version: 66.04
glider: 157
mission: 2
dive: 10
start: 8 29 108 2 8 23
data:
$ID,157
$MISSION,2
$DIVE,10
$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,-4
$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,-12663.532
$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,2270
$C_ROLL_CLIMB,2422
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$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,0
$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
$GPS1,020252,4807.639,-12223.845,37,2.5,56,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-71.1
$GPS2,020744,4807.681,-12223.872,13,1.3,13,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.221,-0.138
$KALMAN_X,-5176.6,-1148.7,380.5,4753.8,-575.4
$KALMAN_Y,3949.5,871.3,-195.4,-4182.3,446.3
$MHEAD_RNG_PITCHd_Wd,103.7,3879,-17.5,-10.000
$D_GRID,103
$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,-0.64,-146.6,0.0,0.0,0,83,0.00,0.00,-70.12,0.000,2,0.000,0.000,94,2275,2724
$GC,85,-0.64,-146.6,3.4,-6.5,11,111,6.38,2.38,-12.23,0.000,4,0.255,0.082,1687,858,3260
$GC,360,-0.64,-146.6,25.6,-7.8,72,366,0.00,2.35,0.00,0.000,6,0.000,0.067,1679,2280,3262
$GC,431,-0.64,-146.6,31.2,-8.5,88,438,0.00,2.30,0.00,0.000,4,0.000,0.072,1670,3683,3262
$GC,629,-0.64,-146.6,49.9,-9.9,133,634,0.00,2.28,0.00,0.000,6,0.000,0.059,1670,2258,3262
$GC,765,-0.64,-146.6,62.8,-9.4,164,771,0.00,0.00,0.00,0.000,6,0.000,0.000,1670,2256,3263
$GC,902,-0.64,-146.6,74.7,-8.8,195,907,0.00,2.33,0.00,0.000,4,0.000,0.071,1661,3691,3263
$GC,983,-0.64,-146.6,83.0,-9.9,213,988,0.00,2.28,0.00,0.000,6,0.000,0.058,1660,2256,3262
$GC,1117,-0.64,-146.6,95.9,-9.0,244,1123,0.00,0.00,0.00,0.000,6,0.000,0.000,1660,2256,3263
$STATE,1200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1200,begin apogee
$GC,1204,-0.13,0.0,103.2,8.4,263,1317,0.60,0.00,109.35,0.709,6,0.163,0.000,1846,2432,2659
$STATE,1317,end apogee,CONTROL_FINISHED_OK
$STATE,1317,begin climb
$GC,1319,0.64,146.6,103.1,0.0,282,1437,0.73,2.42,111.30,0.666,4,0.085,0.060,2111,1004,2059
$GC,1469,0.64,146.6,72.9,24.9,309,1474,0.00,2.40,0.00,0.000,6,0.000,0.063,2111,2423,2058
$GC,1605,0.64,146.6,38.0,24.9,340,1611,0.00,2.38,0.00,0.000,4,0.000,0.062,2121,998,2057
$GC,1629,0.64,146.6,31.9,25.4,345,1635,0.00,2.40,0.00,0.000,6,0.000,0.064,2121,2429,2057
$GC,1701,0.64,146.6,14.3,24.7,361,1707,0.00,2.35,0.00,0.000,4,0.000,0.061,2131,1009,2056
$GC,1721,0.64,146.6,9.5,24.6,365,1727,0.12,2.35,0.00,0.000,6,0.160,0.063,2092,2423,2056
$STATE,1773,end climb,SURFACE_DEPTH_REACHED
$STATE,1773,begin surface coast
$FINISH,4.3,1.018188
$STATE,1873,end surface coast,CONTROL_FINISHED_OK
$STATE,1873,begin surface
$SM_CCo,1875,314.25,0.584,9,0,485,533.28
$SM_GC,0.77,5.35,0.00,0.00,0.033,0.000,0.000,92,2259,481,-5.61,-0.31,534.26
$IRIDIUM_FIX,4748.51,-12226.29,231197,010119
$TT8_MAMPS,0.046787
$HUMID,1966
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,90.3,7.3
$24V_AH,24.4,5.172
$10V_AH,10.7,2.253
$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,13.175,28.775,220.650,314.250,0.000,29.515,28.131,158.884,1.500,0.000,0.000,15.336,0.000,688.119,610.474,1037.283,291.686,33.309,988.825,0.000,894.312,0.000,9.736,0.000
$DEVICE_MAMPS,255.411,82.069,708.708,584.454,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,274.519,204.355,659.199,165.966,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22237,400
$CAP_FILE_SIZE,41327,0
$CFSIZE,260165632,257716224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,9,0
$GPS,290808,024745,4807.566,-12223.739,7,1.8,7,18.3