version: 66.04
glider: 157
mission: 1
dive: 9
start: 8 16 108 0 19 17
data:
$ID,157
$MISSION,1
$DIVE,9
$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,-8778.1885
$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,22
$R_STBD_OVSHOOT,19
$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
$GPS1,000707,4806.947,-12222.804,10,1.0,26,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-65.7
$GPS2,001839,4806.955,-12222.830,33,1.1,33,18.3
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.119,-0.191
$KALMAN_X,-442.8,-138.9,-33.2,721.4,-86.3
$KALMAN_Y,463.9,65.9,8.4,-1133.3,127.3
$MHEAD_RNG_PITCHd_Wd,129.8,2044,-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,-107.5,0.0,0.0,0,109,0.00,0.00,-95.60,0.000,2,0.000,0.000,90,2392,3091
$GC,111,-0.72,-107.5,3.4,-5.4,15,125,6.25,2.28,-2.50,0.000,4,0.261,0.084,1654,3804,3186
$GC,374,-0.72,-107.5,13.9,-5.6,74,380,0.00,2.28,0.00,0.000,6,0.000,0.060,1658,2380,3188
$GC,446,-0.72,-107.5,18.7,-6.8,90,452,0.00,2.33,0.00,0.000,4,0.000,0.073,1650,3794,3188
$GC,645,-0.72,-107.5,34.5,-7.3,135,651,0.00,2.25,0.00,0.000,6,0.000,0.060,1650,2380,3188
$GC,717,-0.72,-107.5,39.6,-7.4,151,723,0.00,2.22,0.00,0.000,4,0.000,0.065,1650,978,3188
$GC,762,-0.72,-107.5,42.9,-7.2,161,768,0.00,2.25,0.00,0.000,6,0.000,0.068,1640,2391,3189
$GC,898,-0.72,-107.5,54.3,-8.4,192,903,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2391,3188
$GC,1034,-0.72,-107.5,66.1,-8.5,223,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,1639,2391,3189
$STATE,1132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1133,begin apogee
$GC,1136,-0.14,0.0,75.0,8.5,246,1219,0.70,0.00,79.18,0.695,6,0.177,0.000,1852,2391,2747
$STATE,1220,end apogee,CONTROL_FINISHED_OK
$STATE,1220,begin climb
$GC,1221,0.72,107.5,75.4,0.0,260,1310,0.77,2.40,80.10,0.653,4,0.074,0.062,2149,973,2307
$GC,1331,0.72,107.5,53.7,27.8,280,1338,0.00,2.38,0.00,0.000,6,0.000,0.067,2149,2376,2307
$GC,1469,0.72,107.5,14.6,27.9,311,1475,0.00,2.30,0.00,0.000,4,0.000,0.063,2157,982,2306
$STATE,1518,end climb,SURFACE_DEPTH_REACHED
$STATE,1518,begin surface coast
$FINISH,0.8,1.016784
$STATE,1531,end surface coast,CONTROL_FINISHED_OK
$STATE,1531,begin surface
$SM_CCo,1545,345.12,0.610,1,0,485,554.87
$SM_GC,0.47,0.00,0.00,345.12,0.000,0.000,0.610,92,2389,485,-5.65,0.11,554.87
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.047554
$HUMID,2025
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,16.90
$XPDR_PINGS,4
$24V_AH,24.2,1.172
$10V_AH,10.7,0.484
$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,13.450,23.000,159.275,345.125,0.000,351.457,0.000,0.000,1.000,0.000,0.000,34.871,0.000,704.377,564.016,888.039,430.455,33.304,879.007,0.000,752.613,0.000,0.531,0.000
$DEVICE_MAMPS,260.780,83.603,694.902,609.765,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,227.861,185.860,590.407,164.588,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15891,325
$CAP_FILE_SIZE,43007,1
$CFSIZE,260165632,257638400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,160808,005137,4806.872,-12222.848,10,1.7,26,18.3