version: 66.06
glider: 158
mission: 4
dive: 4
start: 3 24 110 20 41 0
data:
$ID,158
$MISSION,4
$DIVE,4
$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,-686676.06
$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,31
$R_STBD_OVSHOOT,26
$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
$GPS1,202143,4806.900,-12223.081,9,1.1,14,18.3
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-74.6
$GPS2,203944,4806.810,-12223.057,15,1.6,15,18.3
$SPEED_LIMITS,0.275,0.285
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.016,0.274
$KALMAN_X,223.9,141.0,121.2,-306.6,44.8
$KALMAN_Y,-331.2,-209.6,-144.0,-266.4,-51.2
$MHEAD_RNG_PITCHd_Wd,345.1,360,-16.3,-10.000
$D_GRID,103
$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,-72.97,0.000,2,0.000,0.000,124,2209,3736,0,0,0,0,0,0
$GC,91,-0.56,-97.3,3.0,-2.1,11,113,7.90,0.00,-6.07,0.000,6,0.278,0.000,1922,2209,3961,0,0,0,0,0,0
$GC,178,-0.56,-97.3,18.5,-15.7,26,184,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2209,3961,0,0,0,0,0,0
$GC,249,-0.56,-97.3,29.4,-14.9,39,256,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2209,3961,0,0,0,0,0,0
$GC,321,-0.56,-97.3,40.4,-15.1,52,328,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2210,3962,0,0,0,0,0,0
$GC,460,-0.56,-97.3,62.7,-16.1,77,465,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2209,3962,0,0,0,0,0,0
$GC,594,-0.56,-97.3,84.1,-15.7,102,602,0.00,2.30,0.00,0.000,4,0.000,0.055,1923,797,3962,0,0,0,0,0,0
$GC,617,-0.56,-97.3,87.7,-16.1,106,624,0.00,2.33,0.00,0.000,6,0.000,0.061,1914,2195,3962,0,0,0,0,0,0
$STATE,719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,720,begin apogee
$GC,724,-0.14,0.0,103.8,15.4,124,794,0.52,0.00,65.43,0.798,6,0.178,0.000,2064,2006,3606,0,0,0,0,0,0
$STATE,795,end apogee,CONTROL_FINISHED_OK
$STATE,795,begin climb
$GC,796,0.56,97.3,108.3,0.0,136,877,0.70,2.35,74.30,0.770,4,0.120,0.054,2304,609,3208,0,0,0,0,0,0
$GC,895,0.64,158.3,103.0,7.5,153,950,0.00,2.38,48.22,0.748,6,0.000,0.057,2304,2019,2959,0,0,0,0,0,0
$GC,1083,0.64,158.3,80.6,12.3,187,1089,0.00,2.35,0.00,0.000,4,0.000,0.065,2304,3425,2954,0,0,0,0,0,0
$GC,1168,0.64,158.3,68.8,13.6,204,1175,0.00,2.30,0.00,0.000,6,0.000,0.051,2314,2030,2954,0,0,0,0,0,0
$GC,1308,0.64,158.3,51.2,12.4,229,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2030,2953,0,0,0,0,0,0
$GC,1444,0.64,158.3,34.2,12.5,254,1452,0.00,2.33,0.00,0.000,4,0.000,0.064,2314,3419,2953,0,0,0,0,0,0
$GC,1501,0.64,158.3,26.3,13.7,264,1509,0.00,2.30,0.00,0.000,6,0.000,0.051,2324,2007,2953,0,0,0,0,0,0
$GC,1574,0.64,158.3,16.8,12.6,277,1581,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2007,2953,0,0,0,0,0,0
$GC,1645,0.64,158.3,8.3,11.2,290,1653,0.00,2.38,0.00,0.000,4,0.000,0.064,2324,3432,2953,0,0,0,0,0,0
$GC,1676,0.64,158.3,4.8,11.6,295,1683,0.00,2.30,0.00,0.000,6,0.000,0.050,2335,2015,2953,0,0,0,0,0,0
$STATE,1696,end climb,SURFACE_DEPTH_REACHED
$STATE,1696,begin surface coast
$FINISH,1.0,1.019118
$STATE,1724,end surface coast,CONTROL_FINISHED_OK
$STATE,1724,begin surface
$SM_CCo,1737,113.07,0.662,1,0,2178,350.04
$SM_GC,1.32,0.00,0.00,113.07,0.000,0.000,0.662,121,2217,2178,-6.22,0.48,350.04
$IRIDIUM_FIX,4748.51,-12221.84,180699,202020
$TT8_MAMPS,0.027612
$HUMID,37.00
$INTERNAL_PRESSURE,9.10263
$TCM_TEMP,14.00
$XPDR_PINGS,5
$24V_AH,24.0,34.550
$10V_AH,10.1,6.312
$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,15.275,23.900,187.950,113.075,0.000,246.921,140.646,365.502,3.250,0.000,16.009,498.577,427.499,308.651,918.977,822.110,32.324,691.697,0.000,916.226,0.000,15.923,0.000
$DEVICE_MAMPS,278.421,68.263,798.447,661.921,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,206.119,142.731,709.205,115.920,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,324316
$DATA_FILE_SIZE,19235,303
$CAP_FILE_SIZE,52128,0
$CFSIZE,260165632,257433600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,240310,211304,4806.961,-12223.056,15,99.0,34,18.3