version: 66.04
glider: 157
mission: 2
dive: 2
start: 8 28 108 19 7 27
data:
$ID,157
$MISSION,2
$DIVE,2
$D_SURF,3
$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,480
$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,-12398.752
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,1895
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,37
$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,2410
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2699
$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
$GPS1,190333,4807.563,-12223.255,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-63.6
$GPS2,190651,4807.593,-12223.309,11,1.4,11,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.191,-0.176
$KALMAN_X,-145.5,-145.5,-145.5,-42.5,-388.3
$KALMAN_Y,127.4,127.4,127.4,-117.4,340.2
$MHEAD_RNG_PITCHd_Wd,114.4,3365,-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,-0.65,-146.6,0.0,0.0,0,102,0.00,0.00,-89.05,0.000,2,0.000,0.000,92,2418,2806
$GC,104,-0.65,-146.6,3.5,-6.9,14,125,5.97,2.25,-11.10,0.000,4,0.239,0.066,1688,985,3299
$GC,129,-0.65,-146.6,9.1,-16.5,18,135,0.00,2.30,0.00,0.000,6,0.000,0.063,1680,2409,3300
$GC,201,-0.65,-146.6,17.4,-9.2,34,207,0.00,0.00,0.00,0.000,6,0.000,0.000,1679,2409,3301
$GC,273,-0.65,-146.6,22.7,-6.7,50,279,0.00,2.25,0.00,0.000,4,0.000,0.057,1680,992,3301
$GC,362,-0.65,-146.6,28.9,-7.6,70,369,0.00,2.30,0.00,0.000,6,0.000,0.064,1678,2417,3302
$GC,434,-0.65,-146.6,34.0,-6.8,86,440,0.00,0.00,0.00,0.000,6,0.000,0.000,1677,2417,3302
$GC,506,-0.65,-146.6,39.7,-8.5,102,512,0.00,0.00,0.00,0.000,6,0.000,0.000,1677,2417,3302
$GC,576,-0.65,-146.6,45.4,-7.9,118,582,0.00,0.00,0.00,0.000,6,0.000,0.000,1678,2417,3302
$GC,713,-0.65,-146.6,56.3,-8.4,149,719,0.00,2.22,0.00,0.000,4,0.000,0.057,1677,989,3302
$GC,753,-0.65,-146.6,59.9,-8.7,158,759,0.00,2.28,0.00,0.000,6,0.000,0.061,1668,2407,3302
$GC,890,-0.65,-146.6,72.5,-9.4,189,895,0.00,2.22,0.00,0.000,4,0.000,0.058,1667,981,3302
$GC,952,-0.65,-146.6,78.7,-10.1,203,957,0.00,2.28,0.00,0.000,6,0.000,0.064,1662,2415,3302
$GC,1088,-0.65,-146.6,91.3,-9.0,234,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,1662,2416,3302
$GC,1225,-0.65,-146.6,103.6,-8.7,265,1230,0.00,2.22,0.00,0.000,4,0.000,0.071,1652,3829,3302
$GC,1252,-0.65,-146.6,106.3,-9.8,271,1258,0.15,2.22,0.00,0.000,6,0.172,0.055,1692,2398,3301
$STATE,1261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1261,begin apogee
$GC,1265,-0.14,0.0,107.4,10.6,273,1377,0.47,0.00,107.57,0.716,6,0.143,0.000,1848,2201,2698
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1379,0.65,146.6,107.1,0.0,292,1492,0.70,0.00,108.75,0.654,6,0.058,0.000,2117,2201,2100
$GC,1623,0.65,146.6,50.5,26.4,341,1628,0.00,2.25,0.00,0.000,4,0.000,0.058,2127,788,2098
$GC,1641,0.65,146.6,45.6,26.3,345,1647,0.00,2.33,0.00,0.000,6,0.000,0.061,2128,2221,2098
$GC,1777,0.65,146.6,10.0,25.2,376,1784,0.00,2.33,0.00,0.000,4,0.000,0.061,2138,791,2097
$GC,1788,0.65,146.6,7.9,22.9,378,1795,0.10,2.33,0.00,0.000,6,0.163,0.062,2106,2209,2097
$STATE,1842,end climb,SURFACE_DEPTH_REACHED
$STATE,1842,begin surface coast
$FINISH,1.8,1.017961
$STATE,1891,end surface coast,CONTROL_FINISHED_OK
$STATE,1891,begin surface
$SM_CCo,1902,252.75,0.590,1,0,742,480.05
$SM_GC,0.83,0.00,0.00,252.75,0.000,0.000,0.590,92,2434,742,-5.63,0.68,480.05
$IRIDIUM_FIX,4748.51,-12221.84,221197,191902
$TT8_MAMPS,0.047554
$HUMID,1929
$INTERNAL_PRESSURE,8.85776
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,80.1,38.7
$24V_AH,24.4,4.349
$10V_AH,10.7,1.781
$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,12.875,32.400,216.325,252.750,0.000,0.000,0.000,0.000,1.000,0.000,0.000,13.030,0.000,591.693,531.567,1029.876,49.300,30.167,926.864,0.000,884.463,0.000,5.497,0.000
$DEVICE_MAMPS,239.304,70.564,716.378,589.823,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,272.786,195.782,638.501,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22280,401
$CAP_FILE_SIZE,55267,0
$CFSIZE,260165632,257978368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280808,194357,4807.524,-12223.302,11,1.1,11,18.3