version: 66.04
glider: 157
mission: 2
dive: 24
start: 8 29 108 12 35 55
data:
$ID,157
$MISSION,2
$DIVE,24
$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,-13057.812
$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,31
$R_STBD_OVSHOOT,17
$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
$GPS1,122947,4806.048,-12222.259,7,99.0,26,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-65.2
$GPS2,123516,4806.104,-12222.310,12,99.0,31,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.223,-0.133
$KALMAN_X,-9652.7,170.6,-486.7,10713.3,-127.6
$KALMAN_Y,5945.4,-297.5,306.9,-8435.0,108.5
$MHEAD_RNG_PITCHd_Wd,102.6,429,-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,-0.64,-146.6,0.0,0.0,0,90,0.00,0.00,-76.38,0.000,2,0.000,0.000,94,2257,2730
$GC,91,-0.64,-146.6,3.2,-6.2,12,112,6.38,0.00,-12.43,0.000,6,0.255,0.000,1684,2253,3258
$GC,178,-0.64,-146.6,11.0,-4.4,30,184,0.00,2.40,0.00,0.000,4,0.000,0.074,1675,3685,3260
$GC,306,-0.64,-146.6,18.7,-6.2,59,313,0.00,2.30,0.00,0.000,6,0.000,0.061,1675,2280,3260
$GC,378,-0.64,-146.6,23.5,-7.0,75,385,0.00,2.35,0.00,0.000,4,0.000,0.070,1666,3693,3260
$GC,402,-0.64,-146.6,25.4,-7.4,80,409,0.00,2.33,0.00,0.000,6,0.000,0.060,1666,2267,3261
$GC,474,-0.64,-146.6,31.3,-8.6,96,481,0.00,2.28,0.00,0.000,4,0.000,0.064,1666,858,3261
$GC,498,-0.64,-146.6,33.2,-8.1,101,505,0.00,2.33,0.00,0.000,6,0.000,0.066,1656,2269,3261
$GC,571,-0.64,-146.6,39.6,-9.1,117,577,0.00,2.33,0.00,0.000,4,0.000,0.071,1645,3688,3261
$GC,599,-0.64,-146.6,42.6,-10.7,123,605,0.15,2.28,0.00,0.000,6,0.193,0.059,1682,2264,3261
$GC,736,-0.64,-146.6,54.1,-8.4,154,742,0.00,2.35,0.00,0.000,4,0.000,0.071,1677,3686,3262
$GC,769,-0.64,-146.6,57.0,-9.0,161,774,0.00,2.28,0.00,0.000,6,0.000,0.059,1677,2261,3262
$GC,904,-0.64,-146.6,68.3,-8.2,192,910,0.00,2.35,0.00,0.000,4,0.000,0.071,1666,3688,3262
$GC,931,-0.64,-146.6,71.0,-9.6,198,938,0.00,2.30,0.00,0.000,6,0.000,0.059,1666,2266,3262
$GC,1071,-0.64,-146.6,83.0,-8.3,229,1076,0.00,2.22,0.00,0.000,4,0.000,0.065,1666,857,3262
$GC,1090,-0.64,-146.6,84.7,-8.3,233,1096,0.00,2.30,0.00,0.000,6,0.000,0.067,1659,2281,3262
$GC,1227,-0.64,-146.6,97.0,-9.3,264,1233,0.00,2.28,0.00,0.000,4,0.000,0.072,1648,3682,3262
$GC,1259,-0.64,-146.6,100.3,-10.7,271,1265,0.15,2.25,0.00,0.000,6,0.185,0.061,1686,2267,3262
$STATE,1338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1338,begin apogee
$GC,1341,-0.13,0.0,107.0,7.9,289,1459,0.50,0.00,110.10,0.729,6,0.150,0.000,1846,2440,2658
$STATE,1460,end apogee,CONTROL_FINISHED_OK
$STATE,1460,begin climb
$GC,1461,0.64,146.6,106.8,0.0,309,1580,0.73,2.42,111.62,0.663,4,0.098,0.059,2103,1006,2060
$GC,1615,0.64,146.6,77.8,24.5,337,1620,0.00,2.40,0.00,0.000,6,0.000,0.064,2103,2421,2059
$GC,1751,0.64,146.6,43.8,25.9,368,1757,0.00,2.35,0.00,0.000,4,0.000,0.061,2113,1009,2057
$GC,1775,0.64,146.6,38.0,24.7,373,1781,0.00,2.38,0.00,0.000,6,0.000,0.064,2113,2422,2057
$GC,1847,0.64,146.6,19.8,25.5,389,1853,0.00,0.00,0.00,0.000,6,0.000,0.000,2113,2422,2057
$STATE,1913,end climb,SURFACE_DEPTH_REACHED
$STATE,1913,begin surface coast
$FINISH,1.4,1.017668
$STATE,1930,end surface coast,CONTROL_FINISHED_OK
$STATE,1930,begin surface
$SM_CCo,1942,247.38,0.598,3,0,782,460.18
$SM_GC,0.69,0.00,0.00,247.38,0.000,0.000,0.598,94,2259,782,-5.61,-0.31,460.18
$IRIDIUM_FIX,4751.72,-12219.12,231197,111157
$TT8_MAMPS,0.048321
$HUMID,1871
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,42.1
$24V_AH,24.0,6.572
$10V_AH,10.7,2.955
$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,13.550,47.000,221.725,247.375,0.000,29.004,34.423,170.949,0.500,0.000,0.000,34.188,0.000,599.136,542.311,1071.621,320.103,33.321,947.875,0.000,900.081,0.000,5.507,0.000
$DEVICE_MAMPS,254.644,74.399,729.417,598.260,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,285.363,207.437,646.890,160.407,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22248,408
$CAP_FILE_SIZE,47865,0
$CFSIZE,260165632,257306624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0
$GPS,290808,131329,4805.958,-12222.121,10,5.1,29,18.3