version: 66.06
glider: 157
mission: 4
dive: 7
start: 12 4 109 22 46 17
data:
$ID,157
$MISSION,4
$DIVE,7
$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,400
$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,-31684.953
$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,23
$R_STBD_OVSHOOT,19
$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
$GPS1,223643,4742.862,-12224.541,8,1.7,25,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-78.6
$GPS2,224538,4742.798,-12224.601,10,1.3,10,18.2
$SPEED_LIMITS,0.165,0.182
$TGT_NAME,SE
$TGT_LATLONG,4743.000,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.173,0.056
$KALMAN_X,-1293.2,809.7,52.3,433.7,-1311.0
$KALMAN_Y,265.9,1254.2,14.0,-2716.6,-469.3
$MHEAD_RNG_PITCHd_Wd,54.0,836,-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,-97.3,0.0,0.0,0,47,0.00,0.00,-30.95,0.000,2,0.000,0.000,67,2364,1619,0,0,0,0,0,0
$GC,50,-0.46,-97.3,2.3,-3.7,5,95,7.25,2.72,-29.20,0.000,4,0.251,0.081,1898,758,2539,0,0,0,0,0,0
$GC,179,-0.46,-97.3,17.6,-13.6,32,186,0.00,2.70,0.00,0.000,6,0.000,0.072,1889,2345,2540,0,0,0,0,0,0
$GC,249,-0.46,-97.3,28.3,-16.1,48,256,0.00,2.60,0.00,0.000,4,0.000,0.077,1878,3884,2540,0,0,0,0,0,0
$GC,306,-0.46,-97.3,35.9,-12.4,61,313,0.00,2.47,0.00,0.000,6,0.000,0.065,1878,2403,2540,0,0,1,0,0,0
$GC,378,-0.46,-97.3,44.8,-12.1,77,383,0.00,2.67,0.00,0.000,4,0.000,0.070,1878,751,2540,0,0,0,0,0,0
$GC,432,-0.46,-97.3,52.0,-13.2,89,437,0.00,2.72,0.00,0.000,6,0.000,0.071,1867,2387,2540,0,0,0,0,0,0
$GC,567,-0.46,-97.3,73.0,-15.9,120,573,0.00,0.00,0.00,0.000,6,0.000,0.000,1867,2387,2540,0,0,0,0,0,0
$GC,703,-0.46,-97.3,95.6,-16.2,151,708,0.00,2.65,0.00,0.000,4,0.000,0.065,1867,761,2540,0,0,0,0,0,0
$GC,748,-0.46,-97.3,102.4,-14.8,161,753,0.15,2.67,0.00,0.000,6,0.186,0.071,1895,2369,2540,0,0,0,0,0,0
$GC,885,-0.46,-97.3,120.8,-12.8,192,892,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2369,2540,0,0,0,0,0,0
$GC,1023,-0.46,-97.3,137.6,-11.4,223,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2369,2540,0,0,0,0,0,0
$GC,1157,-0.46,-97.3,152.1,-10.5,254,1163,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2369,2540,0,0,0,0,0,0
$GC,1294,-0.46,-97.3,167.5,-11.7,285,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,1895,2369,2540,0,0,0,0,0,0
$STATE,1313,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1313,begin apogee
$GC,1319,-0.13,0.0,170.3,11.2,290,1401,0.30,0.00,75.45,0.739,6,0.153,0.000,1994,2242,2138,0,0,0,0,0,0
$STATE,1401,end apogee,CONTROL_FINISHED_OK
$STATE,1403,begin climb
$GC,1405,0.46,97.3,174.5,0.0,305,1489,0.55,2.80,78.40,0.706,4,0.100,0.068,2183,3838,1741,0,0,0,0,0,0
$GC,1510,0.46,97.3,168.1,8.6,325,1515,0.00,2.72,0.00,0.000,6,0.000,0.061,2194,2254,1739,0,0,0,0,0,0
$GC,1642,0.46,97.3,151.0,13.0,356,1649,0.00,2.62,0.00,0.000,4,0.000,0.065,2205,660,1735,0,0,0,0,0,0
$GC,1686,0.46,97.3,146.0,12.5,365,1691,0.00,2.62,0.00,0.000,6,0.000,0.065,2206,2230,1731,0,0,0,0,0,0
