version: 66.06
glider: 157
mission: 4
dive: 4
start: 12 4 109 19 52 37
data:
$ID,157
$MISSION,4
$DIVE,4
$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,-31636.83
$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,2350
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$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
$GPS1,194346,4743.563,-12224.881,10,2.9,29,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-76.2
$GPS2,195136,4743.542,-12224.853,13,1.3,29,18.2
$SPEED_LIMITS,0.205,0.234
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.129,-0.159
$KALMAN_X,255.6,276.7,219.4,-1063.6,223.5
$KALMAN_Y,499.2,586.4,512.1,-1401.2,420.4
$MHEAD_RNG_PITCHd_Wd,200.8,200,-15.7,-7.463
$D_GRID,178
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.55,-107.5,0.0,0.0,0,71,0.00,0.00,-55.30,0.000,2,0.000,0.000,57,2142,2023,0,0,0,0,0,0
$GC,73,-0.59,-146.0,3.1,-4.2,9,106,7.12,2.97,-17.83,0.000,4,0.255,0.087,1824,3874,2738,0,0,0,0,0,0
$GC,198,-0.59,-146.0,32.7,-23.0,36,205,0.00,2.55,0.00,0.000,6,0.000,0.066,1824,2350,2738,0,0,1,0,0,0
$GC,267,-0.59,-146.0,47.8,-23.1,52,273,0.00,0.00,0.00,0.000,6,0.000,0.000,1824,2349,2739,0,0,0,0,0,0
$GC,403,-0.59,-146.0,77.8,-23.7,83,408,0.00,2.58,0.00,0.000,4,0.000,0.069,1824,757,2740,0,0,0,0,0,0
$GC,441,-0.59,-146.0,86.2,-22.2,91,445,0.00,2.65,0.00,0.000,6,0.000,0.071,1813,2346,2740,0,0,0,0,0,0
$GC,573,-0.59,-146.0,118.1,-24.5,122,580,0.00,2.55,0.00,0.000,4,0.000,0.078,1802,3873,2739,0,0,0,0,0,0
$GC,601,-0.59,-146.0,124.9,-24.2,128,613,0.12,2.53,0.00,0.000,6,0.173,0.064,1839,2356,2739,0,0,0,0,0,0
$STATE,734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,734,begin apogee
$GC,739,-0.13,0.0,150.2,18.1,157,855,0.47,0.00,112.07,0.720,6,0.153,0.000,1991,2237,2139,0,0,0,0,0,0
$STATE,856,end apogee,CONTROL_FINISHED_OK
$STATE,856,begin climb
$GC,859,0.59,146.0,157.0,0.0,179,980,0.70,0.00,115.20,0.691,6,0.100,0.000,2226,2236,1543,0,0,0,0,0,0
$GC,1110,0.59,146.0,123.7,17.4,232,1117,0.00,2.75,0.00,0.000,4,0.000,0.071,2225,3836,1536,0,0,0,0,0,0
$GC,1145,0.59,146.0,117.1,19.0,239,1150,0.00,2.62,0.00,0.000,6,0.000,0.061,2236,2275,1534,0,0,0,0,0,0
$GC,1278,0.59,146.0,94.1,16.7,270,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2275,1534,0,0,0,0,0,0
$GC,1416,0.59,146.0,71.7,16.6,301,1421,0.00,2.62,0.00,0.000,4,0.000,0.070,2236,3850,1533,0,0,0,0,0,0
$GC,1436,0.59,146.0,68.0,16.8,305,1440,0.00,2.65,0.00,0.000,6,0.000,0.062,2247,2250,1532,0,0,0,0,0,0
$GC,1569,0.59,146.0,43.6,17.2,336,1576,0.00,2.58,0.00,0.000,4,0.000,0.067,2260,658,1532,0,0,0,0,0,0
$GC,1595,0.59,146.0,39.7,16.7,341,1602,0.15,2.67,0.00,0.000,6,0.163,0.066,2213,2272,1530,0,0,0,0,0,0
$GC,1667,0.59,146.0,30.0,12.4,357,1673,0.00,0.00,0.00,0.000,6,0.000,0.000,2213,2272,1530,0,0,0,0,0,0
$GC,1736,0.59,146.0,21.8,10.4,373,1743,0.00,2.65,0.00,0.000,4,0.000,0.065,2222,657,1530,0,0,0,0,0,0
$GC,1813,0.59,146.0,15.8,7.5,391,1820,0.00,2.60,0.00,0.000,6,0.000,0.067,2222,2228,1530,0,0,0,0,0,0
$GC,1884,0.59,146.0,10.5,7.6,407,1891,0.00,2.65,0.00,0.000,4,0.000,0.073,2222,3838,1529,0,0,0,0,0,0
$STATE,1979,end climb,SURFACE_DEPTH_REACHED
$STATE,1979,begin surface coast
$FINISH,1.8,1.021278
$STATE,2029,end surface coast,CONTROL_FINISHED_OK
$STATE,2029,begin surface
$SM_CCo,2045,156.27,0.611,0,0,713,350.04
$SM_GC,1.36,0.00,0.00,156.27,0.000,0.000,0.611,74,2342,713,-6.11,-0.23,350.04
$IRIDIUM_FIX,4726.11,-12213.55,280299,191939
$TT8_MAMPS,0.048321
$HUMID,28.53
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,63.5
$24V_AH,24.1,0.801
$10V_AH,10.4,1.086
$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,14.425,42.275,227.275,156.275,0.000,28.594,29.577,244.313,2.750,0.000,30.983,0.000,417.956,376.529,1381.857,507.441,32.320,839.525,0.000,1193.228,0.000,21.103,0.000
$DEVICE_MAMPS,254.644,91.273,720.213,610.532,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,313.003,215.490,917.212,169.687,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,25570,442
$CAP_FILE_SIZE,55252,0
$CFSIZE,260165632,218828800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041209,202950,4743.334,-12225.142,9,1.8,9,18.2