version: 66.04
glider: 157
mission: 2
dive: 11
start: 8 29 108 2 53 35
data:
$ID,157
$MISSION,2
$DIVE,11
$D_SURF,4
$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,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,-12698.018
$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,2270
$C_ROLL_CLIMB,2422
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,18
$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,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
$GPS1,024745,4807.566,-12223.739,7,1.8,7,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-65.5
$GPS2,025256,4807.589,-12223.739,14,1.7,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.203,-0.162
$KALMAN_X,-5532.7,-1139.8,432.7,5208.8,-299.2
$KALMAN_Y,4043.4,897.7,-198.3,-4466.5,170.6
$MHEAD_RNG_PITCHd_Wd,110.3,3645,-17.5,-10.000
$D_GRID,103
$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,-0.64,-146.6,0.0,0.0,0,102,0.00,0.00,-89.00,0.000,2,0.000,0.000,93,2258,2771
$GC,104,-0.64,-146.6,3.5,-6.5,14,124,6.45,0.00,-10.60,0.000,6,0.261,0.000,1680,2250,3259
$GC,190,-0.64,-146.6,15.5,-6.9,32,196,0.00,2.38,0.00,0.000,4,0.000,0.071,1671,3679,3261
$GC,279,-0.64,-146.6,21.1,-6.1,52,285,0.00,2.30,0.00,0.000,6,0.000,0.058,1672,2269,3261
$GC,351,-0.64,-146.6,25.7,-6.8,68,358,0.00,2.28,0.00,0.000,4,0.000,0.064,1673,860,3261
$GC,401,-0.64,-146.6,29.4,-7.8,79,408,0.00,2.33,0.00,0.000,6,0.000,0.064,1665,2275,3262
$GC,473,-0.64,-146.6,35.4,-8.3,95,479,0.00,2.30,0.00,0.000,4,0.000,0.071,1655,3683,3261
$GC,493,-0.64,-146.6,37.1,-8.3,99,499,0.00,2.30,0.00,0.000,6,0.000,0.058,1657,2263,3261
$GC,565,-0.64,-146.6,44.0,-9.0,115,570,0.00,2.25,0.00,0.000,4,0.000,0.064,1657,846,3262
$GC,584,-0.64,-146.6,45.9,-10.2,119,589,0.15,2.30,0.00,0.000,6,0.184,0.064,1687,2274,3262
$GC,720,-0.64,-146.6,57.8,-8.4,150,726,0.00,0.00,0.00,0.000,6,0.000,0.000,1687,2274,3262
$GC,857,-0.64,-146.6,69.0,-8.3,181,862,0.00,2.28,0.00,0.000,4,0.000,0.071,1678,3690,3262
$GC,954,-0.64,-146.6,77.9,-9.6,203,960,0.00,2.25,0.00,0.000,6,0.000,0.059,1678,2272,3262
$GC,1089,-0.64,-146.6,89.4,-8.3,234,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,1678,2272,3262
$GC,1226,-0.64,-146.6,100.2,-7.8,265,1232,0.00,2.25,0.00,0.000,4,0.000,0.063,1678,841,3263
$STATE,1261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1261,begin apogee
$GC,1267,-0.13,0.0,103.2,8.2,273,1379,0.57,0.00,109.40,0.703,6,0.156,0.000,1846,2427,2659
$STATE,1380,end apogee,CONTROL_FINISHED_OK
$STATE,1380,begin climb
$GC,1381,0.64,146.6,103.1,0.0,292,1500,0.73,2.42,110.90,0.641,4,0.081,0.060,2113,1000,2059
$GC,1539,0.64,146.6,71.6,22.9,321,1544,0.00,2.40,0.00,0.000,6,0.000,0.063,2113,2421,2057
$GC,1676,0.64,146.6,38.1,25.4,352,1682,0.00,2.35,0.00,0.000,4,0.000,0.061,2122,1004,2057
$GC,1696,0.64,146.6,32.9,25.3,356,1702,0.00,2.38,0.00,0.000,6,0.000,0.062,2122,2427,2057
$GC,1767,0.64,146.6,15.2,24.4,372,1774,0.00,2.35,0.00,0.000,4,0.000,0.061,2132,1004,2056
$GC,1791,0.64,146.6,9.5,24.4,377,1798,0.12,2.35,0.00,0.000,6,0.167,0.062,2095,2421,2056
$GC,1863,0.86,324.0,4.8,1.8,393,1922,0.20,0.00,56.53,0.619,2,0.057,0.000,2191,2423,1753
$STATE,1922,end climb,SURFACE_DEPTH_REACHED
$STATE,1922,begin surface coast
$FINISH,0.0,1.002993
$STATE,2117,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2117,begin surface
$SM_CCo,2128,182.73,0.581,0,0,783,460.18
$SM_GC,0.74,0.00,0.00,182.73,0.000,0.000,0.581,93,2262,783,-5.62,-0.23,460.18
$IRIDIUM_FIX,4751.72,-12221.84,231197,020258
$TT8_MAMPS,0.047554
$HUMID,1954
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,7.5
$24V_AH,24.1,5.265
$10V_AH,10.6,2.306
$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,13.825,42.300,276.825,182.725,0.000,30.420,30.657,156.108,0.500,0.000,0.000,33.858,0.000,643.990,497.041,1179.711,301.255,33.322,940.635,0.000,1004.660,0.000,5.407,0.000
$DEVICE_MAMPS,260.780,71.331,702.572,581.386,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,307.456,231.973,749.323,185.410,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25438,447
$CAP_FILE_SIZE,47766,0
$CFSIZE,260165632,257679360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,033253,4807.425,-12223.562,8,2.4,27,18.3