version: 66.04
glider: 157
mission: 2
dive: 21
start: 8 29 108 10 29 47
data:
$ID,157
$MISSION,2
$DIVE,21
$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,-12974.898
$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,31
$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
$GPS1,102408,4806.281,-12222.527,25,1.8,25,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-66.8
$GPS2,102908,4806.330,-12222.580,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.194,-0.173
$KALMAN_X,-8732.4,194.6,-538.1,9487.5,-197.8
$KALMAN_Y,5455.4,-305.4,210.0,-7423.2,183.1
$MHEAD_RNG_PITCHd_Wd,113.4,943,-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,-146.6,0.0,0.0,0,90,0.00,0.00,-76.47,0.000,2,0.000,0.000,94,2258,2797
$GC,91,-0.64,-146.6,3.5,-6.4,12,112,6.25,2.42,-10.30,0.000,4,0.247,0.084,1671,3688,3260
$GC,117,-0.64,-146.6,9.4,-17.1,16,123,0.00,2.33,0.00,0.000,6,0.000,0.061,1672,2281,3261
$GC,189,-0.64,-146.6,14.0,-4.4,32,195,0.00,2.33,0.00,0.000,4,0.000,0.066,1672,858,3262
$GC,226,-0.64,-146.6,15.9,-5.0,40,232,0.00,2.35,0.00,0.000,6,0.000,0.065,1664,2273,3262
$GC,297,-0.64,-146.6,20.1,-6.2,56,303,0.00,0.00,0.00,0.000,6,0.000,0.000,1664,2273,3262
$GC,369,-0.64,-146.6,25.1,-7.2,72,375,0.00,2.33,0.00,0.000,4,0.000,0.072,1653,3688,3262
$GC,406,-0.64,-146.6,28.3,-8.8,80,412,0.00,2.30,0.00,0.000,6,0.000,0.059,1653,2273,3262
$GC,478,-0.64,-146.6,34.3,-8.3,96,484,0.12,2.30,0.00,0.000,4,0.191,0.063,1688,847,3263
$GC,554,-0.64,-146.6,40.7,-8.0,113,560,0.00,2.33,0.00,0.000,6,0.000,0.065,1679,2282,3263
$GC,690,-0.64,-146.6,52.3,-8.2,144,696,0.00,2.30,0.00,0.000,4,0.000,0.072,1671,3691,3262
$GC,778,-0.64,-146.6,60.7,-9.4,164,785,0.00,2.30,0.00,0.000,6,0.000,0.058,1672,2265,3263
$GC,917,-0.64,-146.6,72.8,-8.6,195,922,0.00,2.30,0.00,0.000,4,0.000,0.071,1663,3685,3263
$GC,991,-0.64,-146.6,79.9,-9.5,212,1003,0.00,2.28,0.00,0.000,6,0.000,0.059,1663,2272,3263
$GC,1135,-0.64,-146.6,92.5,-8.4,243,1141,0.00,2.25,0.00,0.000,4,0.000,0.063,1663,842,3263
$GC,1201,-0.64,-146.6,98.2,-8.6,258,1207,0.00,2.33,0.00,0.000,6,0.000,0.066,1653,2265,3263
$STATE,1253,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1253,begin apogee
$GC,1257,-0.13,0.0,103.1,9.1,270,1371,0.62,0.00,110.28,0.726,6,0.163,0.000,1845,2440,2659
$STATE,1371,end apogee,CONTROL_FINISHED_OK
$STATE,1371,begin climb
$GC,1373,0.64,146.6,103.0,0.0,289,1491,0.73,2.42,111.07,0.650,4,0.090,0.059,2107,1006,2061
$GC,1552,0.64,146.6,67.5,21.6,323,1558,0.00,2.38,0.00,0.000,6,0.000,0.064,2107,2417,2060
$GC,1689,0.64,146.6,34.6,25.1,354,1695,0.00,2.35,0.00,0.000,4,0.000,0.061,2116,1000,2059
$GC,1709,0.64,146.6,29.6,24.5,358,1715,0.00,2.38,0.00,0.000,6,0.000,0.065,2116,2417,2059
$GC,1781,0.64,146.6,11.7,24.3,374,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,2116,2417,2058
$STATE,1816,end climb,SURFACE_DEPTH_REACHED
$STATE,1816,begin surface coast
$FINISH,1.7,1.017671
$STATE,1838,end surface coast,CONTROL_FINISHED_OK
$STATE,1838,begin surface
$SM_CCo,1850,243.65,0.599,1,0,783,460.18
$SM_GC,0.62,0.00,0.00,243.65,0.000,0.000,0.599,91,2253,783,-5.62,-0.48,460.18
$IRIDIUM_FIX,4748.51,-12226.29,231197,090946
$TT8_MAMPS,0.048321
$HUMID,1870
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.3,7.2
$24V_AH,24.0,6.279
$10V_AH,10.7,2.812
$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,13.375,42.475,221.350,243.650,0.000,26.595,28.288,167.407,1.000,0.000,0.000,16.349,0.000,567.455,522.121,1000.439,307.977,33.327,913.042,0.000,855.404,0.000,9.808,0.000
$DEVICE_MAMPS,246.974,83.603,725.582,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,266.656,193.425,615.231,151.576,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22250,387
$CAP_FILE_SIZE,45159,0
$CFSIZE,260165632,257392640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,290808,110535,4806.218,-12222.491,10,2.5,29,18.3