version: 66.04
glider: 157
mission: 2
dive: 30
start: 8 29 108 17 1 0
data:
$ID,157
$MISSION,2
$DIVE,30
$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,-13186.069
$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,28
$R_STBD_OVSHOOT,19
$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,3
$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
$GPS1,165253,4806.588,-12222.440,8,2.2,27,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-69.1
$GPS2,170021,4806.584,-12222.430,14,1.9,14,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.127,0.227
$KALMAN_X,-9518.3,-5.8,356.8,9757.8,190.3
$KALMAN_Y,5234.2,-170.7,-208.4,-6443.7,-186.0
$MHEAD_RNG_PITCHd_Wd,312.6,2716,-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,12,-0.64,-146.6,0.0,0.0,0,90,0.00,0.00,-76.20,0.000,2,0.000,0.000,93,2252,2754
$GC,91,-0.64,-146.6,3.6,-7.3,12,112,6.38,2.42,-10.57,0.000,4,0.253,0.079,1675,3691,3260
$GC,361,-0.64,-146.6,32.9,-8.1,72,367,0.00,2.30,0.00,0.000,6,0.000,0.058,1675,2277,3263
$GC,432,-0.64,-146.6,38.6,-8.5,88,439,0.00,2.33,0.00,0.000,4,0.000,0.069,1666,3681,3264
$GC,651,-0.64,-146.6,58.8,-9.4,138,658,0.00,2.30,0.00,0.000,6,0.000,0.058,1666,2262,3264
$GC,789,-0.64,-146.6,70.7,-8.8,169,794,0.00,0.00,0.00,0.000,6,0.000,0.000,1666,2262,3264
$GC,924,-0.64,-146.6,82.6,-9.1,200,930,0.00,0.00,0.00,0.000,6,0.000,0.000,1666,2261,3265
$GC,1062,-0.64,-146.6,94.0,-8.5,231,1067,0.00,2.22,0.00,0.000,4,0.000,0.064,1666,850,3264
$GC,1133,-0.64,-146.6,100.5,-9.0,247,1138,0.00,2.30,0.00,0.000,6,0.000,0.067,1655,2277,3264
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1205,begin apogee
$GC,1209,-0.13,0.0,107.1,8.6,264,1323,0.60,0.00,110.35,0.713,6,0.162,0.000,1840,2435,2658
$STATE,1324,end apogee,CONTROL_FINISHED_OK
$STATE,1324,begin climb
$GC,1325,0.64,146.6,107.0,0.0,283,1443,0.73,0.00,110.78,0.637,6,0.084,0.000,2097,2435,2061
$GC,1573,0.64,146.6,53.3,23.7,333,1579,0.00,2.35,0.00,0.000,4,0.000,0.060,2108,1007,2059
$GC,1640,0.64,146.6,38.6,20.2,348,1646,0.00,2.38,0.00,0.000,6,0.000,0.064,2108,2421,2059
$GC,1712,0.64,146.6,22.6,23.2,364,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2108,2421,2059
$GC,1783,0.64,146.6,7.0,18.2,380,1790,0.00,2.33,0.00,0.000,4,0.000,0.062,2117,1010,2058
$GC,2037,0.91,362.6,8.7,0.1,438,2128,0.15,2.33,85.65,0.624,2,0.045,0.064,2204,2421,1592
$STATE,2128,end climb,SURFACE_DEPTH_REACHED
$STATE,2129,begin surface coast
$FINISH,-0.0,1.013061
$STATE,2176,end surface coast,CONTROL_FINISHED_OK
$STATE,2176,begin surface
$SM_CCo,2188,155.18,0.574,0,0,783,460.18
$SM_GC,0.73,0.00,0.00,155.18,0.000,0.000,0.574,94,2267,783,-5.61,-0.06,460.18
$IRIDIUM_FIX,4748.51,-12229.01,231197,161655
$TT8_MAMPS,0.048321
$HUMID,1911
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,24.2
$24V_AH,24.1,7.160
$10V_AH,10.6,3.261
$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,13.500,23.775,306.775,155.175,0.000,29.404,28.584,312.665,1.500,0.000,0.000,15.892,0.000,690.160,457.974,1190.357,451.954,33.330,899.885,0.000,1037.735,0.000,14.178,0.000
$DEVICE_MAMPS,253.110,79.001,712.543,574.483,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,PAR,nil,nil,nil,nil
$SENSOR_SECS,318.869,241.580,774.725,192.694,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25496,463
$CAP_FILE_SIZE,44858,0
$CFSIZE,260165632,257130496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290808,174052,4806.707,-12222.455,10,3.0,29,18.3