version: 66.06
glider: 157
mission: 4
dive: 5
start: 12 4 109 20 37 59
data:
$ID,157
$MISSION,4
$DIVE,5
$D_SURF,3
$D_FLARE,2
$D_TGT,180
$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,86
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$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,-31655.086
$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,39
$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,23
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,100
$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
$GPS1,202950,4743.334,-12225.142,9,1.8,9,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-77.2
$GPS2,203720,4743.317,-12225.100,15,1.8,15,18.2
$SPEED_LIMITS,0.192,0.228
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.176,-0.145
$KALMAN_X,370.6,363.6,228.5,-1582.9,271.9
$KALMAN_Y,497.3,752.2,577.0,-2047.9,239.2
$MHEAD_RNG_PITCHd_Wd,111.3,1491,-12.0,-6.977
$D_GRID,180
$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,-0.49,-146.0,0.0,0.0,0,52,0.00,0.00,-36.75,0.000,2,0.000,0.000,74,2342,1563,0,0,0,0,0,0
$GC,55,-0.49,-146.0,2.3,-3.3,6,106,7.15,2.60,-38.58,0.000,4,0.250,0.084,1864,3879,2736,0,0,0,0,0,0
$GC,333,-0.49,-146.0,44.3,-14.2,69,338,0.00,2.50,0.00,0.000,6,0.000,0.064,1864,2344,2737,0,0,1,0,0,0
$GC,468,-0.49,-146.0,67.0,-16.9,100,474,0.00,2.58,0.00,0.000,4,0.000,0.068,1864,759,2738,0,0,0,0,0,0
$GC,495,-0.49,-146.0,72.2,-17.9,106,502,0.00,2.67,0.00,0.000,6,0.000,0.072,1854,2349,2738,0,0,0,0,0,0
$GC,633,-0.49,-146.0,95.1,-16.8,137,638,0.00,2.53,0.00,0.000,4,0.000,0.077,1843,3879,2738,0,0,0,0,0,0
$GC,655,-0.49,-146.0,99.5,-16.8,142,665,0.12,2.55,0.00,0.000,6,0.154,0.064,1883,2347,2738,0,0,0,0,0,0
$GC,796,-0.49,-146.0,117.9,-13.1,173,800,0.00,2.53,0.00,0.000,4,0.000,0.068,1883,757,2738,0,0,0,0,0,0
$GC,928,-0.49,-146.0,135.1,-12.5,203,933,0.00,2.62,0.00,0.000,6,0.000,0.072,1876,2343,2738,0,0,0,0,0,0
$GC,1059,-0.49,-146.0,153.2,-13.5,234,1066,0.00,2.55,0.00,0.000,4,0.000,0.077,1864,3881,2738,0,0,0,0,0,0
$GC,1094,-0.49,-146.0,157.7,-13.9,241,1099,0.00,2.53,0.00,0.000,6,0.000,0.062,1864,2331,2738,0,0,0,0,0,0
$STATE,1210,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1210,begin apogee
$GC,1215,-0.13,0.0,174.6,14.4,268,1332,0.40,0.00,111.82,0.735,6,0.143,0.000,1994,2238,2139,0,0,0,0,0,0
$STATE,1332,end apogee,CONTROL_FINISHED_OK
$STATE,1332,begin climb
$GC,1335,0.49,146.0,180.7,0.0,290,1458,0.60,2.83,115.55,0.704,4,0.099,0.069,2197,3842,1543,0,0,0,0,0,0
$GC,1486,0.49,146.0,167.6,14.1,319,1490,0.00,2.72,0.00,0.000,6,0.000,0.061,2208,2260,1539,0,0,0,0,0,0
$GC,1620,0.49,146.0,146.2,15.2,350,1627,0.00,2.65,0.00,0.000,4,0.000,0.067,2220,656,1536,0,0,0,0,0,0
$GC,1656,0.49,146.0,140.9,14.9,358,1663,0.00,2.67,0.00,0.000,6,0.000,0.065,2220,2239,1533,0,0,0,0,0,0
$GC,1795,0.49,146.0,120.0,15.1,389,1800,0.00,2.65,0.00,0.000,4,0.000,0.072,2221,3842,1533,0,0,0,0,0,0
$GC,1823,0.49,146.0,115.0,16.9,395,1828,0.17,2.67,0.00,0.000,6,0.193,0.062,2188,2228,1532,0,0,0,0,0,0
$GC,1957,0.49,146.0,97.0,12.2,426,1964,0.00,2.55,0.00,0.000,4,0.000,0.067,2198,657,1532,0,0,0,0,0,0
$GC,2025,0.49,146.0,89.2,11.2,441,2030,0.00,2.58,0.00,0.000,6,0.000,0.066,2197,2222,1531,0,0,0,0,0,0
$GC,2160,0.49,146.0,71.8,13.0,472,2166,0.00,2.67,0.00,0.000,4,0.000,0.073,2198,3840,1531,0,0,0,0,0,0
$GC,2222,0.49,146.0,62.7,14.4,486,2229,0.00,2.65,0.00,0.000,6,0.000,0.063,2208,2241,1531,0,0,0,0,0,0
$GC,2359,0.49,146.0,44.4,13.5,517,2364,0.00,2.53,0.00,0.000,4,0.000,0.069,2221,657,1530,0,0,0,0,0,0
$GC,2425,0.49,146.0,36.1,11.8,532,2431,0.00,2.55,0.00,0.000,6,0.000,0.066,2221,2202,1530,0,0,0,0,0,0
$GC,2494,0.49,146.0,26.1,14.8,548,2502,0.00,2.70,0.00,0.000,4,0.000,0.073,2221,3842,1530,0,0,0,0,0,0
$GC,2569,0.49,146.0,15.1,14.5,565,2576,0.12,2.65,0.00,0.000,6,0.164,0.064,2192,2239,1530,0,0,0,0,0,0
$GC,2638,0.49,146.0,8.1,7.7,581,2645,0.00,2.55,0.00,0.000,4,0.000,0.069,2202,654,1529,0,0,0,0,0,0
$STATE,2765,end climb,SURFACE_DEPTH_REACHED
$STATE,2765,begin surface coast
$FINISH,2.0,1.021251
$STATE,2867,end surface coast,CONTROL_FINISHED_OK
$STATE,2867,begin surface
$SM_CCo,2883,157.10,0.613,0,0,712,350.04
$SM_GC,1.16,0.00,0.00,157.10,0.000,0.000,0.613,74,2369,712,-6.13,0.54,350.04
$IRIDIUM_FIX,4726.11,-12220.67,280299,191907
$TT8_MAMPS,0.048321
$HUMID,29.13
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,15.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.2,64.0
$24V_AH,24.1,0.893
$10V_AH,10.4,1.167
$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,14.225,68.225,227.375,157.100,0.000,28.049,28.131,249.648,2.000,0.000,17.629,0.000,675.887,394.865,1890.971,521.829,33.306,987.898,0.000,1677.786,0.000,14.890,0.000
$DEVICE_MAMPS,250.042,105.846,734.786,612.833,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,452.906,299.556,1262.333,239.309,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,323888
$DATA_FILE_SIZE,38152,636
$CAP_FILE_SIZE,70134,0
$CFSIZE,260165632,218759168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041209,212934,4743.055,-12224.828,11,3.8,30,18.2