version: 66.04
glider: 157
mission: 2
dive: 19
start: 8 29 108 9 0 8
data:
$ID,157
$MISSION,2
$DIVE,19
$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,-12925.569
$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,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
$GPS1,085414,4806.313,-12222.525,9,1.7,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-69.5
$GPS2,085929,4806.362,-12222.554,11,2.4,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.210,-0.154
$KALMAN_X,-7979.9,63.6,-323.1,8682.7,-181.1
$KALMAN_Y,4873.9,-167.3,63.6,-6776.8,69.7
$MHEAD_RNG_PITCHd_Wd,108.0,958,-17.5,-10.000
$D_GRID,105
$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,-70.18,0.000,2,0.000,0.000,94,2256,2586
$GC,85,-0.64,-146.6,3.2,-6.2,11,112,6.32,2.38,-15.25,0.000,4,0.252,0.087,1674,3686,3258
$GC,321,-0.64,-146.6,25.0,-7.5,63,327,0.00,2.30,0.00,0.000,6,0.000,0.058,1673,2275,3260
$GC,393,-0.64,-146.6,30.4,-7.4,79,399,0.00,2.30,0.00,0.000,4,0.000,0.063,1673,848,3260
$GC,413,-0.64,-146.6,32.1,-8.1,83,419,0.00,2.35,0.00,0.000,6,0.000,0.064,1664,2277,3260
$GC,485,-0.64,-146.6,38.3,-8.6,99,491,0.00,2.33,0.00,0.000,4,0.000,0.061,1664,847,3260
$GC,534,-0.64,-146.6,42.9,-9.1,110,541,0.00,2.35,0.00,0.000,6,0.000,0.064,1654,2278,3260
$GC,672,-0.64,-146.6,55.9,-9.5,141,677,0.00,2.28,0.00,0.000,4,0.000,0.071,1643,3694,3261
$GC,734,-0.64,-146.6,62.6,-10.7,155,739,0.17,2.28,0.00,0.000,6,0.190,0.058,1688,2262,3261
$GC,870,-0.64,-146.6,73.9,-8.2,186,876,0.00,2.33,0.00,0.000,4,0.000,0.071,1680,3678,3261
$GC,911,-0.64,-146.6,77.5,-9.1,195,917,0.00,2.25,0.00,0.000,6,0.000,0.058,1680,2259,3261
$GC,1048,-0.64,-146.6,89.2,-9.0,226,1054,0.00,2.25,0.00,0.000,4,0.000,0.064,1680,852,3261
$GC,1119,-0.64,-146.6,95.5,-8.7,242,1125,0.00,2.33,0.00,0.000,6,0.000,0.066,1672,2275,3261
$STATE,1232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1232,begin apogee
$GC,1236,-0.13,0.0,105.2,8.5,268,1349,0.55,0.00,109.53,0.715,6,0.157,0.000,1843,2432,2658
$STATE,1349,end apogee,CONTROL_FINISHED_OK
$STATE,1350,begin climb
$GC,1351,0.64,146.6,105.3,0.0,287,1469,0.73,2.42,111.20,0.644,4,0.089,0.059,2105,994,2060
$GC,1547,0.64,146.6,66.9,21.1,325,1553,0.00,2.40,0.00,0.000,6,0.000,0.064,2105,2424,2058
$GC,1684,0.64,146.6,33.9,23.9,356,1690,0.00,2.35,0.00,0.000,4,0.000,0.062,2113,1009,2057
$GC,1708,0.64,146.6,27.8,24.8,361,1714,0.00,2.38,0.00,0.000,6,0.000,0.064,2113,2430,2057
$GC,1780,0.64,146.6,10.4,24.9,377,1786,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2431,2056
$STATE,1833,end climb,SURFACE_DEPTH_REACHED
$STATE,1833,begin surface coast
$FINISH,5.3,1.017753
$STATE,1907,end surface coast,CONTROL_FINISHED_OK
$STATE,1907,begin surface
$SM_CCo,1909,320.90,0.564,12,0,484,533.28
$SM_GC,0.79,5.43,0.00,0.00,0.035,0.000,0.000,93,2264,481,-5.60,-0.17,534.26
$IRIDIUM_FIX,4748.51,-12217.40,231197,080840
$TT8_MAMPS,0.046787
$HUMID,1917
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,46.3
$24V_AH,24.4,6.084
$10V_AH,10.7,2.717
$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,13.200,37.775,220.725,320.900,0.000,28.805,25.705,165.473,0.500,0.000,0.000,33.177,0.000,701.194,642.627,1059.738,301.767,33.332,1033.435,0.000,897.366,0.000,5.514,0.000
$DEVICE_MAMPS,252.343,87.438,714.844,563.745,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,277.894,202.472,649.259,162.069,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22259,406
$CAP_FILE_SIZE,44276,0
$CFSIZE,260165632,257454080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,12,0
$GPS,290808,094044,4806.324,-12222.519,9,1.7,26,18.3