version: 66.04
glider: 157
mission: 2
dive: 14
start: 8 29 108 5 12 26
data:
$ID,157
$MISSION,2
$DIVE,14
$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,-12778.282
$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,27
$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
$GPS1,050323,4806.960,-12223.267,10,4.0,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-67.7
$GPS2,051147,4806.947,-12223.281,9,2.6,28,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.224,-0.133
$KALMAN_X,-6619.8,-671.0,421.5,6411.7,-140.8
$KALMAN_Y,4237.8,552.7,-184.3,-5522.4,-77.7
$MHEAD_RNG_PITCHd_Wd,102.3,2364,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-76.68,0.000,2,0.000,0.000,93,2264,2776
$GC,91,-0.64,-146.6,3.5,-6.8,12,112,6.25,2.33,-10.20,0.000,4,0.248,0.078,1695,858,3260
$GC,156,-0.64,-146.6,16.5,-10.0,25,162,0.00,2.35,0.00,0.000,6,0.000,0.067,1687,2269,3262
$GC,228,-0.64,-146.6,21.3,-5.6,41,234,0.00,2.30,0.00,0.000,4,0.000,0.062,1688,860,3262
$GC,313,-0.64,-146.6,26.0,-5.9,60,319,0.00,2.33,0.00,0.000,6,0.000,0.066,1678,2271,3262
$GC,385,-0.64,-146.6,30.7,-6.7,76,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1679,2271,3263
$GC,456,-0.64,-146.6,35.9,-7.7,92,463,0.00,2.33,0.00,0.000,4,0.000,0.072,1669,3691,3263
$GC,502,-0.64,-146.6,39.8,-9.1,102,509,0.00,2.30,0.00,0.000,6,0.000,0.059,1671,2271,3262
$GC,573,-0.64,-146.6,46.3,-8.9,118,579,0.00,0.00,0.00,0.000,6,0.000,0.000,1672,2271,3263
$GC,710,-0.64,-146.6,58.2,-8.6,149,715,0.00,2.25,0.00,0.000,4,0.000,0.062,1672,844,3263
$GC,746,-0.64,-146.6,61.4,-9.1,157,751,0.00,2.30,0.00,0.000,6,0.000,0.064,1664,2273,3263
$GC,882,-0.64,-146.6,73.3,-9.0,188,888,0.00,2.28,0.00,0.000,4,0.000,0.071,1653,3679,3263
$GC,952,-0.64,-146.6,80.3,-10.7,203,958,0.12,2.25,0.00,0.000,6,0.182,0.058,1684,2259,3263
$GC,1088,-0.64,-146.6,91.8,-7.8,234,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,1684,2259,3263
$STATE,1209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1209,begin apogee
$GC,1213,-0.13,0.0,101.3,7.7,262,1326,0.50,0.00,109.45,0.712,6,0.153,0.000,1843,2434,2659
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1328,0.64,146.6,101.1,0.0,281,1446,0.73,2.42,111.22,0.652,4,0.091,0.059,2106,995,2059
$GC,1481,0.64,146.6,71.8,23.2,309,1487,0.00,2.40,0.00,0.000,6,0.000,0.063,2106,2414,2058
$GC,1616,0.64,146.6,39.1,23.8,340,1623,0.00,2.35,0.00,0.000,4,0.000,0.061,2116,1000,2057
$GC,1641,0.64,146.6,33.6,24.2,345,1647,0.00,2.40,0.00,0.000,6,0.000,0.064,2116,2431,2057
$GC,1712,0.64,146.6,15.6,26.1,361,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2431,2057
$GC,1785,0.82,294.2,6.1,3.2,377,1862,0.12,0.00,75.57,0.634,2,0.067,0.000,2178,2431,1650
$STATE,1863,end climb,SURFACE_DEPTH_REACHED
$STATE,1863,begin surface coast
$FINISH,-0.2,1.008545
$STATE,1970,end surface coast,CONTROL_FINISHED_OK
$STATE,1970,begin surface
$SM_CCo,1982,164.98,0.581,0,0,782,460.18
$SM_GC,0.62,0.00,0.00,164.98,0.000,0.000,0.581,93,2256,782,-5.62,-0.40,460.18
$IRIDIUM_FIX,4748.51,-12226.29,231197,050530
$TT8_MAMPS,0.047554
$HUMID,1918
$INTERNAL_PRESSURE,8.8187
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,37.2
$24V_AH,24.1,5.565
$10V_AH,10.7,2.461
$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,13.375,33.150,296.250,164.975,0.000,60.344,56.321,230.748,0.750,0.000,0.000,31.225,0.000,658.534,476.118,1084.626,431.013,33.308,898.445,0.000,921.816,0.000,5.491,0.000
$DEVICE_MAMPS,247.741,78.234,711.776,580.619,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,285.564,211.766,679.464,165.798,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22256,414
$CAP_FILE_SIZE,46561,0
$CFSIZE,260165632,257593344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,054904,4806.795,-12223.076,12,4.9,31,18.3