version: 66.06
glider: 158
mission: 4
dive: 5
start: 3 24 110 21 23 24
data:
$ID,158
$MISSION,4
$DIVE,5
$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,63
$T_MISSION,70
$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,-686687.31
$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,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,2300
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,28
$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,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,211304,4806.961,-12223.056,15,99.0,34,18.3
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-75.4
$GPS2,212208,4806.938,-12223.030,10,1.9,10,18.3
$SPEED_LIMITS,0.218,0.228
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.167,-0.156
$KALMAN_X,218.8,156.4,117.1,-280.9,-5.9
$KALMAN_Y,-562.8,-277.9,-124.5,250.3,-179.9
$MHEAD_RNG_PITCHd_Wd,114.8,2155,-14.9,-7.937
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.52,-97.3,0.0,0.0,0,89,0.00,0.00,-72.55,0.000,2,0.000,0.000,121,2217,3759,0,0,0,0,0,0
$GC,91,-0.52,-97.3,3.4,-2.6,11,114,7.95,2.17,-5.35,0.000,4,0.278,0.066,1941,891,3963,0,0,0,0,0,0
$GC,410,-0.52,-97.3,49.5,-13.4,71,416,0.00,2.33,0.00,0.000,6,0.000,0.061,1932,2301,3963,0,0,0,0,0,0
$GC,545,-0.52,-97.3,69.5,-14.8,96,553,0.00,2.30,0.00,0.000,4,0.000,0.052,1932,881,3963,0,0,0,0,0,0
$GC,575,-0.52,-97.3,73.8,-15.7,101,580,0.00,2.35,0.00,0.000,6,0.000,0.061,1922,2309,3963,0,0,0,0,0,0
$GC,715,-0.52,-97.3,95.2,-15.1,126,722,0.00,0.00,0.00,0.000,6,0.000,0.000,1922,2310,3963,0,0,0,0,0,0
$STATE,769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,769,begin apogee
$GC,773,-0.14,0.0,103.5,15.0,136,843,0.50,0.00,65.68,0.795,6,0.175,0.000,2066,2236,3606,0,0,0,0,0,0
$STATE,844,end apogee,CONTROL_FINISHED_OK
$STATE,844,begin climb
$GC,845,0.52,97.3,107.6,0.0,148,932,0.65,2.40,74.15,0.765,4,0.115,0.055,2293,841,3208,0,0,0,0,0,0
$GC,944,0.55,116.7,102.8,7.1,165,968,0.00,2.40,16.38,0.711,6,0.000,0.058,2293,2259,3130,0,0,0,0,0,0
$GC,1100,0.55,116.7,86.9,10.7,193,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2293,2259,3127,0,0,0,0,0,0
$GC,1235,0.55,116.7,73.1,9.9,218,1243,0.00,2.35,0.00,0.000,4,0.000,0.066,2293,3661,3127,0,0,0,0,0,0
$GC,1294,0.55,116.7,66.9,11.6,229,1300,0.00,2.28,0.00,0.000,6,0.000,0.050,2303,2256,3127,0,0,0,0,0,0
$GC,1429,0.55,116.7,52.8,10.2,254,1436,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2256,3127,0,0,0,0,0,0
$GC,1568,0.55,116.7,38.9,10.2,279,1575,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2256,3127,0,0,0,0,0,0
$GC,1640,0.55,116.7,32.1,9.6,292,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2256,3127,0,0,0,0,0,0
$GC,1712,0.55,116.7,25.1,10.2,305,1720,0.00,2.30,0.00,0.000,4,0.000,0.056,2314,833,3127,0,0,0,0,0,0
$GC,1727,0.55,116.7,23.5,9.9,307,1735,0.00,2.35,0.00,0.000,6,0.000,0.059,2314,2251,3127,0,0,0,0,0,0
$GC,1799,0.55,116.7,16.5,10.0,320,1806,0.00,0.00,0.00,0.000,6,0.000,0.000,2314,2251,3127,0,0,0,0,0,0
$GC,1871,0.55,123.2,10.2,7.7,333,1886,0.00,2.35,6.03,0.604,4,0.000,0.066,2314,3664,3103,0,0,0,0,0,0
$GC,1914,0.55,123.2,6.4,8.9,340,1923,0.12,2.28,0.00,0.000,6,0.185,0.049,2288,2254,3103,0,0,0,0,0,0
$GC,1988,0.70,241.5,3.2,3.1,353,2004,0.15,0.00,11.00,0.091,2,0.096,0.000,2346,2253,3081,0,0,0,0,1,0
$STATE,2005,end climb,SURFACE_DEPTH_REACHED
$STATE,2005,begin surface coast
$FINISH,2.8,1.020998
$STATE,2137,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2137,begin surface
$SM_CCo,2151,151.43,0.677,1,0,2179,350.04
$SM_GC,1.64,0.00,0.00,151.43,0.000,0.000,0.677,126,2298,2179,-6.20,-0.06,350.04
$IRIDIUM_FIX,4748.51,-12224.57,180699,202018
$TT8_MAMPS,0.027612
$HUMID,36.37
$INTERNAL_PRESSURE,9.11239
$TCM_TEMP,14.20
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,75.6,54.3
$24V_AH,24.0,34.636
$10V_AH,10.1,6.374
$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,15.850,28.025,173.225,151.425,0.000,118.758,29.098,265.908,1.750,0.000,10.620,620.124,285.151,344.685,1164.018,477.375,33.322,778.079,0.000,1171.429,0.000,5.561,0.000
$DEVICE_MAMPS,278.421,115.817,794.612,677.261,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,260.307,187.377,929.574,156.121,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,324628
$DATA_FILE_SIZE,22424,380
$CAP_FILE_SIZE,51518,0
$CFSIZE,260165632,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$GPS,240310,220238,4806.798,-12222.766,13,2.0,13,18.3