version: 66.06
glider: 157
mission: 4
dive: 6
start: 12 4 109 21 38 53
data:
$ID,157
$MISSION,4
$DIVE,6
$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,100
$T_MISSION,105
$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,100
$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,300
$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,-31671.33
$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,20
$R_STBD_OVSHOOT,20
$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
$GPS1,212934,4743.055,-12224.828,11,3.8,30,18.2
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-76.0
$GPS2,213814,4743.000,-12224.811,13,1.0,13,18.2
$SPEED_LIMITS,0.165,0.182
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.181,0.011
$KALMAN_X,-541.8,620.3,326.0,-657.9,-685.0
$KALMAN_Y,589.9,960.9,431.6,-2794.7,-66.9
$MHEAD_RNG_PITCHd_Wd,68.3,1010,-13.2,-6.000
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.46,-97.3,0.0,0.0,0,53,0.00,0.00,-37.33,0.000,2,0.000,0.000,73,2369,1569,0,0,0,0,0,0
$GC,56,-0.46,-97.3,2.3,-3.0,6,101,7.20,2.70,-33.10,0.000,4,0.250,0.075,1892,749,2537,0,0,0,0,0,0
$GC,332,-0.46,-97.3,38.1,-12.1,69,338,0.00,2.70,0.00,0.000,6,0.000,0.071,1883,2352,2539,0,0,0,0,0,0
$GC,405,-0.46,-97.3,48.1,-13.7,85,409,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2352,2539,0,0,0,0,0,0
$GC,536,-0.46,-97.3,68.0,-16.0,116,543,0.00,0.00,0.00,0.000,6,0.000,0.000,1883,2352,2539,0,0,0,0,0,0
$GC,674,-0.46,-97.3,87.7,-14.0,147,679,0.00,2.60,0.00,0.000,4,0.000,0.068,1883,759,2539,0,0,0,0,0,0
$GC,753,-0.46,-97.3,98.6,-13.2,165,758,0.00,2.65,0.00,0.000,6,0.000,0.072,1872,2356,2539,0,0,0,0,0,0
$GC,888,-0.46,-97.3,118.6,-15.1,196,894,0.00,0.00,0.00,0.000,6,0.000,0.000,1872,2357,2539,0,0,0,0,0,0
$GC,1026,-0.46,-97.3,138.5,-14.5,227,1030,0.00,2.60,0.00,0.000,4,0.000,0.067,1872,755,2539,0,0,0,0,0,0
$GC,1054,-0.46,-97.3,142.7,-14.5,233,1059,0.00,2.62,0.00,0.000,6,0.000,0.071,1861,2348,2539,0,0,0,0,0,0
$GC,1187,-0.46,-97.3,162.8,-15.3,264,1193,0.00,2.60,0.00,0.000,4,0.000,0.067,1861,758,2539,0,0,0,0,0,0
$STATE,1227,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1227,begin apogee
$GC,1236,-0.13,0.0,168.7,14.7,273,1314,0.45,0.00,75.47,0.739,6,0.156,0.000,1994,2254,2140,0,0,0,0,0,0
$STATE,1314,end apogee,CONTROL_FINISHED_OK
$STATE,1316,begin climb
$GC,1318,0.46,97.3,173.6,0.0,288,1399,0.55,0.00,78.18,0.706,6,0.102,0.000,2183,2254,1743,0,0,0,0,0,0
$GC,1528,0.46,97.3,156.8,9.7,333,1533,0.00,2.67,0.00,0.000,4,0.000,0.071,2183,3846,1735,0,0,0,0,0,0
$GC,1541,0.46,97.3,155.2,9.8,336,1548,0.00,2.70,0.00,0.000,6,0.000,0.061,2194,2245,1734,0,0,1,0,0,0
$GC,1678,0.46,97.3,139.7,11.3,367,1683,0.00,2.58,0.00,0.000,4,0.000,0.066,2206,656,1733,0,0,0,0,0,0
$GC,1783,0.46,97.3,128.7,9.9,391,1788,0.00,2.58,0.00,0.000,6,0.000,0.065,2205,2210,1730,0,0,0,0,0,0
$GC,1917,0.46,97.3,113.8,11.1,422,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2205,2210,1730,0,0,0,0,0,0
$GC,2055,0.46,97.3,101.5,8.6,453,2060,0.00,2.67,0.00,0.000,4,0.000,0.072,2206,3844,1729,0,0,0,0,0,0
$GC,2066,0.46,97.3,100.1,8.7,455,2071,0.15,2.72,0.00,0.000,6,0.197,0.062,2181,2183,1729,0,0,0,0,0,0
$GC,2199,0.46,97.3,88.6,8.0,486,2206,0.00,2.45,0.00,0.000,4,0.000,0.067,2190,660,1728,0,0,0,0,0,0
$GC,2304,0.46,97.3,80.0,8.7,510,2311,0.00,2.50,0.00,0.000,6,0.000,0.066,2190,2172,1727,0,0,0,0,0,0
$GC,2442,0.46,97.3,66.9,9.7,541,2447,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2172,1727,0,0,0,0,0,0
$GC,2577,0.46,97.3,52.4,11.4,572,2583,0.00,0.00,0.00,0.000,6,0.000,0.000,2190,2172,1727,0,0,0,0,0,0
$GC,2714,0.46,97.3,37.3,10.8,603,2721,0.00,2.47,0.00,0.000,4,0.000,0.064,2200,654,1727,0,0,0,0,0,0
$GC,2800,0.46,97.3,29.4,8.7,623,2807,0.00,2.50,0.00,0.000,6,0.000,0.065,2200,2178,1727,0,0,0,0,0,0
$GC,2869,0.46,97.3,23.1,8.8,639,2876,0.00,2.70,0.00,0.000,4,0.000,0.072,2200,3835,1727,0,0,0,0,0,0
$GC,2948,0.46,97.3,16.3,8.6,657,2955,0.00,2.65,0.00,0.000,6,0.000,0.061,2212,2212,1727,0,0,0,0,0,0
$GC,3017,0.46,97.3,10.7,8.1,673,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,2212,2212,1726,0,0,0,0,0,0
$GC,3086,0.52,150.3,7.3,3.8,689,3131,0.00,2.55,40.12,0.637,4,0.000,0.067,2224,654,1526,0,0,0,0,0,0
$STATE,3197,end climb,SURFACE_DEPTH_REACHED
$STATE,3197,begin surface coast
$FINISH,1.3,1.021040
$STATE,3289,end surface coast,CONTROL_FINISHED_OK
$STATE,3289,begin surface
$SM_CCo,3306,115.18,0.607,0,0,916,300.00
$SM_GC,1.69,0.00,0.00,115.18,0.000,0.000,0.607,67,2364,916,-6.15,0.40,300.00
$IRIDIUM_FIX,4722.92,-12223.37,280299,202002
$TT8_MAMPS,0.047554
$HUMID,29.56
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,115.0,73.5
$24V_AH,24.1,0.974
$10V_AH,10.4,1.259
$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,14.275,57.575,193.775,115.175,0.000,29.818,28.476,307.609,1.250,0.000,15.614,0.000,811.500,334.785,2181.816,602.534,33.305,981.901,0.000,1950.665,0.000,10.238,0.000
$DEVICE_MAMPS,250.042,75.166,738.621,607.464,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,525.191,350.527,1475.311,282.756,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,323712
$DATA_FILE_SIZE,44336,735
$CAP_FILE_SIZE,75424,0
$CFSIZE,260165632,218705920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041209,223643,4742.862,-12224.541,8,1.7,25,18.2