version: 66.04
glider: 157
mission: 2
dive: 17
start: 8 29 108 7 35 16
data:
$ID,157
$MISSION,2
$DIVE,17
$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,-12873.565
$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,26
$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
$GPS1,072923,4806.475,-12222.754,8,2.2,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.78
$_SM_ANGLEo,-66.4
$GPS2,073437,4806.470,-12222.763,10,1.7,26,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.228,-0.126
$KALMAN_X,-7415.7,-174.0,16.0,7757.0,-166.8
$KALMAN_Y,4494.0,78.2,-82.2,-6293.1,-19.6
$MHEAD_RNG_PITCHd_Wd,100.7,1283,-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,-146.6,0.0,0.0,0,89,0.00,0.00,-76.40,0.000,2,0.000,0.000,92,2261,2787
$GC,91,-0.64,-146.6,3.9,-7.3,12,112,6.32,2.45,-9.80,0.000,4,0.252,0.087,1673,3695,3260
$GC,269,-0.64,-146.6,23.5,-6.2,51,275,0.00,2.33,0.00,0.000,6,0.000,0.060,1673,2275,3262
$GC,341,-0.64,-146.6,28.3,-7.2,67,347,0.00,0.00,0.00,0.000,6,0.000,0.000,1673,2274,3263
$GC,413,-0.64,-146.6,33.9,-8.3,83,419,0.00,2.30,0.00,0.000,4,0.000,0.064,1673,850,3263
$GC,480,-0.64,-146.6,39.7,-8.6,98,486,0.00,2.33,0.00,0.000,6,0.000,0.065,1664,2266,3263
$GC,551,-0.64,-146.6,46.5,-10.0,114,557,0.00,0.00,0.00,0.000,6,0.000,0.000,1664,2266,3263
$GC,688,-0.64,-146.6,59.6,-9.9,145,693,0.00,2.30,0.00,0.000,4,0.000,0.072,1653,3695,3263
$GC,706,-0.64,-146.6,61.4,-9.7,149,712,0.00,2.28,0.00,0.000,6,0.000,0.059,1654,2266,3264
$GC,842,-0.64,-146.6,74.5,-9.8,180,848,0.00,0.00,0.00,0.000,6,0.000,0.000,1654,2265,3264
$GC,980,-0.64,-146.6,87.7,-9.5,211,985,0.00,0.00,0.00,0.000,6,0.000,0.000,1655,2265,3264
$GC,1115,-0.64,-146.6,100.3,-8.7,242,1121,0.00,2.25,0.00,0.000,4,0.000,0.065,1654,857,3264
$STATE,1141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1141,begin apogee
$GC,1147,-0.13,0.0,103.1,10.2,248,1260,0.62,0.00,109.72,0.691,6,0.165,0.000,1840,2433,2658
$STATE,1261,end apogee,CONTROL_FINISHED_OK
$STATE,1261,begin climb
$GC,1262,0.64,146.6,103.4,0.0,267,1381,0.75,2.42,110.85,0.631,4,0.097,0.060,2107,999,2059
$GC,1428,0.64,146.6,71.4,22.4,298,1435,0.00,2.42,0.00,0.000,6,0.000,0.063,2107,2420,2058
$GC,1565,0.64,146.6,38.1,25.2,329,1572,0.00,2.35,0.00,0.000,4,0.000,0.061,2117,1006,2057
$GC,1585,0.64,146.6,33.3,24.9,333,1591,0.00,2.38,0.00,0.000,6,0.000,0.064,2117,2424,2057
$GC,1657,0.64,146.6,15.5,25.1,349,1663,0.00,2.35,0.00,0.000,4,0.000,0.062,2127,1003,2057
$GC,1698,0.64,146.6,6.5,19.6,358,1705,0.10,2.38,0.00,0.000,6,0.141,0.066,2094,2426,2057
$GC,1771,0.92,376.1,5.2,-0.5,374,1862,0.25,0.00,89.05,0.617,2,0.049,0.000,2216,2427,1575
$STATE,1863,end climb,SURFACE_DEPTH_REACHED
$STATE,1863,begin surface coast
$FINISH,-0.1,1.008417
$STATE,1928,end surface coast,CONTROL_FINISHED_OK
$STATE,1928,begin surface
$SM_CCo,1940,151.88,0.586,0,0,783,460.18
$SM_GC,0.76,0.00,0.00,151.88,0.000,0.000,0.586,92,2257,783,-5.62,-0.37,460.18
$IRIDIUM_FIX,4748.51,-12221.84,231197,060652
$TT8_MAMPS,0.047554
$HUMID,1926
$INTERNAL_PRESSURE,8.82846
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.1,38.4
$24V_AH,24.1,5.881
$10V_AH,10.7,2.617
$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,13.800,33.400,309.625,151.875,0.000,29.068,28.487,166.591,0.500,0.000,0.000,28.625,0.000,575.312,469.597,1054.190,305.683,33.327,888.629,0.000,900.983,0.000,5.493,0.000
$DEVICE_MAMPS,251.576,86.671,691.067,585.988,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,275.810,204.899,663.920,160.708,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22287,403
$CAP_FILE_SIZE,42960,0
$CFSIZE,260165632,257511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,081038,4806.352,-12222.609,6,1.4,11,18.3