version: 66.06
glider: 158
mission: 4
dive: 3
start: 3 24 110 19 47 26
data:
$ID,158
$MISSION,4
$DIVE,3
$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,4808
$TGT_DEFAULT_LON,-12223
$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,8
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-686659.44
$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,2110
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,37
$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,2200
$C_ROLL_CLIMB,2015
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,32
$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
$GPS1,194234,4806.764,-12223.147,12,2.1,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.5
$GPS2,194613,4806.743,-12223.143,14,1.4,14,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.052,0.270
$KALMAN_X,202.3,136.2,127.2,-399.3,80.7
$KALMAN_Y,-152.0,-90.7,-82.9,-750.8,-55.1
$MHEAD_RNG_PITCHd_Wd,352.6,507,-16.3,-10.000
$D_GRID,101
$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,14,-0.56,-97.3,0.0,0.0,0,89,0.00,0.00,-73.30,0.000,2,0.000,0.000,135,2213,3751,0,0,0,0,0,0
$GC,92,-0.56,-97.3,3.0,-2.2,7,113,7.88,0.00,-5.68,0.000,6,0.279,0.000,1923,2213,3963,0,0,0,0,0,0
$GC,144,-0.56,-97.3,13.6,-18.2,12,145,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2213,3964,0,0,0,0,0,0
$GC,176,-0.56,-97.3,18.7,-16.1,15,177,0.00,0.00,0.00,0.000,6,0.000,0.000,1923,2213,3964,0,0,0,0,0,0
$GC,208,-0.56,-97.3,23.7,-15.5,18,212,0.00,2.28,0.00,0.000,4,0.000,0.051,1923,781,3964,0,0,0,0,0,0
$GC,234,-0.56,-97.3,27.7,-15.4,20,238,0.00,2.30,0.00,0.000,6,0.000,0.059,1914,2194,3963,0,0,0,0,0,0
$GC,273,-0.56,-97.3,33.8,-15.8,23,274,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3963,0,0,0,0,0,0
$GC,304,-0.56,-97.3,39.1,-16.3,26,305,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3963,0,0,0,0,0,0
$GC,336,-0.56,-97.3,44.1,-16.2,29,338,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2195,3963,0,0,0,0,0,0
$GC,368,-0.56,-97.3,49.2,-15.9,32,369,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3964,0,0,0,0,0,0
$GC,400,-0.56,-97.3,54.5,-16.3,35,401,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3964,0,0,0,0,0,0
$GC,432,-0.56,-97.3,59.8,-16.5,38,433,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2194,3964,0,0,0,0,0,0
$GC,464,-0.56,-97.3,65.2,-17.0,41,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3964,0,0,0,0,0,0
$GC,496,-0.56,-97.3,70.3,-16.2,44,497,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3963,0,0,0,0,0,0
$GC,528,-0.56,-97.3,75.4,-16.1,47,530,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3964,0,0,0,0,0,0
$GC,562,-0.56,-97.3,80.6,-16.6,50,568,0.00,0.00,0.00,0.000,6,0.000,0.000,1915,2194,3963,0,0,0,0,0,0
$GC,601,-0.56,-97.3,87.4,-16.3,54,602,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3964,0,0,0,0,0,0
$GC,632,-0.56,-97.3,92.5,-16.3,57,633,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3964,0,0,0,0,0,0
$GC,664,-0.56,-97.3,97.5,-15.8,60,665,0.00,0.00,0.00,0.000,6,0.000,0.000,1914,2194,3963,0,0,0,0,0,0
$STATE,695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,695,begin apogee
$GC,699,-0.14,0.0,102.5,15.7,63,769,0.52,0.00,66.05,0.802,6,0.176,0.000,2065,1989,3606,0,0,0,0,0,0
$STATE,769,end apogee,CONTROL_FINISHED_OK
$STATE,769,begin climb
$GC,771,0.56,97.3,107.3,0.0,70,852,0.68,2.30,74.38,0.768,4,0.118,0.052,2298,622,3209,0,0,0,0,0,0
$GC,894,0.58,112.3,100.5,9.4,82,917,0.00,2.33,13.05,0.706,6,0.000,0.057,2298,2019,3147,0,0,0,0,0,0
$GC,947,0.58,112.3,95.3,10.1,87,951,0.00,2.38,0.00,0.000,4,0.000,0.065,2298,3431,3146,0,0,0,0,0,0
