version: 66.04
glider: 157
mission: 2
dive: 23
start: 8 29 108 11 52 41
data:
$ID,157
$MISSION,2
$DIVE,23
$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,-13022.994
$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,13
$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
$GPS1,114657,4806.134,-12222.392,9,1.2,9,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.76
$_SM_ANGLEo,-70.7
$GPS2,115202,4806.186,-12222.416,12,1.2,29,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.209,-0.155
$KALMAN_X,-9315.2,199.5,-553.6,10280.6,-149.0
$KALMAN_Y,5786.9,-312.0,304.9,-8107.9,131.2
$MHEAD_RNG_PITCHd_Wd,108.2,619,-17.5,-10.000
$D_GRID,107
$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,-76.45,0.000,2,0.000,0.000,91,2258,2782
$GC,91,-0.64,-146.6,3.6,-6.9,12,112,6.40,0.00,-10.82,0.000,6,0.255,0.000,1685,2258,3259
$GC,177,-0.64,-146.6,11.7,-4.9,30,184,0.00,2.40,0.00,0.000,4,0.000,0.074,1676,3687,3261
$GC,328,-0.64,-146.6,21.2,-7.3,64,335,0.00,2.30,0.00,0.000,6,0.000,0.060,1676,2281,3261
$GC,400,-0.64,-146.6,26.3,-7.6,80,406,0.00,0.00,0.00,0.000,6,0.000,0.000,1676,2280,3262
$GC,472,-0.64,-146.6,31.8,-8.1,96,478,0.00,2.33,0.00,0.000,4,0.000,0.065,1676,845,3262
$GC,518,-0.64,-146.6,35.7,-8.3,106,524,0.00,2.35,0.00,0.000,6,0.000,0.066,1666,2273,3262
$GC,588,-0.64,-146.6,41.7,-8.6,122,595,0.00,2.30,0.00,0.000,4,0.000,0.073,1656,3678,3262
$GC,630,-0.64,-146.6,45.8,-10.5,131,635,0.00,2.28,0.00,0.000,6,0.000,0.061,1656,2256,3262
$GC,766,-0.64,-146.6,58.9,-9.5,162,772,0.00,2.35,0.00,0.000,4,0.000,0.071,1647,3682,3262
$GC,798,-0.64,-146.6,62.4,-10.8,169,804,0.15,2.28,0.00,0.000,6,0.192,0.060,1685,2259,3262
$GC,935,-0.64,-146.6,74.5,-8.7,200,941,0.00,0.00,0.00,0.000,6,0.000,0.000,1685,2258,3263
$GC,1073,-0.64,-146.6,86.0,-7.3,231,1079,0.00,2.22,0.00,0.000,4,0.000,0.065,1686,850,3263
$GC,1092,-0.64,-146.6,87.5,-7.9,235,1098,0.00,2.30,0.00,0.000,6,0.000,0.067,1678,2273,3263
$GC,1229,-0.64,-146.6,98.8,-8.3,266,1235,0.00,2.30,0.00,0.000,4,0.000,0.075,1672,3684,3263
$GC,1261,-0.64,-146.6,101.8,-9.3,273,1267,0.00,2.25,0.00,0.000,6,0.000,0.060,1672,2266,3263
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1326,-0.13,0.0,107.2,8.5,287,1444,0.55,0.00,110.00,0.723,6,0.156,0.000,1843,2441,2659
$STATE,1444,end apogee,CONTROL_FINISHED_OK
$STATE,1445,begin climb
$GC,1446,0.64,146.6,106.3,0.0,307,1565,0.73,2.42,111.15,0.644,4,0.092,0.059,2106,1004,2060
$GC,1595,0.64,146.6,76.9,25.1,334,1602,0.00,2.42,0.00,0.000,6,0.000,0.064,2105,2414,2058
$GC,1733,0.64,146.6,42.5,24.8,365,1739,0.00,2.33,0.00,0.000,4,0.000,0.061,2115,998,2057
$GC,1752,0.64,146.6,37.6,24.5,369,1758,0.00,2.40,0.00,0.000,6,0.000,0.065,2115,2421,2057
$GC,1824,0.64,146.6,19.0,26.1,385,1830,0.00,2.35,0.00,0.000,4,0.000,0.061,2125,1001,2057
$GC,1840,0.64,146.6,14.9,26.0,388,1846,0.10,2.38,0.00,0.000,6,0.180,0.065,2096,2421,2057
$STATE,1888,end climb,SURFACE_DEPTH_REACHED
$STATE,1889,begin surface coast
$FINISH,2.1,1.018099
$STATE,1906,end surface coast,CONTROL_FINISHED_OK
$STATE,1906,begin surface
$SM_CCo,1917,247.30,0.591,3,0,782,460.18
$SM_GC,0.63,0.00,0.00,247.30,0.000,0.000,0.591,93,2257,782,-5.61,-0.37,460.18
$IRIDIUM_FIX,4748.51,-12224.57,231197,111143
$TT8_MAMPS,0.047554
$HUMID,1877
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,40.4
$24V_AH,24.0,6.473
$10V_AH,10.7,2.906
$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,13.525,42.500,221.150,247.300,0.000,25.145,25.869,161.581,0.500,0.000,0.000,31.926,0.000,592.736,537.805,1054.256,299.515,33.321,937.991,0.000,889.944,0.000,5.500,0.000
$DEVICE_MAMPS,255.411,75.166,723.281,590.590,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,277.192,202.665,643.034,159.483,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22274,403
$CAP_FILE_SIZE,46473,0
$CFSIZE,260165632,257335296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,290808,122947,4806.048,-12222.259,7,99.0,26,18.3