version: 66.04
glider: 157
mission: 1
dive: 5
start: 8 15 108 21 20 37
data:
$ID,157
$MISSION,1
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,80
$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,110
$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,554.86859
$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,-8698.1514
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,1900
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,35
$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,2385
$C_ROLL_CLIMB,2385
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2747
$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,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-20.251787
$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,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$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
$GPS1,210829,4807.100,-12222.801,12,2.4,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-62.0
$GPS2,211959,4807.096,-12222.778,12,5.4,31,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.099,-0.203
$KALMAN_X,-30.1,19.8,45.6,137.1,-26.9
$KALMAN_Y,-32.2,-116.2,-144.7,-42.6,47.2
$MHEAD_RNG_PITCHd_Wd,135.7,2247,-20.6,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.72,-107.5,0.0,0.0,0,115,0.00,0.00,-101.10,0.000,6,0.000,0.000,91,2397,3188
$GC,117,-0.72,-107.5,3.7,-5.4,16,130,6.20,2.25,0.00,0.000,4,0.258,0.074,1658,3797,3189
$GC,379,-0.72,-107.5,16.3,-6.0,75,385,0.00,2.25,0.00,0.000,6,0.000,0.059,1659,2379,3190
$GC,451,-0.72,-107.5,21.4,-7.6,91,458,0.00,2.30,0.00,0.000,4,0.000,0.074,1650,3794,3189
$GC,705,-0.72,-107.5,41.5,-8.0,149,711,0.00,2.20,0.00,0.000,6,0.000,0.060,1650,2388,3190
$GC,841,-0.72,-107.5,52.4,-7.8,180,847,0.00,2.28,0.00,0.000,4,0.000,0.074,1640,3792,3189
$GC,891,-0.72,-107.5,56.9,-9.6,191,897,0.00,2.22,0.00,0.000,6,0.000,0.060,1640,2374,3189
$GC,1026,-0.72,-107.5,69.1,-8.9,222,1033,0.00,2.20,0.00,0.000,4,0.000,0.064,1641,983,3189
$GC,1063,-0.72,-107.5,72.5,-9.4,230,1069,0.10,2.25,0.00,0.000,6,0.179,0.067,1664,2386,3189
$STATE,1097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1097,begin apogee
$GC,1101,-0.14,0.0,75.2,7.6,238,1184,0.60,0.00,79.10,0.693,6,0.164,0.000,1852,2387,2746
$STATE,1184,end apogee,CONTROL_FINISHED_OK
$STATE,1184,begin climb
$GC,1186,0.72,107.5,75.4,0.0,252,1275,0.75,2.38,79.72,0.653,4,0.067,0.062,2147,980,2308
$GC,1296,0.72,107.5,54.2,26.5,272,1302,0.00,2.35,0.00,0.000,6,0.000,0.066,2147,2377,2307
$GC,1433,0.72,107.5,17.0,26.3,303,1440,0.00,2.30,0.00,0.000,4,0.000,0.062,2157,976,2307
$GC,1470,0.72,107.5,7.9,23.4,311,1477,0.00,2.33,0.00,0.000,6,0.000,0.067,2157,2391,2307
$STATE,1493,end climb,SURFACE_DEPTH_REACHED
$STATE,1493,begin surface coast
$FINISH,1.5,1.018266
$STATE,1506,end surface coast,CONTROL_FINISHED_OK
$STATE,1506,begin surface
$SM_CCo,1518,342.80,0.606,1,0,484,554.87
$SM_GC,0.48,0.00,0.00,342.80,0.000,0.000,0.606,93,2394,484,-5.65,0.25,554.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.048321
$HUMID,2046
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.50
$XPDR_PINGS,13
$24V_AH,24.3,0.775
$10V_AH,10.7,0.300
$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,13.550,27.300,158.825,342.800,0.000,351.452,0.000,0.000,3.250,0.000,0.000,34.928,0.000,689.752,567.159,867.848,431.918,33.302,882.499,0.000,734.573,0.000,0.530,0.000
$DEVICE_MAMPS,258.479,74.399,692.601,605.930,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,227.863,185.391,573.205,161.972,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15975,319
$CAP_FILE_SIZE,43627,1
$CFSIZE,260165632,257867776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,150808,215235,4807.048,-12222.801,12,99.0,31,18.3