$GC,1022,0.58,112.3,86.7,11.7,94,1026,0.00,2.28,0.00,0.000,6,0.000,0.050,2308,2030,3145,0,0,0,0,0,0
$GC,1061,0.58,112.3,82.4,11.4,97,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2029,3145,0,0,0,0,0,0
$GC,1093,0.58,112.3,79.0,10.6,100,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2029,3145,0,0,0,0,0,0
$GC,1124,0.58,112.3,75.8,10.0,103,1126,0.00,0.00,0.00,0.000,6,0.000,0.000,2308,2029,3145,0,0,0,0,0,0
$GC,1157,0.58,112.3,72.4,10.7,106,1161,0.00,2.35,0.00,0.000,4,0.000,0.064,2308,3434,3145,0,0,0,0,0,0
$GC,1182,0.58,112.3,69.5,12.0,108,1186,0.00,2.33,0.00,0.000,6,0.000,0.049,2318,1999,3145,0,0,0,0,0,0
$GC,1221,0.58,112.3,65.1,11.3,111,1222,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2000,3145,0,0,0,0,0,0
$GC,1253,0.58,112.3,61.6,11.1,114,1254,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2000,3145,0,0,0,0,0,0
$GC,1285,0.58,112.3,58.2,10.6,117,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2000,3145,0,0,0,0,0,0
$GC,1317,0.58,112.3,54.7,10.7,120,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2000,3145,0,0,0,0,0,0
$GC,1348,0.58,112.3,51.3,10.8,123,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2000,3145,0,0,0,0,0,0
$GC,1380,0.58,112.3,48.0,10.5,126,1385,0.00,2.35,0.00,0.000,4,0.000,0.064,2318,3433,3145,0,0,0,0,0,0
$GC,1406,0.58,112.3,45.0,11.8,128,1411,0.15,2.28,0.00,0.000,6,0.206,0.048,2294,2002,3144,0,0,0,0,0,0
$GC,1445,0.58,112.3,41.0,10.2,131,1449,0.00,2.35,0.00,0.000,4,0.000,0.062,2293,3427,3144,0,0,0,0,0,0
$GC,1472,0.58,112.3,37.8,10.5,133,1480,0.00,2.30,0.00,0.000,6,0.000,0.050,2302,2010,3144,0,0,0,0,0,0
$GC,1512,0.58,113.8,34.2,9.9,137,1513,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2010,3144,0,0,0,0,0,0
$GC,1544,0.60,127.8,31.2,9.4,140,1564,0.00,0.00,13.18,0.705,6,0.000,0.000,2302,2010,3083,0,0,0,0,0,0
$GC,1596,0.61,140.9,26.3,9.5,145,1618,0.00,2.35,11.43,0.683,4,0.000,0.062,2302,3434,3029,0,0,0,0,0,0
$GC,1640,0.61,140.9,21.5,11.5,149,1644,0.00,2.30,0.00,0.000,6,0.000,0.050,2313,2012,3029,0,0,0,0,0,0
$GC,1679,0.61,140.9,17.0,11.3,152,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2011,3028,0,0,0,0,0,0
$GC,1710,0.61,140.9,13.6,11.0,155,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2011,3029,0,0,0,0,0,0
$GC,1742,0.61,140.9,10.4,10.2,158,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2313,2011,3028,0,0,0,0,0,0
$GC,1774,0.64,158.4,7.5,9.3,161,1795,0.00,0.00,14.93,0.694,6,0.000,0.000,2313,2011,2958,0,0,0,0,0,0
$GC,1826,0.70,208.8,3.1,7.9,166,1838,0.00,0.00,9.45,0.091,2,0.000,0.000,2312,2011,2937,0,0,0,0,0,0
$STATE,1838,end climb,SURFACE_DEPTH_REACHED
$STATE,1838,begin surface coast
$FINISH,1.3,1.019746
$STATE,1867,end surface coast,CONTROL_FINISHED_OK
$STATE,1867,begin surface
$SM_CCo,1880,124.12,0.665,1,0,2178,350.04
$SM_GC,1.57,0.00,0.00,124.12,0.000,0.000,0.665,124,2209,2178,-6.21,0.25,350.04
$IRIDIUM_FIX,4748.51,-12221.84,180699,191901
$TT8_MAMPS,0.027612
$HUMID,37.99
$INTERNAL_PRESSURE,9.11239
$TCM_TEMP,13.80
$XPDR_PINGS,5
$24V_AH,24.0,34.452
$10V_AH,10.0,6.258
$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,15.325,33.075,202.450,124.125,0.000,0.000,0.000,0.000,2.750,0.000,14.165,421.172,571.818,357.784,703.948,45.489,31.409,693.251,0.000,701.771,0.000,10.244,0.000
$DEVICE_MAMPS,279.188,67.496,801.515,664.989,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,118.616,119.429,585.288,95.825,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,324832
$DATA_FILE_SIZE,9808,170
$CAP_FILE_SIZE,94827,0
$CFSIZE,260165632,257433600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240310,202143,4806.900,-12223.081,9,1.1,14,18.3