version: 66.05
glider: 159
mission: 3
dive: 6
start: 6 17 109 21 49 40
data:
$ID,159
$MISSION,3
$DIVE,6
$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,-84065.242
$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,34
$R_STBD_OVSHOOT,48
$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,4.9609771
$FG_AHR_24V,3.3346822
$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,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$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
$GPS1,215034,4807.959,-12222.934,11,99.0,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-73.7
$GPS2,215707,4808.048,-12222.967,9,1.4,14,18.3
$SPEED_LIMITS,0.100,0.177
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.045,-0.171
$KALMAN_X,-275.3,-127.1,-99.6,78.6,-45.2
$KALMAN_Y,947.9,525.8,319.2,-43.4,199.4
$MHEAD_RNG_PITCHd_Wd,146.9,3978,-26.4,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-1.18,-97.8,0.0,0.0,0,153,0.00,0.00,-124.00,0.000,2,0.007,0.000,151,2103,3457,0,0,0,0,0,0
$GC,158,-1.18,-97.8,3.1,-4.1,24,172,8.18,2.12,0.00,0.013,4,0.240,0.047,2338,3504,3458,0,0,0,0,0,0
$GC,265,-1.18,-97.8,16.3,-8.5,43,272,0.03,2.10,0.00,0.050,6,0.050,0.043,2347,2086,3459,0,0,0,0,0,0
$GC,338,-1.18,-97.8,24.6,-11.1,56,345,0.00,2.12,0.00,0.000,4,0.007,0.049,2338,3499,3459,0,0,0,0,0,0
$GC,543,-1.18,-97.8,55.8,-16.2,93,550,0.03,2.03,0.00,0.012,6,0.012,0.042,2349,2098,3460,0,0,0,0,0,0
$GC,683,-1.18,-97.8,77.6,-15.1,118,689,0.00,2.10,0.00,0.007,4,0.007,0.047,2341,3498,3460,0,0,0,0,0,0
$STATE,840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,840,begin apogee
$GC,849,-0.20,0.0,101.2,14.1,145,927,0.98,0.00,71.18,0.754,6,0.160,0.025,2664,1903,3059,0,0,0,0,0,0
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin climb
$GC,930,1.18,97.8,105.5,0.0,160,1009,1.23,0.00,72.60,0.725,6,0.085,0.016,3113,1903,2661,0,0,0,0,0,0
$GC,1144,1.18,97.8,81.9,12.4,199,1150,0.00,2.10,0.00,0.007,4,0.007,0.035,3111,3299,2660,0,0,0,0,0,0
$GC,1452,1.18,97.8,43.4,10.4,254,1458,0.00,2.10,0.00,0.015,6,0.015,0.045,3115,1907,2659,0,0,0,0,0,0
$GC,1589,1.19,107.8,29.6,9.3,279,1608,0.00,2.10,8.73,0.630,4,0.007,0.047,3112,3296,2620,0,0,0,0,0,0
$STATE,1856,end climb,SURFACE_DEPTH_REACHED
$STATE,1856,begin surface coast
$FINISH,4.3,1.021295
$STATE,1964,end surface coast,CONTROL_FINISHED_OK
$STATE,1965,begin surface
$SM_CCo,1986,367.90,0.700,0,0,614,600.00
$SM_GC,0.57,0.00,0.00,367.90,0.007,0.000,0.700,150,2091,614,-8.14,-0.23,600.00
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12056.72,110998,212125
$HUMID,1078630467
$INTERNAL_PRESSURE,7.91394
$TCM_TEMP,13.30
$XPDR_PINGS,3
$24V_AH,24.4,0.918
$10V_AH,10.6,0.349
$FG_AHR_24Vo,3.443
$FG_AHR_10Vo,4.993
$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,18.725,21.000,152.500,367.900,0.000,25.621,32.370,194.940,2.250,0.000,16.309,509.544,430.335,568.780,852.800,401.546,33.321,725.605,0.000,841.295,0.000,14.052,0.000
$DEVICE_MAMPS,239.714,49.287,753.845,699.896,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,201.665,653.394,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324336
$DATA_FILE_SIZE,16024,348
$CAP_FILE_SIZE,40263,0
$CFSIZE,260034560,257265664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,223820,4808.007,-12222.895,11,2.0,11,18.3