPS,255.411,78.234,730.951,632.775,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,275.116,198.546,637.674,158.614,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22271,402
$CAP_FILE_SIZE,46571,0
$CFSIZE,260165632,257769472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290808,012029,4807.671,-12223.844,8,2.1,27,18.3