version: 66.06
glider: 157
mission: 4
dive: 2
start: 12 4 109 18 3 36
data:
$ID,157
$MISSION,4
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$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,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51974
$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,4438
$TGT_DEFAULT_LON,-12501
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$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,-31546.23
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,90
$PITCH_MAX,4043
$C_PITCH,2035
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$PITCH_GAIN,37
$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,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,30
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2276
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-19.739614
$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,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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
$GPS1,175932,4743.757,-12224.653,9,1.1,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-74.0
$GPS2,180237,4743.774,-12224.659,10,1.1,14,18.2
$SPEED_LIMITS,0.275,0.295
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.143,-0.258
$KALMAN_X,45.5,45.5,45.5,-213.0,146.3
$KALMAN_Y,137.0,137.0,137.0,196.2,440.0
$MHEAD_RNG_PITCHd_Wd,190.9,661,-14.9,-10.000
$D_GRID,174
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-0.64,-194.6,0.0,0.0,0,82,0.00,0.00,-67.25,0.000,2,0.000,0.000,78,2165,2032,0,0,0,0,0,0
$GC,85,-0.64,-194.6,3.2,-6.0,11,123,7.03,0.00,-24.30,0.000,6,0.259,0.000,1825,2165,3073,0,0,0,0,0,0
$GC,187,-0.64,-194.6,28.2,-23.5,32,194,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2166,3074,0,0,0,0,0,0
$GC,255,-0.64,-194.6,43.6,-21.1,48,261,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2166,3074,0,0,0,0,0,0
$GC,392,-0.64,-194.6,72.9,-21.0,79,396,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2166,3074,0,0,0,0,0,0
$GC,525,-0.64,-194.6,101.2,-19.9,110,531,0.00,0.00,0.00,0.000,6,0.000,0.000,1825,2166,3074,0,0,0,0,0,0
$GC,662,-0.64,-194.6,125.7,-16.5,141,667,0.00,2.58,0.00,0.000,4,0.000,0.077,1816,3731,3074,0,0,0,0,0,0
$GC,742,-0.64,-194.6,140.2,-17.1,159,747,0.00,2.58,0.00,0.000,6,0.000,0.065,1815,2154,3074,0,0,0,0,0,0
$STATE,794,end dive,TARGET_DEPTH_EXCEEDED
$STATE,794,begin apogee
$GC,799,-0.14,0.0,150.3,19.8,171,951,0.55,0.00,147.93,0.729,6,0.153,0.000,1990,2154,2275,0,0,0,0,0,0
$STATE,952,end apogee,CONTROL_FINISHED_OK
$STATE,952,begin climb
$GC,954,0.64,194.6,157.6,0.0,200,1112,0.75,2.72,150.93,0.700,4,0.089,0.067,2260,563,1480,0,0,0,0,0,0
$GC,1181,0.64,194.6,134.6,17.9,245,1186,0.00,2.70,0.00,0.000,6,0.000,0.065,2260,2150,1475,0,0,0,0,0,0
$GC,1314,0.64,194.6,108.9,17.6,276,1320,0.00,2.67,0.00,0.000,4,0.000,0.073,2260,3742,1473,0,0,0,0,0,0
$GC,1374,0.64,194.6,97.2,20.4,289,1379,0.00,2.65,0.00,0.000,6,0.000,0.063,2271,2150,1470,0,0,0,0,0,0
$GC,1506,0.64,194.6,69.7,20.6,320,1512,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2149,1470,0,0,0,0,0,0
$GC,1644,0.64,194.6,41.0,21.8,351,1649,0.00,2.58,0.00,0.000,4,0.000,0.069,2284,551,1470,0,0,0,0,0,0
$GC,1782,0.64,194.6,16.5,17.1,384,1788,0.15,2.65,0.00,0.000,6,0.172,0.067,2237,2146,1468,0,0,0,0,0,0
$GC,1851,0.64,194.6,7.7,12.2,400,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2146,1468,0,0,0,0,0,0
$STATE,1906,end climb,SURFACE_DEPTH_REACHED
$STATE,1906,begin surface coast
$FINISH,1.7,1.020713
$STATE,1956,end surface coast,CONTROL_FINISHED_OK
$STATE,1956,begin surface
$SM_CCo,1970,190.90,0.609,0,0,484,439.33
$SM_CCo,2163,0.00,0.000,0,0,483,439.58
$SM_CCo,2166,0.00,0.000,0,0,483,439.82
$SM_GC,1.17,0.00,0.00,0.00,0.000,0.000,0.000,72,2149,483,-6.14,0.00,439.82
$IRIDIUM_FIX,4729.30,-12222.38,280299,181847
$TT8_MAMPS,0.048321
$HUMID,29.60
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,135.0,53.1
$24V_AH,24.1,0.605
$10V_AH,10.4,0.948
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.350,21.125,298.850,190.900,0.000,0.000,0.000,0.000,3.500,0.000,16.075,0.000,403.726,442.880,1285.120,105.661,30.170,914.508,0.000,1126.251,0.000,23.833,0.000
$DEVICE_MAMPS,259.246,77.467,729.417,608.998,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,297.717,196.976,844.923,153.411,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,324028
$DATA_FILE_SIZE,25619,425
$CAP_FILE_SIZE,64312,0
$CFSIZE,260165632,218894336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041209,184014,4743.686,-12224.858,9,1.3,9,18.2