version: 66.06
glider: 158
mission: 4
dive: 2
start: 3 24 110 18 20 2
data:
$ID,158
$MISSION,4
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,20
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51928
$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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-686485.31
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,138
$PITCH_MAX,3933
$C_PITCH,2100
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,34
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3794
$ROLL_DEG,40
$C_ROLL_DIVE,2015
$C_ROLL_CLIMB,2015
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,10
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,3606
$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,8
$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,-20.784597
$PRESSURE_SLOPE,0.0001162534
$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,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$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,0.0043197535
$SEABIRD_T_H,0.0006381399
$SEABIRD_T_I,2.5446814e-05
$SEABIRD_T_J,2.8593313e-06
$SEABIRD_C_G,-10.195082
$SEABIRD_C_H,1.1596043
$SEABIRD_C_I,-0.0010232648
$SEABIRD_C_J,0.00017862333
$GPS1,181455,4807.198,-12223.137,12,1.7,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-63.6
$GPS2,181850,4807.175,-12223.121,14,1.6,14,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,default
$TGT_LATLONG,4438.000,-12501.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.172,-0.227
$KALMAN_X,52.0,52.0,52.0,-63.2,107.2
$KALMAN_Y,-13.2,-13.2,-13.2,-242.1,-27.3
$MHEAD_RNG_PITCHd_Wd,198.9,439734,-15.6,-10.000
$D_GRID,105
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.58,-97.3,0.0,0.0,0,179,0.00,0.00,-159.32,0.000,6,0.000,0.000,134,2002,3957,0,0,0,0,0,0
$GC,181,-0.58,-97.3,4.4,-5.1,16,194,7.80,2.33,-0.05,0.000,4,0.282,0.074,1899,3431,3962,0,0,0,0,0,0
$GC,474,-0.58,-97.3,57.6,-16.4,45,482,0.00,2.28,0.00,0.000,6,0.000,0.052,1903,2028,3963,0,0,0,0,0,0
$GC,513,-0.58,-97.3,63.5,-16.7,49,517,0.00,2.35,0.00,0.000,4,0.000,0.072,1894,3431,3963,0,0,0,0,0,0
$GC,549,-0.58,-97.3,69.7,-18.0,52,553,0.00,2.28,0.00,0.000,6,0.000,0.049,1894,2003,3963,0,0,0,0,0,0
$GC,588,-0.58,-97.3,76.6,-17.7,55,592,0.00,2.38,0.00,0.000,4,0.000,0.071,1884,3427,3962,0,0,0,0,0,0
$GC,604,-0.58,-97.3,79.7,-18.2,56,609,0.00,2.25,0.00,0.000,6,0.000,0.049,1884,2014,3963,0,0,0,0,0,0
$GC,648,-0.58,-97.3,87.9,-18.7,60,650,0.12,0.00,0.00,0.000,6,0.209,0.000,1913,2012,3963,0,0,0,0,0,0
$GC,679,-0.58,-97.3,93.3,-17.9,63,683,0.00,2.35,0.00,0.000,4,0.000,0.071,1904,3423,3963,0,0,0,0,0,0
$GC,697,-0.58,-97.3,95.9,-16.1,64,701,0.00,2.22,0.00,0.000,6,0.000,0.048,1904,2014,3963,0,0,0,0,0,0
$GC,735,-0.58,-97.3,102.8,-16.7,67,736,0.00,0.00,0.00,0.000,6,0.000,0.000,1904,2014,3963,0,0,0,0,0,0
$STATE,759,end dive,TARGET_DEPTH_EXCEEDED
$STATE,759,begin apogee
$GC,763,-0.15,0.0,106.5,17.2,69,832,0.50,0.00,65.85,0.801,6,0.180,0.000,2047,2013,3605,0,0,0,0,0,0
$STATE,832,end apogee,CONTROL_FINISHED_OK
$STATE,833,begin climb
$GC,834,0.58,97.3,112.4,0.0,76,912,0.73,0.00,74.30,0.769,6,0.127,0.000,2282,2012,3209,0,0,0,0,0,0
$GC,947,0.63,137.6,105.8,8.5,86,989,0.00,2.47,32.67,0.746,4,0.000,0.068,2282,3421,3042,0,0,0,0,0,0
$GC,1003,0.63,137.6,100.1,10.5,91,1011,0.00,2.35,0.00,0.000,6,0.000,0.050,2292,2016,3041,0,0,0,0,0,0
$GC,1042,0.63,137.6,96.1,11.5,95,1043,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2015,3039,0,0,0,0,0,0
