version: 66.04
glider: 157
mission: 2
dive: 15
start: 8 29 108 6 10 38
data:
$ID,157
$MISSION,2
$DIVE,15
$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,-12810.181
$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,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
$GPS1,054904,4806.795,-12223.076,12,4.9,31,18.3
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,2
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-69.4
$GPS2,060959,4806.762,-12223.065,9,2.7,28,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.227,-0.126
$KALMAN_X,-6882.1,-490.7,320.1,6860.6,-130.6
$KALMAN_Y,4300.1,389.8,-161.3,-5790.1,-97.6
$MHEAD_RNG_PITCHd_Wd,100.7,1930,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-70.22,0.000,2,0.000,0.000,93,2256,2597
$GC,85,-0.64,-146.6,3.0,-5.8,11,111,6.18,2.38,-14.70,0.000,4,0.244,0.085,1676,3695,3257
$GC,359,-0.64,-146.6,27.1,-7.3,72,365,0.00,2.30,0.00,0.000,6,0.000,0.058,1675,2277,3259
$GC,431,-0.64,-146.6,32.3,-7.4,88,437,0.00,2.33,0.00,0.000,4,0.000,0.069,1665,3686,3259
$GC,603,-0.64,-146.6,48.4,-10.1,127,608,0.00,2.25,0.00,0.000,6,0.000,0.057,1665,2268,3259
$GC,739,-0.64,-146.6,60.8,-9.3,158,745,0.00,2.25,0.00,0.000,4,0.000,0.062,1665,857,3259
$GC,801,-0.64,-146.6,67.0,-10.0,172,807,0.00,2.30,0.00,0.000,6,0.000,0.064,1655,2268,3260
$GC,942,-0.64,-146.6,80.3,-9.5,203,947,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2268,3260
$GC,1077,-0.64,-146.6,92.7,-8.8,234,1083,0.00,2.28,0.00,0.000,4,0.000,0.061,1655,854,3259
$GC,1101,-0.64,-146.6,95.0,-9.7,239,1107,0.15,2.30,0.00,0.000,6,0.183,0.067,1687,2283,3260
$STATE,1174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1174,begin apogee
$GC,1178,-0.13,0.0,101.1,7.5,256,1291,0.50,0.00,108.70,0.707,6,0.150,0.000,1846,2442,2659
$STATE,1292,end apogee,CONTROL_FINISHED_OK
$STATE,1292,begin climb
$GC,1293,0.64,146.6,100.5,0.0,275,1412,0.73,2.42,110.57,0.635,4,0.082,0.058,2112,1004,2061
$GC,1455,0.64,146.6,68.0,22.9,305,1461,0.00,2.38,0.00,0.000,6,0.000,0.062,2112,2417,2059
$GC,1591,0.64,146.6,33.4,25.9,336,1598,0.00,2.35,0.00,0.000,4,0.000,0.061,2122,1000,2058
$GC,1629,0.64,146.6,24.1,24.7,344,1635,0.00,2.38,0.00,0.000,6,0.000,0.064,2121,2420,2058
$GC,1701,0.64,146.6,7.1,22.2,360,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2122,2421,2057
$GC,1772,0.89,352.1,4.2,0.6,376,1863,0.17,0.00,88.20,0.608,2,0.059,0.000,2210,2421,1579
$STATE,1864,end climb,SURFACE_DEPTH_REACHED
$STATE,1864,begin surface coast
$FINISH,-0.1,1.008603
$STATE,1962,end surface coast,CONTROL_FINISHED_OK
$STATE,1962,begin surface
$SM_CCo,1974,151.90,0.580,0,0,783,460.18
$SM_GC,0.70,0.00,0.00,151.90,0.000,0.000,0.580,94,2257,783,-5.61,-0.37,460.18
$IRIDIUM_FIX,4751.72,-12221.84,231197,060651
$TT8_MAMPS,0.047554
$HUMID,1900
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,40.2
$24V_AH,24.1,5.691
$10V_AH,10.7,2.519
$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,13.350,28.425,307.475,151.900,0.000,147.335,291.232,449.151,0.750,0.000,0.000,31.270,0.000,834.280,457.586,1083.626,1004.740,33.315,871.395,0.000,929.657,0.000,6.489,0.000
$DEVICE_MAMPS,243.906,85.137,707.174,579.852,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,281.277,212.853,692.922,170.279,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22206,413
$CAP_FILE_SIZE,50096,0
$CFSIZE,260165632,257564672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,064653,4806.615,-12222.930,10,99.0,29,18.3