version: 66.04
glider: 157
mission: 2
dive: 4
start: 8 28 108 21 5 59
data:
$ID,157
$MISSION,2
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,140
$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,67
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$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,-12510.081
$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,2410
$C_ROLL_CLIMB,2210
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,26
$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,10
$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
$GPS1,205820,4807.701,-12223.788,9,1.9,9,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-65.7
$GPS2,210521,4807.779,-12223.911,12,1.2,12,18.3
$SPEED_LIMITS,0.121,0.208
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.171,-0.117
$KALMAN_X,-939.8,-750.4,-553.5,1008.3,-656.3
$KALMAN_Y,623.4,529.3,415.5,-945.6,425.5
$MHEAD_RNG_PITCHd_Wd,106.1,4055,-13.9,-6.965
$D_GRID,140
$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,-0.51,-117.3,0.0,0.0,0,91,0.00,0.00,-76.82,0.000,2,0.000,0.000,92,2427,2733
$GC,92,-0.51,-117.3,3.1,-3.7,12,112,6.40,0.00,-9.55,0.000,6,0.249,0.000,1724,2427,3141
$GC,178,-0.51,-117.3,13.7,-6.0,30,184,0.00,2.35,0.00,0.000,4,0.000,0.063,1724,988,3142
$GC,432,-0.51,-117.3,20.8,-2.4,88,439,0.00,2.33,0.00,0.000,6,0.000,0.064,1715,2412,3144
$GC,504,-0.51,-117.3,23.2,-3.8,104,510,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2412,3144
$GC,576,-0.51,-117.3,26.1,-4.2,120,582,0.00,2.30,0.00,0.000,4,0.000,0.060,1715,982,3144
$GC,604,-0.51,-117.3,27.4,-4.3,126,610,0.00,2.33,0.00,0.000,6,0.000,0.064,1705,2412,3144
$GC,676,-0.51,-117.3,30.6,-4.5,142,682,0.00,0.00,0.00,0.000,6,0.000,0.000,1705,2412,3143
$GC,748,-0.51,-117.3,33.8,-4.3,158,754,0.00,2.28,0.00,0.000,4,0.000,0.071,1695,3818,3144
$GC,811,-0.51,-117.3,37.1,-5.4,172,818,0.08,2.28,0.00,0.000,6,0.175,0.057,1721,2396,3144
$GC,883,-0.51,-117.3,40.3,-4.2,188,889,0.00,2.33,0.00,0.000,4,0.000,0.071,1712,3822,3144
$GC,924,-0.51,-117.3,42.1,-4.5,197,930,0.00,2.22,0.00,0.000,6,0.000,0.056,1712,2406,3144
$GC,1059,-0.51,-117.3,48.3,-4.4,228,1065,0.00,0.00,0.00,0.000,6,0.000,0.000,1712,2406,3144
$GC,1196,-0.51,-117.3,54.2,-4.1,259,1202,0.00,2.20,0.00,0.000,4,0.000,0.063,1712,995,3145
$GC,1218,-0.51,-117.3,55.5,-4.7,264,1225,0.00,2.30,0.00,0.000,6,0.000,0.065,1702,2412,3144
$GC,1357,-0.51,-117.3,63.4,-5.6,295,1362,0.00,2.25,0.00,0.000,4,0.000,0.073,1691,3824,3144
$GC,1379,-0.51,-117.3,64.8,-5.8,300,1385,0.10,2.25,0.00,0.000,6,0.166,0.058,1724,2416,3144
$GC,1516,-0.51,-117.3,71.3,-4.5,331,1521,0.00,2.22,0.00,0.000,4,0.000,0.063,1724,988,3144
$GC,1573,-0.51,-117.3,73.9,-4.7,344,1579,0.00,2.30,0.00,0.000,6,0.000,0.064,1715,2410,3144
$GC,1714,-0.51,-117.3,80.2,-4.4,375,1719,0.00,0.00,0.00,0.000,6,0.000,0.000,1715,2410,3144
$STATE,1783,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1783,begin apogee
$GC,1787,-0.13,0.0,83.7,4.7,391,1876,0.40,0.00,87.10,0.723,6,0.140,0.000,1845,2195,2659
$STATE,1877,end apogee,CONTROL_FINISHED_OK
$STATE,1877,begin climb
$GC,1878,0.51,117.3,83.3,0.0,406,1973,0.60,0.00,88.22,0.674,6,0.085,0.000,2061,2195,2179
$GC,2102,0.51,117.3,44.8,19.4,452,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2061,2195,2176
$GC,2239,0.51,117.3,19.7,17.8,483,2246,0.00,2.38,0.00,0.000,4,0.000,0.070,2061,3625,2175
$GC,2276,0.51,117.3,12.7,19.2,491,2283,0.00,2.30,0.00,0.000,6,0.000,0.061,2071,2221,2175
$GC,2349,0.55,152.7,4.6,5.5,507,2380,0.00,2.33,26.85,0.669,4,0.000,0.066,2078,784,2036
$STATE,2393,end climb,SURFACE_DEPTH_REACHED
$STATE,2393,begin surface coast
$FINISH,2.1,1.018308
$STATE,2479,end surface coast,CONTROL_FINISHED_OK
$STATE,2479,begin surface
$SM_CCo,2492,234.15,0.605,0,0,783,460.18
$SM_GC,0.75,0.00,0.00,234.15,0.000,0.000,0.605,91,2413,783,-5.62,0.08,460.18
$IRIDIUM_FIX,4751.72,-12223.57,221197,202059
$TT8_MAMPS,0.048321
$HUMID,1955
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,13.3
$24V_AH,24.2,4.561
$10V_AH,10.7,1.921
$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,12.975,41.975,202.175,234.150,0.000,25.663,26.502,273.956,0.500,0.000,0.000,14.240,0.000,814.033,506.702,1388.265,433.688,32.315,988.655,0.000,1208.449,0.000,7.208,0.000
$DEVICE_MAMPS,249.275,72.865,723.281,605.163,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,366.642,287.274,918.096,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28549,535
$CAP_FILE_SIZE,57487,0
$CFSIZE,260165632,257904640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280808,215214,4807.757,-12223.891,12,1.9,29,18.3