version: 66.04
glider: 157
mission: 2
dive: 20
start: 8 29 108 9 46 32
data:
$ID,157
$MISSION,2
$DIVE,20
$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,-12957.921
$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,25
$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
$GPS1,094044,4806.324,-12222.519,9,1.7,26,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.81
$_SM_ANGLEo,-67.3
$GPS2,094553,4806.376,-12222.567,9,99.0,28,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.196,-0.171
$KALMAN_X,-8366.2,146.5,-453.2,9100.9,-187.6
$KALMAN_Y,5210.7,-254.5,140.9,-7077.4,138.0
$MHEAD_RNG_PITCHd_Wd,112.9,989,-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,-146.6,0.0,0.0,0,102,0.00,0.00,-89.07,0.000,2,0.000,0.000,93,2264,2825
$GC,104,-0.64,-146.6,3.8,-6.7,14,125,6.28,2.38,-9.35,0.000,4,0.250,0.082,1671,3692,3258
$GC,138,-0.64,-146.6,11.1,-19.0,20,144,0.00,2.33,0.00,0.000,6,0.000,0.059,1671,2275,3259
$GC,210,-0.64,-146.6,15.1,-4.5,36,217,0.00,2.30,0.00,0.000,4,0.000,0.064,1671,855,3260
$GC,256,-0.64,-146.6,17.6,-5.2,46,262,0.00,2.35,0.00,0.000,6,0.000,0.065,1661,2277,3260
$GC,328,-0.64,-146.6,21.8,-6.2,62,334,0.00,2.30,0.00,0.000,4,0.000,0.071,1650,3681,3260
$GC,391,-0.64,-146.6,26.7,-8.0,76,398,0.00,2.30,0.00,0.000,6,0.000,0.058,1650,2262,3260
$GC,463,-0.64,-146.6,32.7,-8.5,92,470,0.15,2.28,0.00,0.000,4,0.190,0.063,1688,851,3261
$GC,518,-0.64,-146.6,36.8,-7.4,104,525,0.00,2.33,0.00,0.000,6,0.000,0.065,1680,2269,3261
$GC,589,-0.64,-146.6,42.8,-8.6,120,595,0.00,0.00,0.00,0.000,6,0.000,0.000,1680,2269,3261
$GC,726,-0.64,-146.6,54.6,-9.0,151,731,0.00,2.30,0.00,0.000,4,0.000,0.072,1671,3698,3262
$GC,797,-0.64,-146.6,61.3,-9.5,167,802,0.00,2.28,0.00,0.000,6,0.000,0.058,1671,2264,3261
$GC,932,-0.64,-146.6,73.0,-8.4,198,938,0.00,2.33,0.00,0.000,4,0.000,0.070,1661,3683,3262
$GC,1000,-0.64,-146.6,79.3,-9.4,213,1005,0.00,2.25,0.00,0.000,6,0.000,0.058,1661,2263,3261
$GC,1137,-0.64,-146.6,91.7,-8.3,244,1143,0.00,2.25,0.00,0.000,4,0.000,0.064,1661,856,3261
$GC,1196,-0.64,-146.6,96.9,-9.2,257,1201,0.15,2.30,0.00,0.000,6,0.173,0.066,1690,2286,3261
$STATE,1304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1304,begin apogee
$GC,1308,-0.13,0.0,105.2,7.4,282,1422,0.47,0.00,109.85,0.734,6,0.148,0.000,1843,2426,2659
$STATE,1422,end apogee,CONTROL_FINISHED_OK
$STATE,1422,begin climb
$GC,1424,0.64,146.6,104.9,0.0,301,1542,0.73,2.40,111.90,0.673,4,0.094,0.060,2103,1007,2060
$GC,1612,0.64,146.6,68.2,20.9,337,1617,0.00,2.38,0.00,0.000,6,0.000,0.064,2103,2420,2058
$GC,1749,0.64,146.6,35.8,24.1,368,1755,0.00,2.35,0.00,0.000,4,0.000,0.061,2113,1003,2057
$GC,1773,0.64,146.6,29.7,24.3,373,1780,0.00,2.38,0.00,0.000,6,0.000,0.065,2113,2421,2057
$GC,1845,0.64,146.6,12.3,24.1,389,1852,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2422,2057
$STATE,1894,end climb,SURFACE_DEPTH_REACHED
$STATE,1894,begin surface coast
$FINISH,2.0,1.017656
$STATE,1925,end surface coast,CONTROL_FINISHED_OK
$STATE,1925,begin surface
$SM_CCo,1936,250.40,0.604,5,0,782,460.18
$SM_GC,0.68,0.00,0.00,250.40,0.000,0.000,0.604,94,2257,782,-5.61,-0.34,460.18
$IRIDIUM_FIX,4748.51,-12220.12,231197,090918
$TT8_MAMPS,0.047554
$HUMID,1861
$INTERNAL_PRESSURE,8.80893
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,41.1
$24V_AH,24.0,6.183
$10V_AH,10.7,2.766
$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,13.375,42.225,221.750,250.400,0.000,27.537,27.307,159.536,0.500,0.000,0.000,31.723,0.000,604.903,553.347,1063.864,298.463,33.329,956.607,0.000,899.207,0.000,5.504,0.000
$DEVICE_MAMPS,250.042,82.069,734.019,603.629,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,276.623,199.325,647.530,160.059,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22256,407
$CAP_FILE_SIZE,46170,0
$CFSIZE,260165632,257421312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,0
$GPS,290808,102408,4806.281,-12222.527,25,1.8,25,18.3