$GC,1820,0.46,97.3,128.4,12.3,396,1827,0.00,2.67,0.00,0.000,4,0.000,0.071,2206,3838,1731,0,0,0,0,0,0
$GC,1854,0.46,97.3,124.1,12.8,403,1860,0.15,2.62,0.00,0.000,6,0.198,0.062,2181,2255,1730,0,0,0,0,0,0
$GC,1987,0.46,97.3,110.3,8.6,434,1994,0.00,2.60,0.00,0.000,4,0.000,0.066,2191,653,1730,0,0,0,0,0,0
$GC,2007,0.46,97.3,108.4,8.9,438,2014,0.00,2.65,0.00,0.000,6,0.000,0.064,2191,2249,1729,0,0,0,0,0,0
$GC,2143,0.46,97.3,94.6,10.1,469,2148,0.00,2.60,0.00,0.000,4,0.000,0.071,2191,3844,1728,0,0,0,0,0,0
$GC,2197,0.46,97.3,88.1,12.3,481,2201,0.00,2.60,0.00,0.000,6,0.000,0.061,2202,2261,1728,0,0,0,0,0,0
$GC,2331,0.46,97.3,72.0,12.4,512,2337,0.00,2.58,0.00,0.000,4,0.000,0.066,2214,659,1728,0,0,0,0,0,0
$GC,2469,0.46,97.3,59.0,9.2,544,2475,0.12,2.60,0.00,0.000,6,0.164,0.066,2175,2232,1727,0,0,0,0,0,0
$GC,2606,0.46,97.3,48.0,8.1,575,2610,0.00,2.60,0.00,0.000,4,0.000,0.072,2175,3845,1727,0,0,0,0,0,0
$GC,2617,0.46,97.3,47.0,8.0,577,2622,0.00,2.65,0.00,0.000,6,0.000,0.061,2185,2220,1727,0,0,0,0,0,0
$GC,2751,0.46,97.3,35.0,9.1,608,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2221,1727,0,0,0,0,0,0
$GC,2820,0.46,97.3,28.6,9.4,624,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2185,2220,1726,0,0,0,0,0,0
$GC,2890,0.46,97.3,22.3,8.8,640,2897,0.00,2.70,0.00,0.000,4,0.000,0.072,2185,3844,1727,0,0,0,0,0,0
$GC,2931,0.46,97.3,18.8,8.1,649,2938,0.00,2.65,0.00,0.000,6,0.000,0.064,2196,2236,1727,0,0,0,0,0,0
$GC,3001,0.46,97.3,12.8,7.5,665,3008,0.00,2.53,0.00,0.000,4,0.000,0.068,2208,660,1727,0,0,0,0,0,0
$GC,3071,0.46,97.3,7.7,7.3,681,3078,0.00,2.55,0.00,0.000,6,0.000,0.067,2208,2208,1726,0,0,0,0,0,0
$GC,3140,0.46,97.3,3.1,6.0,697,3147,0.00,2.65,0.00,0.000,4,0.000,0.072,2208,3835,1726,0,0,0,0,0,0
$STATE,3151,end climb,SURFACE_DEPTH_REACHED
$STATE,3151,begin surface coast
$FINISH,2.0,1.021987
$STATE,3204,end surface coast,CONTROL_FINISHED_OK
$STATE,3204,begin surface
$SM_CCo,3221,235.18,0.606,0,0,508,400.08
$SM_GC,1.24,0.00,0.00,235.18,0.000,0.000,0.606,67,2341,508,-6.15,-0.25,400.08
$IRIDIUM_FIX,4726.11,-12220.67,280299,212155
$TT8_MAMPS,0.048321
$HUMID,28.50
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,16.20
$XPDR_PINGS,61
$ALTIM_BOTTOM_PING,120.1,70.0
$24V_AH,24.1,1.070
$10V_AH,10.4,1.350
$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,14.375,73.925,153.850,235.175,0.000,24.417,24.439,328.167,16.750,0.000,12.993,0.000,790.168,450.627,2110.284,627.402,33.308,1085.031,0.000,1874.202,0.000,11.781,0.000
$DEVICE_MAMPS,250.809,80.535,739.388,605.930,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil
$SENSOR_SECS,505.314,330.677,1400.087,268.242,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000
$MEM,324016
$DATA_FILE_SIZE,44603,712
$CAP_FILE_SIZE,80669,0
$CFSIZE,260165632,218656768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,041209,234449,4742.795,-12224.274,15,1.3,32,18.2