version: 66.04
glider: 157
mission: 2
dive: 16
start: 8 29 108 6 52 56
data:
$ID,157
$MISSION,2
$DIVE,16
$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,-12844.312
$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,24
$R_STBD_OVSHOOT,17
$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
$GPS1,064653,4806.615,-12222.930,10,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.7
$GPS2,065217,4806.600,-12222.913,11,2.5,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.227,-0.127
$KALMAN_X,-7161.6,-317.6,168.6,7308.6,-149.7
$KALMAN_Y,4391.6,216.7,-130.2,-6040.7,-46.4
$MHEAD_RNG_PITCHd_Wd,101.0,1584,-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,-70.28,0.000,2,0.000,0.000,94,2258,2564
$GC,85,-0.64,-146.6,3.0,-5.9,11,112,6.30,2.45,-16.08,0.000,4,0.251,0.086,1673,3691,3260
$GC,295,-0.64,-146.6,24.2,-7.0,57,302,0.00,2.33,0.00,0.000,6,0.000,0.059,1673,2265,3262
$GC,367,-0.64,-146.6,29.2,-7.5,73,374,0.00,2.35,0.00,0.000,4,0.000,0.071,1663,3681,3262
$GC,400,-0.64,-146.6,31.9,-8.2,80,406,0.00,2.30,0.00,0.000,6,0.000,0.058,1663,2265,3262
$GC,472,-0.64,-146.6,38.1,-8.5,96,478,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,2265,3262
$GC,543,-0.64,-146.6,45.1,-9.3,112,549,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,2265,3263
$GC,680,-0.64,-146.6,57.8,-9.5,143,685,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,2265,3263
$GC,815,-0.64,-146.6,70.7,-9.4,174,821,0.00,2.28,0.00,0.000,4,0.000,0.064,1663,847,3263
$GC,860,-0.64,-146.6,74.9,-8.9,184,866,0.10,2.33,0.00,0.000,6,0.170,0.066,1684,2268,3263
$GC,998,-0.64,-146.6,85.9,-7.9,215,1003,0.00,2.30,0.00,0.000,4,0.000,0.074,1678,3698,3263
$GC,1026,-0.64,-146.6,88.1,-8.1,221,1031,0.00,2.28,0.00,0.000,6,0.000,0.060,1683,2268,3263
$GC,1162,-0.64,-146.6,99.0,-8.0,252,1168,0.00,2.25,0.00,0.000,4,0.000,0.064,1683,857,3263
$STATE,1184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1184,begin apogee
$GC,1190,-0.13,0.0,101.1,8.6,257,1303,0.52,0.00,109.70,0.708,6,0.153,0.000,1843,2434,2659
$STATE,1303,end apogee,CONTROL_FINISHED_OK
$STATE,1303,begin climb
$GC,1305,0.64,146.6,101.3,0.0,276,1423,0.73,2.42,111.05,0.647,4,0.091,0.060,2104,1007,2059
$GC,1457,0.64,146.6,72.3,22.4,304,1464,0.00,2.42,0.00,0.000,6,0.000,0.062,2104,2422,2058
$GC,1595,0.64,146.6,39.0,24.2,335,1601,0.00,2.35,0.00,0.000,4,0.000,0.061,2114,1007,2057
$GC,1627,0.64,146.6,31.3,24.4,342,1634,0.00,2.38,0.00,0.000,6,0.000,0.064,2114,2426,2057
$GC,1699,0.64,146.6,14.2,24.4,358,1705,0.00,2.35,0.00,0.000,4,0.000,0.062,2124,1005,2057
$GC,1732,0.64,146.6,7.4,21.3,365,1738,0.00,2.38,0.00,0.000,6,0.000,0.066,2123,2428,2056
$GC,1804,0.90,357.6,4.8,0.3,381,1901,0.17,0.00,95.25,0.633,2,0.060,0.000,2212,2428,1543
$STATE,1902,end climb,SURFACE_DEPTH_REACHED
$STATE,1902,begin surface coast
$FINISH,-0.1,1.008822
$STATE,1983,end surface coast,CONTROL_FINISHED_OK
$STATE,1983,begin surface
$SM_CCo,1995,145.40,0.574,0,0,783,460.18
$SM_GC,0.68,0.00,0.00,145.40,0.000,0.000,0.574,92,2260,783,-5.62,-0.28,460.18
$IRIDIUM_FIX,4748.51,-12221.84,231197,060639
$TT8_MAMPS,0.047554
$HUMID,1923
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,36.7
$24V_AH,24.1,5.787
$10V_AH,10.7,2.569
$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,13.575,38.025,316.000,145.400,0.000,23.987,30.112,174.979,0.750,0.000,0.000,33.498,0.000,588.992,470.505,1090.647,313.080,33.330,900.417,0.000,927.635,0.000,5.489,0.000
$DEVICE_MAMPS,250.809,85.904,707.941,573.716,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,286.154,213.483,686.488,166.672,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22439,415
$CAP_FILE_SIZE,44952,0
$CFSIZE,260165632,257544192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,072923,4806.475,-12222.754,8,2.2,27,18.3