version: 66.05
glider: 159
mission: 3
dive: 4
start: 6 17 109 19 55 10
data:
$ID,159
$MISSION,3
$DIVE,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,240
$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,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51634
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0041149999
$HD_B,0.014024
$HD_C,5.5727e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-84011.57
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,137
$PITCH_MAX,3974
$C_PITCH,2754
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.1
$PITCH_GAIN,25
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,4045
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,3060
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,4.8765259
$FG_AHR_24V,3.1048639
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.938553
$PRESSURE_SLOPE,0.0001162598
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,5
$DEVICE1,2
$DEVICE2,39
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-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,0.0043238276
$SEABIRD_T_H,0.00063342927
$SEABIRD_T_I,2.5365067e-05
$SEABIRD_T_J,2.820881e-06
$SEABIRD_C_G,-10.044323
$SEABIRD_C_H,1.1187451
$SEABIRD_C_I,-0.0012779017
$SEABIRD_C_J,0.00018763109
$GPS1,201219,4807.845,-12223.024,7,1.9,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-75.4
$GPS2,201614,4807.896,-12223.049,11,1.6,11,18.3
$SPEED_LIMITS,0.100,0.177
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.063,-0.165
$KALMAN_X,-170.9,-87.0,-80.4,-180.4,-80.6
$KALMAN_Y,428.2,227.9,212.6,593.2,206.0
$MHEAD_RNG_PITCHd_Wd,140.8,3744,-26.4,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.18,-97.8,0.0,0.0,0,135,0.00,0.00,-108.12,0.000,2,0.008,0.000,152,2079,2753,0,0,0,0,0,0
$GC,140,-1.18,-97.8,3.1,-6.7,21,179,8.00,2.03,-24.95,0.000,4,0.231,0.049,2349,701,3459,0,0,0,0,0,0
$GC,208,-1.18,-97.8,6.3,-9.5,33,215,0.03,2.03,0.00,0.101,6,0.101,0.029,2348,2099,3460,0,0,0,0,0,0
$GC,282,-1.18,-97.8,12.3,-7.3,46,289,0.00,0.00,0.00,0.007,6,0.007,0.007,2348,2101,3460,0,0,0,0,0,0
$GC,355,-1.18,-97.8,18.3,-10.1,59,362,0.00,2.05,0.00,0.000,4,0.007,0.050,2338,3506,3460,0,0,0,0,0,0
$GC,617,-1.18,-97.8,56.4,-15.7,107,624,0.03,2.00,0.00,0.016,6,0.016,0.045,2350,2104,3461,0,0,0,0,0,0
$GC,758,-1.18,-97.8,78.0,-16.0,132,765,0.00,2.08,0.00,0.007,4,0.007,0.047,2342,3511,3461,0,0,0,0,0,0
$GC,879,-1.18,-97.8,96.5,-16.0,153,885,0.00,2.03,0.00,0.011,6,-0.000,0.040,2341,2090,3461,0,0,0,0,0,0
$STATE,938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,938,begin apogee
$GC,945,-0.20,0.0,105.4,14.6,164,1024,0.95,0.00,70.12,0.754,6,0.153,0.756,2660,1893,3062,0,0,0,0,0,0
$STATE,1025,end apogee,CONTROL_FINISHED_OK
$STATE,1025,begin climb
$GC,1028,1.18,97.8,108.9,0.0,179,1106,1.20,0.00,72.00,0.747,6,0.042,0.029,3110,1893,2661,0,0,0,0,0,0
$GC,1240,1.18,97.8,85.0,13.5,218,1247,0.00,2.15,0.00,0.007,4,0.007,0.044,3110,3301,2660,0,0,0,0,0,0
$GC,1547,1.18,97.8,46.5,10.5,273,1553,0.00,2.03,0.00,0.011,6,-0.000,0.046,3114,1913,2659,0,0,0,0,0,0
$GC,1685,1.18,97.8,31.5,10.3,298,1691,0.00,2.05,0.00,0.000,4,0.007,0.049,3115,3298,2658,0,0,0,0,0,0
$GC,1981,1.35,238.6,4.9,0.1,353,2057,0.08,2.08,69.03,0.000,2,0.041,0.030,3166,1893,2263,0,0,0,0,0,0
$STATE,2060,end climb,SURFACE_DEPTH_REACHED
$STATE,2060,begin surface coast
$FINISH,3.0,1.017793
$STATE,2125,end surface coast,CONTROL_FINISHED_OK
$STATE,2125,begin surface
$SM_CCo,2146,302.58,0.695,0,0,614,600.00
$SM_GC,0.77,0.00,0.00,302.58,-0.000,0.016,0.695,149,2101,614,-8.14,0.03,600.00
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,110998,202024
$HUMID,1078634206
$INTERNAL_PRESSURE,7.97632
$TCM_TEMP,13.10
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,80.2,999.0
$24V_AH,24.5,0.682
$10V_AH,10.6,0.249
$FG_AHR_24Vo,3.212
$FG_AHR_10Vo,4.910
$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,18.775,21.000,211.150,302.575,0.000,0.000,0.000,0.000,2.000,0.000,12.532,531.927,450.721,540.343,920.915,75.650,32.337,739.131,0.000,920.893,0.000,2.565,0.000
$DEVICE_MAMPS,230.684,49.745,754.023,695.271,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,219.823,718.487,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324384
$DATA_FILE_SIZE,16000,379
$CAP_FILE_SIZE,53595,0
$CFSIZE,260034560,257310720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,205916,4807.876,-12222.974,9,99.0,28,18.3