$GC,1074,0.63,137.6,92.5,11.2,98,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2015,3039,0,0,0,0,0,0
$GC,1106,0.63,137.6,88.9,11.2,101,1110,0.00,2.42,0.00,0.000,4,0.000,0.068,2292,3432,3038,0,0,0,0,0,0
$GC,1123,0.63,137.6,86.4,12.3,102,1132,0.00,2.33,0.00,0.000,6,0.000,0.050,2303,2018,3038,0,0,0,0,0,0
$GC,1163,0.63,137.6,82.0,12.2,106,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2018,3038,0,0,0,0,0,0
$GC,1195,0.63,137.6,78.3,11.7,109,1199,0.00,2.35,0.00,0.000,4,0.000,0.067,2303,3428,3037,0,0,0,0,0,0
$GC,1230,0.63,137.6,73.9,12.6,112,1235,0.00,2.30,0.00,0.000,6,0.000,0.051,2313,2011,3037,0,0,0,0,0,0
$GC,1269,0.63,137.6,69.1,12.5,115,1270,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2010,3037,0,0,0,0,0,0
$GC,1301,0.63,137.6,65.2,12.1,118,1305,0.00,2.38,0.00,0.000,4,0.000,0.067,2313,3432,3036,0,0,0,0,0,0
$GC,1338,0.63,137.6,59.9,13.2,121,1346,0.00,2.33,0.00,0.000,6,0.000,0.051,2324,2007,3037,0,0,0,0,0,0
$GC,1377,0.63,137.6,55.0,13.5,125,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2007,3037,0,0,0,0,0,0
$GC,1410,0.63,137.6,51.0,12.8,128,1411,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2007,3036,0,0,0,0,0,0
$GC,1441,0.63,137.6,46.9,12.5,131,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2007,3036,0,0,0,0,0,0
$GC,1473,0.63,137.6,42.7,12.9,134,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2007,3036,0,0,0,0,0,0
$GC,1505,0.63,137.6,38.6,13.3,137,1509,0.00,2.35,0.00,0.000,4,0.000,0.067,2323,3433,3036,0,0,0,0,0,0
$GC,1560,0.63,137.6,31.0,13.5,142,1565,0.15,2.30,0.00,0.000,6,0.203,0.050,2298,2003,3036,0,0,0,0,0,0
$GC,1599,0.63,137.6,26.3,12.4,145,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2003,3036,0,0,0,0,0,0
$GC,1631,0.63,137.6,23.1,10.3,148,1635,0.00,2.33,0.00,0.000,4,0.000,0.065,2298,3421,3036,0,0,0,0,0,0
$GC,1667,0.63,137.6,19.1,11.7,151,1671,0.00,2.25,0.00,0.000,6,0.000,0.052,2307,2008,3036,0,0,0,0,0,0
$GC,1706,0.63,137.6,15.1,10.5,154,1707,0.00,0.00,0.00,0.000,6,0.000,0.000,2307,2008,3036,0,0,0,0,0,0
$GC,1738,0.64,148.4,12.0,9.6,157,1752,0.00,2.38,8.73,0.660,4,0.000,0.065,2307,3425,3000,0,0,0,0,0,0
$GC,1769,0.66,162.4,9.1,9.5,160,1791,0.00,2.28,12.48,0.680,6,0.000,0.051,2318,2009,2943,0,0,0,0,0,0
$GC,1822,0.72,214.3,4.5,8.1,165,1848,0.00,0.00,23.12,0.703,2,0.000,0.000,2317,2009,2827,0,0,0,0,0,0
$STATE,1848,end climb,SURFACE_DEPTH_REACHED
$STATE,1848,begin surface coast
$FINISH,1.4,1.018783
$STATE,1898,end surface coast,CONTROL_FINISHED_OK
$STATE,1898,begin surface
$SM_CCo,1910,87.60,0.649,1,0,2382,300.00
$SM_GC,1.97,0.00,0.00,87.60,0.000,0.000,0.649,127,2007,2382,-6.17,-0.23,300.00
$IRIDIUM_FIX,4811.07,-12209.61,180699,181813
$TT8_MAMPS,0.026845
$HUMID,37.71
$INTERNAL_PRESSURE,9.14169
$TCM_TEMP,13.70
$XPDR_PINGS,4
$24V_AH,24.0,34.310
$10V_AH,10.1,6.195
$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,15.375,51.225,217.150,87.600,0.000,0.000,0.000,0.000,3.500,0.000,14.578,407.588,490.326,373.477,782.537,41.555,30.183,767.603,0.000,771.646,0.000,20.283,0.000
$DEVICE_MAMPS,282.256,74.399,800.748,648.882,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,119.063,120.188,592.305,94.049,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,325520
$DATA_FILE_SIZE,9779,172
$CAP_FILE_SIZE,72832,0
$CFSIZE,260165632,257495040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240310,185413,4807.014,-12223.285,10,1.9,15,18.3