version: 66.04
glider: 157
mission: 2
dive: 18
start: 8 29 108 8 16 17
data:
$ID,157
$MISSION,2
$DIVE,18
$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,-12891.765
$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,26
$R_STBD_OVSHOOT,20
$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
$GPS1,081038,4806.352,-12222.609,6,1.4,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-68.8
$GPS2,081538,4806.358,-12222.626,10,1.9,15,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.232,-0.118
$KALMAN_X,-7673.3,-41.9,-148.9,8216.8,-198.1
$KALMAN_Y,4607.0,-51.8,-18.0,-6547.7,4.1
$MHEAD_RNG_PITCHd_Wd,98.7,1019,-17.5,-10.000
$D_GRID,103
$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,-70.10,0.000,2,0.000,0.000,93,2258,2568
$GC,85,-0.64,-146.6,3.2,-6.3,11,112,6.28,2.35,-15.57,0.000,4,0.249,0.085,1672,3682,3258
$GC,139,-0.64,-146.6,12.9,-13.5,21,145,0.00,2.33,0.00,0.000,6,0.000,0.061,1672,2274,3259
$GC,210,-0.64,-146.6,17.7,-5.9,37,217,0.00,2.35,0.00,0.000,4,0.000,0.071,1663,3681,3260
$GC,305,-0.64,-146.6,24.5,-7.7,58,311,0.00,2.30,0.00,0.000,6,0.000,0.059,1663,2271,3260
$GC,376,-0.64,-146.6,30.1,-8.0,74,382,0.00,0.00,0.00,0.000,6,0.000,0.000,1663,2271,3260
$GC,448,-0.64,-146.6,36.2,-8.3,90,454,0.00,2.28,0.00,0.000,4,0.000,0.063,1663,856,3260
$GC,510,-0.64,-146.6,42.2,-9.6,104,517,0.00,2.33,0.00,0.000,6,0.000,0.064,1653,2268,3261
$GC,648,-0.64,-146.6,55.7,-9.9,135,653,0.12,0.00,0.00,0.000,6,0.183,0.000,1683,2269,3261
$GC,783,-0.64,-146.6,66.9,-8.1,166,790,0.00,2.33,0.00,0.000,4,0.000,0.073,1676,3691,3261
$GC,868,-0.64,-146.6,74.2,-9.2,185,874,0.00,2.28,0.00,0.000,6,0.000,0.059,1676,2261,3261
$GC,1005,-0.64,-146.6,85.7,-8.4,216,1011,0.00,2.25,0.00,0.000,4,0.000,0.065,1677,855,3262
$GC,1081,-0.64,-146.6,92.4,-8.0,233,1087,0.00,2.30,0.00,0.000,6,0.000,0.067,1666,2284,3261
$STATE,1206,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1206,begin apogee
$GC,1210,-0.13,0.0,103.2,8.8,262,1324,0.57,0.00,109.75,0.727,6,0.159,0.000,1843,2441,2659
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1326,0.64,146.6,102.9,0.0,281,1444,0.73,2.42,111.65,0.677,4,0.097,0.058,2102,1004,2061
$GC,1522,0.64,146.6,65.1,20.3,319,1528,0.00,2.38,0.00,0.000,6,0.000,0.063,2102,2421,2060
$GC,1658,0.64,146.6,33.3,24.1,350,1665,0.00,2.35,0.00,0.000,4,0.000,0.062,2112,1007,2058
$GC,1691,0.64,146.6,25.4,23.5,357,1697,0.00,2.38,0.00,0.000,6,0.000,0.064,2112,2427,2058
$GC,1763,0.64,146.6,9.0,23.1,373,1770,0.00,2.35,0.00,0.000,4,0.000,0.064,2122,1008,2058
$GC,1775,0.64,146.6,7.1,20.6,375,1781,0.00,2.38,0.00,0.000,6,0.000,0.067,2122,2426,2058
$GC,1846,0.88,344.1,4.5,0.9,391,1956,0.17,0.00,107.47,0.630,2,0.055,0.000,2216,2427,1479
$STATE,1957,end climb,SURFACE_DEPTH_REACHED
$STATE,1957,begin surface coast
$FINISH,-0.1,1.006481
$STATE,2086,end surface coast,CONTROL_FINISHED_OK
$STATE,2086,begin surface
$SM_CCo,2098,133.68,0.589,0,0,782,460.18
$SM_GC,0.81,0.00,0.00,133.68,0.000,0.000,0.589,94,2256,782,-5.61,-0.40,460.18
$IRIDIUM_FIX,4751.72,-12223.57,231197,070727
$TT8_MAMPS,0.048321
$HUMID,1930
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.80
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,39.6
$24V_AH,24.1,5.979
$10V_AH,10.6,2.668
$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,13.600,37.850,328.875,133.675,0.000,27.539,28.492,165.466,0.750,0.000,0.000,17.571,0.000,632.269,463.909,1131.869,303.519,33.327,911.448,0.000,978.970,0.000,5.496,0.000
$DEVICE_MAMPS,248.508,85.137,727.116,589.056,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,298.299,222.810,725.955,176.698,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25417,438
$CAP_FILE_SIZE,45550,0
$CFSIZE,260165632,257474560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,085414,4806.313,-12222.525,9,1.7,26,18.3