version: 66.04
glider: 157
mission: 2
dive: 27
start: 8 29 108 14 44 38
data:
$ID,157
$MISSION,2
$DIVE,27
$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,-13139.464
$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,28
$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
$GPS1,143853,4806.280,-12222.344,10,2.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-69.1
$GPS2,144359,4806.322,-12222.366,11,2.5,30,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.138,0.221
$KALMAN_X,-9965.2,39.2,-132.6,10727.6,83.5
$KALMAN_Y,5731.0,-212.7,164.2,-7755.3,-147.0
$MHEAD_RNG_PITCHd_Wd,309.7,3707,-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,-146.6,0.0,0.0,0,83,0.00,0.00,-70.32,0.000,2,0.000,0.000,92,2249,2574
$GC,85,-0.64,-146.6,3.0,-5.9,11,118,6.35,2.45,-17.52,0.000,4,0.252,0.085,1674,3694,3259
$GC,366,-0.64,-146.6,23.0,-7.6,73,372,0.00,2.33,0.00,0.000,6,0.000,0.060,1674,2272,3260
$GC,438,-0.64,-146.6,29.0,-9.0,89,444,0.00,2.35,0.00,0.000,4,0.000,0.071,1664,3686,3261
$GC,692,-0.64,-146.6,52.8,-10.0,147,698,0.00,2.28,0.00,0.000,6,0.000,0.058,1664,2262,3261
$GC,827,-0.64,-146.6,65.5,-9.1,178,834,0.00,2.35,0.00,0.000,4,0.000,0.071,1654,3687,3261
$GC,965,-0.64,-146.6,79.6,-9.6,209,976,0.00,2.28,0.00,0.000,6,0.000,0.059,1654,2256,3261
$GC,1107,-0.64,-146.6,93.2,-9.4,240,1113,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2256,3262
$GC,1244,-0.64,-146.6,105.4,-8.9,271,1249,0.00,2.33,0.00,0.000,4,0.000,0.071,1644,3690,3261
$STATE,1261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1261,begin apogee
$GC,1267,-0.13,0.0,107.2,8.9,275,1384,0.65,0.00,110.50,0.736,6,0.175,0.000,1842,2420,2658
$STATE,1385,end apogee,CONTROL_FINISHED_OK
$STATE,1385,begin climb
$GC,1386,0.64,146.6,107.2,0.0,295,1504,0.75,0.00,111.55,0.673,6,0.095,0.000,2098,2418,2059
$GC,1635,0.64,146.6,53.2,24.0,345,1640,0.00,2.30,0.00,0.000,4,0.000,0.061,2109,1004,2057
$GC,1697,0.64,146.6,39.5,20.8,359,1703,0.00,2.40,0.00,0.000,6,0.000,0.065,2109,2426,2057
$GC,1768,0.64,146.6,22.9,23.3,375,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,2109,2425,2057
$GC,1840,0.64,146.6,6.5,22.2,391,1846,0.00,2.35,0.00,0.000,4,0.000,0.059,2118,998,2057
$STATE,1854,end climb,SURFACE_DEPTH_REACHED
$STATE,1854,begin surface coast
$FINISH,3.2,1.017881
$STATE,1876,end surface coast,CONTROL_FINISHED_OK
$STATE,1876,begin surface
$SM_CCo,1889,248.52,0.578,4,0,783,460.18
$SM_GC,0.62,0.00,0.00,248.52,0.000,0.000,0.578,92,2281,783,-5.62,0.31,460.18
$IRIDIUM_FIX,4748.51,-12226.29,231197,141410
$TT8_MAMPS,0.048321
$HUMID,1896
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,39.8
$24V_AH,24.0,6.862
$10V_AH,10.6,3.098
$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,13.275,27.600,222.050,248.525,0.000,25.422,26.587,159.526,0.500,0.000,0.000,33.491,0.000,611.198,530.414,1036.953,285.050,33.330,910.581,0.000,882.403,0.000,5.528,0.000
$DEVICE_MAMPS,252.343,85.137,736.320,578.318,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,271.926,199.330,640.751,160.573,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22222,399
$CAP_FILE_SIZE,39440,0
$CFSIZE,260165632,257228800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,4,0
$GPS,290808,152137,4806.437,-12222.343,36,1.4,42,18.3