version: 66.04
glider: 157
mission: 1
dive: 6
start: 8 15 108 22 4 23
data:
$ID,157
$MISSION,1
$DIVE,6
$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,-8712.6387
$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,26
$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
$GPS1,215235,4807.048,-12222.801,12,99.0,31,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.66
$_SM_ANGLEo,-61.9
$GPS2,220345,4807.026,-12222.778,12,1.7,12,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.197
$KALMAN_X,-125.1,-9.0,38.0,266.8,-67.6
$KALMAN_Y,83.2,-90.3,-127.9,-326.8,103.5
$MHEAD_RNG_PITCHd_Wd,132.6,2131,-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,-101.53,0.000,6,0.000,0.000,93,2394,3186
$GC,117,-0.72,-107.5,3.2,-3.3,16,130,6.22,2.25,0.00,0.000,4,0.259,0.067,1659,3792,3188
$GC,379,-0.72,-107.5,15.0,-5.2,75,385,0.00,2.22,0.00,0.000,6,0.000,0.060,1659,2396,3190
$GC,451,-0.72,-107.5,19.5,-6.6,91,457,0.00,2.28,0.00,0.000,4,0.000,0.072,1650,3794,3190
$GC,688,-0.72,-107.5,38.6,-8.2,145,694,0.00,2.22,0.00,0.000,6,0.000,0.059,1650,2392,3190
$GC,760,-0.72,-107.5,44.4,-8.1,161,765,0.00,2.20,0.00,0.000,4,0.000,0.062,1651,973,3189
$GC,825,-0.72,-107.5,49.9,-8.0,176,832,0.00,2.28,0.00,0.000,6,0.000,0.067,1639,2384,3189
$GC,963,-0.72,-107.5,61.3,-8.5,207,968,0.00,2.25,0.00,0.000,4,0.000,0.073,1628,3798,3189
$GC,994,-0.72,-107.5,64.2,-9.3,214,1000,0.12,2.25,0.00,0.000,6,0.196,0.060,1666,2377,3189
$STATE,1129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1129,begin apogee
$GC,1133,-0.14,0.0,75.1,8.0,245,1215,0.60,0.00,78.85,0.696,6,0.167,0.000,1854,2373,2747
$STATE,1216,end apogee,CONTROL_FINISHED_OK
$STATE,1216,begin climb
$GC,1217,0.72,107.5,75.5,0.0,259,1305,0.75,2.35,79.78,0.654,4,0.065,0.063,2149,981,2307
$GC,1314,0.72,107.5,58.0,25.4,276,1321,0.00,2.38,0.00,0.000,6,0.000,0.064,2148,2389,2307
$GC,1451,0.72,107.5,19.1,26.8,307,1458,0.00,2.33,0.00,0.000,4,0.000,0.064,2157,979,2306
$GC,1493,0.72,107.5,8.5,24.7,316,1499,0.00,2.30,0.00,0.000,6,0.000,0.066,2157,2376,2306
$STATE,1519,end climb,SURFACE_DEPTH_REACHED
$STATE,1519,begin surface coast
$FINISH,0.7,1.017599
$STATE,1533,end surface coast,CONTROL_FINISHED_OK
$STATE,1533,begin surface
$SM_CCo,1544,341.75,0.612,0,0,485,554.87
$SM_GC,0.38,0.00,0.00,341.75,0.000,0.000,0.612,89,2379,485,-5.66,-0.17,554.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.047554
$HUMID,2055
$INTERNAL_PRESSURE,8.848
$TCM_TEMP,17.40
$XPDR_PINGS,6
$24V_AH,24.3,0.874
$10V_AH,10.7,0.345
$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,13.450,27.300,158.625,341.750,0.000,351.445,0.000,0.000,1.500,0.000,0.000,13.856,0.000,701.644,559.040,864.126,431.089,33.304,877.334,0.000,748.931,0.000,0.531,0.000
$DEVICE_MAMPS,259.246,72.865,695.669,612.066,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,229.466,186.374,585.116,163.951,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15945,325
$CAP_FILE_SIZE,43971,1
$CFSIZE,260165632,257810432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,150808,223635,4806.982,-12222.786,7,3.1,26,18.3