version: 66.06
glider: 157
mission: 4
dive: 3
start: 12 4 109 19 1 3
data:
$ID,157
$MISSION,4
$DIVE,3
$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,67
$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,150
$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,350
$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,-31605.219
$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,2030
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.0099999998
$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,45
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,18
$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,2140
$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,90
$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
$GPS1,185556,4743.759,-12224.726,10,1.7,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-77.2
$GPS2,190002,4743.779,-12224.695,11,1.8,11,18.2
$SPEED_LIMITS,0.205,0.234
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.107,-0.208
$KALMAN_X,159.1,184.9,165.9,-631.4,276.8
$KALMAN_Y,374.0,423.6,387.4,-560.5,625.2
$MHEAD_RNG_PITCHd_Wd,189.1,642,-13.0,-7.463
$D_GRID,175
$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,11,begin dive
$GC,13,-0.52,-146.0,0.0,0.0,0,76,0.00,0.00,-61.10,0.000,2,0.000,0.000,74,2150,1914,0,0,0,0,0,0
$GC,79,-0.52,-146.0,3.4,-4.0,10,110,7.12,2.67,-19.70,0.000,4,0.257,0.092,1851,3746,2737,0,0,0,0,0,0
$GC,133,-0.52,-146.0,14.3,-18.9,20,140,0.00,2.70,0.00,0.000,6,0.000,0.070,1851,2143,2738,0,0,0,0,0,0
$GC,203,-0.52,-146.0,28.8,-19.3,36,209,0.00,2.60,0.00,0.000,4,0.000,0.074,1851,566,2739,0,0,0,0,0,0
$GC,248,-0.52,-146.0,38.1,-19.9,46,255,0.00,2.62,0.00,0.000,6,0.000,0.074,1842,2121,2738,0,0,0,0,0,0
$GC,319,-0.52,-146.0,52.4,-20.0,62,325,0.00,2.72,0.00,0.000,4,0.000,0.080,1829,3747,2739,0,0,0,0,0,0
$GC,356,-0.52,-146.0,59.8,-20.3,70,362,0.10,2.65,0.00,0.000,6,0.163,0.066,1861,2156,2739,0,0,0,0,0,0
$GC,493,-0.52,-146.0,81.8,-16.0,101,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2156,2739,0,0,0,0,0,0
$GC,624,-0.52,-146.0,102.2,-15.0,132,631,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2155,2739,0,0,0,0,0,0
$GC,762,-0.52,-146.0,121.4,-14.2,163,766,0.00,0.00,0.00,0.000,6,0.000,0.000,1861,2155,2739,0,0,0,0,0,0
$GC,896,-0.52,-146.0,141.5,-14.9,194,902,0.00,2.67,0.00,0.000,4,0.000,0.076,1853,3747,2739,0,0,0,0,0,0
$GC,939,-0.52,-146.0,147.8,-15.6,203,943,0.00,2.60,0.00,0.000,6,0.000,0.065,1853,2156,2739,0,0,0,0,0,0
$STATE,950,end dive,TARGET_DEPTH_EXCEEDED
$STATE,950,begin apogee
$GC,956,-0.13,0.0,150.2,15.5,206,1072,0.43,0.00,112.38,0.729,6,0.153,0.000,1987,2155,2140,0,0,0,0,0,0
$STATE,1073,end apogee,CONTROL_FINISHED_OK
$STATE,1073,begin climb
$GC,1075,0.52,146.0,155.9,0.0,228,1199,0.65,0.00,114.82,0.696,6,0.106,0.000,2202,2155,1542,0,0,0,0,0,0
$GC,1330,0.52,146.0,126.8,14.5,281,1335,0.00,2.70,0.00,0.000,4,0.000,0.071,2202,3744,1536,0,0,0,0,0,0
$GC,1409,0.52,146.0,113.5,16.8,299,1414,0.00,2.60,0.00,0.000,6,0.000,0.063,2213,2176,1534,0,0,0,0,0,0
$GC,1542,0.52,146.0,92.9,14.1,330,1549,0.00,2.65,0.00,0.000,4,0.000,0.069,2226,562,1532,0,0,0,0,0,0
$GC,1594,0.52,146.0,86.3,13.0,341,1599,0.00,2.67,0.00,0.000,6,0.000,0.066,2225,2183,1530,0,0,0,0,0,0
$GC,1726,0.52,146.0,66.6,15.4,372,1733,0.00,2.58,0.00,0.000,4,0.000,0.072,2226,3741,1530,0,0,0,0,0,0
$GC,1830,0.52,146.0,48.7,16.5,395,1835,0.17,2.55,0.00,0.000,6,0.193,0.062,2191,2186,1530,0,0,0,0,0,0
$GC,1962,0.52,146.0,33.3,10.9,426,1969,0.00,2.62,0.00,0.000,4,0.000,0.069,2202,564,1530,0,0,0,0,0,0
$GC,2105,0.53,154.8,20.1,7.2,460,2118,0.00,2.65,6.12,0.584,6,0.000,0.067,2202,2166,1508,0,0,0,0,0,0
$GC,2182,0.53,154.8,13.5,9.6,477,2188,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2166,1507,0,0,0,0,0,0
$GC,2251,0.60,208.5,8.4,5.6,493,2302,0.00,2.67,43.25,0.624,4,0.000,0.074,2202,3738,1288,0,0,0,0,0,0
$STATE,2338,end climb,SURFACE_DEPTH_REACHED
$STATE,2340,begin surface coast
$FINISH,0.7,1.020751
$STATE,2384,end surface coast,CONTROL_FINISHED_OK
$STATE,2384,begin surface
$SM_CCo,2401,109.78,0.607,0,0,713,350.04
$SM_GC,1.47,0.00,0.00,109.78,0.000,0.000,0.607,57,2142,713,-6.17,-0.23,350.04
$IRIDIUM_FIX,4726.11,-12232.20,280299,191906
$TT8_MAMPS,0.047554
$HUMID,29.05
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,58.1
$24V_AH,24.1,0.711
$10V_AH,10.4,1.024
$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,14.150,47.625,276.575,109.775,0.000,0.000,0.000,0.000,2.750,0.000,13.030,0.000,514.799,360.952,1580.335,123.298,31.399,901.829,0.000,1391.037,0.000,20.763,0.000
$DEVICE_MAMPS,256.945,92.040,728.650,606.697,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,367.154,248.026,1059.393,195.021,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,324108
$DATA_FILE_SIZE,31765,521
$CAP_FILE_SIZE,72020,0
$CFSIZE,260165632,218849280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041209,194346,4743.563,-12224.881,10,2.9,29,18.2