version: 66.04
glider: 157
mission: 2
dive: 12
start: 8 29 108 3 42 47
data:
$ID,157
$MISSION,2
$DIVE,12
$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,-12729.021
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,033253,4807.425,-12223.562,8,2.4,27,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-68.6
$GPS2,034207,4807.426,-12223.548,12,1.2,28,18.3
$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,-5851.8,-1029.2,453.9,5635.4,-135.8
$KALMAN_Y,4170.7,816.6,-205.2,-4809.9,23.8
$MHEAD_RNG_PITCHd_Wd,115.4,3262,-17.5,-10.000
$D_GRID,102
$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,-146.6,0.0,0.0,0,89,0.00,0.00,-76.55,0.000,2,0.000,0.000,93,2262,2741
$GC,91,-0.64,-146.6,3.3,-6.3,12,118,6.22,2.40,-11.32,0.000,4,0.247,0.085,1676,3685,3260
$GC,266,-0.64,-146.6,23.7,-7.3,50,272,0.00,2.30,0.00,0.000,6,0.000,0.058,1676,2274,3262
$GC,338,-0.64,-146.6,28.5,-6.9,66,344,0.00,2.30,0.00,0.000,4,0.000,0.063,1676,847,3262
$GC,388,-0.64,-146.6,32.3,-8.0,77,394,0.00,2.33,0.00,0.000,6,0.000,0.064,1666,2267,3262
$GC,460,-0.64,-146.6,38.3,-8.9,93,466,0.00,2.30,0.00,0.000,4,0.000,0.071,1655,3678,3262
$GC,480,-0.64,-146.6,40.0,-8.5,97,486,0.00,2.28,0.00,0.000,6,0.000,0.059,1655,2272,3262
$GC,551,-0.64,-146.6,46.5,-9.2,113,556,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2272,3263
$GC,686,-0.64,-146.6,60.5,-10.3,144,692,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2272,3263
$GC,822,-0.64,-146.6,73.7,-9.1,175,828,0.00,2.30,0.00,0.000,4,0.000,0.070,1644,3691,3263
$GC,911,-0.64,-146.6,82.5,-10.1,195,916,0.15,2.28,0.00,0.000,6,0.186,0.058,1684,2257,3263
$GC,1047,-0.64,-146.6,93.6,-7.6,226,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,2258,3263
$STATE,1156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1156,begin apogee
$GC,1160,-0.13,0.0,102.3,8.0,251,1272,0.50,0.00,109.00,0.692,6,0.156,0.000,1842,2434,2659
$STATE,1273,end apogee,CONTROL_FINISHED_OK
$STATE,1273,begin climb
$GC,1274,0.64,146.6,102.4,0.0,270,1393,0.73,2.45,110.53,0.637,4,0.082,0.061,2109,995,2059
$GC,1406,0.64,146.6,77.6,24.7,293,1412,0.00,2.40,0.00,0.000,6,0.000,0.062,2109,2414,2058
$GC,1542,0.64,146.6,43.4,24.0,324,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2414,2057
$GC,1679,0.64,146.6,10.2,22.8,355,1685,0.00,2.33,0.00,0.000,4,0.000,0.061,2119,1003,2057
$GC,1855,0.97,415.5,6.2,-2.4,395,1927,0.20,2.35,66.82,0.639,2,0.042,0.064,2227,2429,1696
$STATE,1927,end climb,SURFACE_DEPTH_REACHED
$STATE,1927,begin surface coast
$FINISH,-0.1,1.008584
$STATE,1974,end surface coast,CONTROL_FINISHED_OK
$STATE,1975,begin surface
$SM_CCo,1986,173.48,0.587,0,0,783,460.18
$SM_GC,0.78,0.00,0.00,173.48,0.000,0.000,0.587,93,2254,783,-5.62,-0.45,460.18
$IRIDIUM_FIX,4748.51,-12224.57,231197,030300
$TT8_MAMPS,0.049088
$HUMID,1941
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,7.8
$24V_AH,24.1,5.369
$10V_AH,10.7,2.358
$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,13.525,28.575,286.350,173.475,0.000,56.740,56.083,282.175,0.500,0.000,0.000,30.375,0.000,664.960,473.729,1095.110,479.860,33.308,888.633,0.000,935.564,0.000,5.406,0.000
$DEVICE_MAMPS,246.974,85.137,691.834,586.755,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,285.828,215.914,698.447,172.221,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22262,417
$CAP_FILE_SIZE,46072,0
$CFSIZE,260165632,257650688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,041915,4807.214,-12223.393,9,2.0,9,18.3