version: 66.04
glider: 157
mission: 2
dive: 13
start: 8 29 108 4 24 42
data:
$ID,157
$MISSION,2
$DIVE,13
$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,-12746.429
$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,22
$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
$GPS1,041915,4807.214,-12223.393,9,2.0,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.75
$_SM_ANGLEo,-67.2
$GPS2,042403,4807.185,-12223.399,15,2.0,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.202,-0.164
$KALMAN_X,-6208.7,-862.6,452.7,6013.7,-124.2
$KALMAN_Y,4225.1,689.5,-204.3,-5185.6,-29.2
$MHEAD_RNG_PITCHd_Wd,110.8,2795,-17.5,-10.000
$D_GRID,101
$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,-76.43,0.000,2,0.000,0.000,93,2254,2739
$GC,91,-0.64,-146.6,3.3,-6.6,12,118,6.25,2.33,-11.32,0.000,4,0.246,0.083,1692,861,3260
$GC,279,-0.64,-146.6,25.0,-6.5,53,285,0.00,2.33,0.00,0.000,6,0.000,0.067,1685,2265,3262
$GC,351,-0.64,-146.6,30.1,-7.2,69,357,0.00,0.00,0.00,0.000,6,0.000,0.000,1685,2265,3263
$GC,422,-0.64,-146.6,35.3,-7.1,85,429,0.00,0.00,0.00,0.000,6,0.000,0.000,1685,2265,3263
$GC,494,-0.64,-146.6,40.9,-7.7,101,499,0.00,0.00,0.00,0.000,6,0.000,0.000,1685,2265,3263
$GC,629,-0.64,-146.6,51.7,-8.7,132,635,0.00,0.00,0.00,0.000,6,0.000,0.000,1685,2265,3263
$GC,765,-0.64,-146.6,63.3,-8.0,163,771,0.00,2.30,0.00,0.000,4,0.000,0.073,1675,3692,3263
$GC,802,-0.64,-146.6,66.5,-9.2,171,807,0.00,2.25,0.00,0.000,6,0.000,0.059,1674,2276,3263
$GC,938,-0.64,-146.6,78.2,-8.4,202,944,0.00,2.33,0.00,0.000,4,0.000,0.071,1664,3691,3264
$GC,997,-0.64,-146.6,83.9,-9.9,215,1002,0.00,2.28,0.00,0.000,6,0.000,0.059,1664,2258,3263
$GC,1133,-0.64,-146.6,96.0,-7.9,246,1140,0.00,2.25,0.00,0.000,4,0.000,0.064,1664,849,3263
$GC,1166,-0.64,-146.6,98.8,-8.7,253,1171,0.00,2.30,0.00,0.000,6,0.000,0.065,1654,2281,3263
$STATE,1187,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1187,begin apogee
$GC,1191,-0.13,0.0,101.0,9.4,258,1304,0.62,0.00,109.47,0.700,6,0.167,0.000,1844,2440,2659
$STATE,1304,end apogee,CONTROL_FINISHED_OK
$STATE,1304,begin climb
$GC,1306,0.64,146.6,100.9,0.0,277,1424,0.73,2.42,110.40,0.645,4,0.081,0.060,2112,1007,2064
$GC,1468,0.64,146.6,69.2,22.1,307,1473,0.00,2.38,0.00,0.000,6,0.000,0.062,2112,2420,2062
$GC,1605,0.64,146.6,35.5,24.9,338,1611,0.00,2.35,0.00,0.000,4,0.000,0.061,2121,1006,2060
$GC,1628,0.64,146.6,29.6,24.5,343,1634,0.00,2.38,0.00,0.000,6,0.000,0.063,2121,2425,2060
$GC,1700,0.64,146.6,11.9,24.5,359,1707,0.00,2.35,0.00,0.000,4,0.000,0.062,2131,1004,2060
$GC,1955,0.88,345.4,7.1,0.9,417,2027,0.10,2.33,67.22,0.659,2,0.055,0.064,2192,2420,1697
$STATE,2027,end climb,SURFACE_DEPTH_REACHED
$STATE,2027,begin surface coast
$FINISH,-0.1,1.009917
$STATE,2087,end surface coast,CONTROL_FINISHED_OK
$STATE,2087,begin surface
$SM_CCo,2098,174.05,0.588,0,0,782,460.18
$SM_GC,0.72,0.00,0.00,174.05,0.000,0.000,0.588,92,2263,782,-5.62,-0.20,460.18
$IRIDIUM_FIX,4751.72,-12221.84,231197,030351
$TT8_MAMPS,0.048321
$HUMID,1949
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,7.2
$24V_AH,24.1,5.463
$10V_AH,10.7,2.410
$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,13.350,33.050,287.100,174.050,0.000,26.102,26.693,157.424,1.000,0.000,0.000,16.783,0.000,634.196,480.504,1150.228,294.366,33.308,915.174,0.000,995.432,0.000,9.774,0.000
$DEVICE_MAMPS,246.207,82.836,700.271,588.289,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,302.576,230.497,747.060,185.121,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25378,442
$CAP_FILE_SIZE,45163,0
$CFSIZE,260165632,257617920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,050323,4806.960,-12223.267,10,4.0,29,18.3