version: 66.05
glider: 159
mission: 3
dive: 14
start: 6 18 109 4 0 57
data:
$ID,159
$MISSION,3
$DIVE,14
$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,67
$T_MISSION,70
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,240
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,130
$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,520
$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,-84209.664
$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,26
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,253
$ROLL_MAX,4045
$ROLL_DEG,50
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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,5.2594666
$FG_AHR_24V,4.2777481
$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,10
$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,1
$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
$GPS1,040152,4807.718,-12222.782,12,99.0,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-74.1
$GPS2,040826,4807.695,-12222.802,13,1.5,13,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,-0.170
$KALMAN_X,-728.1,-200.7,-31.1,740.9,4.1
$KALMAN_Y,2597.8,766.2,83.9,-2349.6,-41.0
$MHEAD_RNG_PITCHd_Wd,143.5,3293,-18.0,-7.463
$D_GRID,150
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.85,-127.1,0.0,0.0,0,163,0.00,0.00,-133.27,0.000,2,0.007,0.000,150,2197,3345,0,0,0,0,0,0
$GC,166,-0.85,-127.1,3.1,-5.2,26,190,8.62,2.72,-5.90,0.000,4,0.218,0.057,2454,436,3581,0,0,0,0,0,0
$GC,355,-0.61,-127.1,26.0,-12.9,60,363,0.25,2.65,0.00,0.027,6,0.000,0.040,2530,2204,3583,0,0,0,0,0,0
$GC,430,-0.54,-127.1,33.2,-9.1,73,437,0.08,2.67,0.00,0.007,4,0.007,0.058,2548,3957,3583,0,0,0,0,0,0
$GC,462,-0.50,-127.1,36.3,-8.9,78,469,0.05,2.65,0.00,0.041,6,0.041,0.044,2568,2198,3583,0,0,0,0,0,0
$GC,537,-0.50,-127.1,42.1,-7.5,91,542,0.00,0.00,0.00,0.007,6,0.007,0.007,2568,2198,3583,0,0,0,0,0,0
$GC,675,-0.53,-127.1,52.5,-7.8,116,682,0.00,2.67,0.00,0.000,4,0.007,0.041,2568,435,3584,0,0,0,0,0,0
$GC,707,-0.53,-127.1,55.0,-7.8,121,713,0.00,2.60,0.00,0.000,6,0.047,0.041,2556,2211,3583,0,0,0,0,0,0
$GC,845,-0.53,-127.1,66.0,-7.8,146,852,0.00,0.00,0.00,0.007,6,0.000,0.000,2556,2210,3583,0,0,0,0,0,0
$GC,987,-0.53,-127.1,77.1,-7.6,171,992,0.00,0.00,0.00,0.000,6,0.007,0.007,2556,2210,3583,0,0,0,0,0,0
$GC,1130,-0.55,-127.1,87.3,-7.5,196,1137,0.00,2.70,0.00,0.007,4,0.007,0.058,2555,445,3584,0,0,0,0,0,0
$GC,1154,-0.55,-127.1,89.4,-7.2,200,1161,0.00,2.60,0.00,0.000,6,0.046,0.040,2543,2201,3583,0,0,0,0,0,0
$GC,1295,-0.55,-127.1,100.0,-7.5,225,1301,0.00,2.60,0.00,0.007,4,0.007,0.041,2530,3955,3583,0,0,0,0,0,0
$GC,1335,-0.55,-127.1,103.2,-8.0,232,1342,0.05,2.62,0.00,0.026,6,0.000,0.038,2549,2193,3583,0,0,0,0,0,0
$STATE,1401,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1401,begin apogee
$GC,1407,-0.19,0.0,108.5,7.5,244,1509,0.28,0.00,92.75,0.772,6,0.114,0.765,2667,2192,3060,0,0,0,0,0,0
$STATE,1510,end apogee,CONTROL_FINISHED_OK
$STATE,1510,begin climb
$GC,1512,0.85,127.1,111.1,0.0,263,1620,0.93,2.90,94.82,0.731,4,0.069,0.054,3010,3960,2541,0,0,0,0,0,0
$GC,1645,0.74,127.1,102.0,10.4,287,1652,0.00,2.72,0.00,0.020,6,0.020,0.035,3022,2207,2540,0,0,0,0,0,0
$GC,1787,0.62,127.1,85.5,11.6,312,1795,0.15,2.75,0.00,0.013,4,0.007,0.054,2972,3964,2540,0,0,0,0,0,0
$GC,1801,0.52,127.1,83.8,11.5,314,1809,0.05,2.72,0.00,0.017,6,0.017,0.047,2946,2201,2540,0,0,0,0,0,0
$GC,1947,0.52,127.1,71.9,8.1,339,1952,0.00,0.00,0.00,0.007,6,0.007,0.007,2946,2201,2539,0,0,0,0,0,0
$GC,2086,0.52,127.1,61.0,7.7,364,2093,0.00,0.00,0.00,0.007,6,0.000,0.007,2947,2201,2539,0,0,0,0,0,0
$GC,2229,0.55,136.1,50.9,7.1,389,2245,0.00,2.75,7.75,0.637,4,0.000,0.061,2958,433,2505,0,0,0,0,0,0
$GC,2269,0.56,141.9,47.8,7.2,396,2281,0.00,2.67,6.00,0.599,6,0.013,0.046,2959,2205,2481,0,0,0,0,0,0
$GC,2418,0.56,141.9,36.4,7.7,422,2425,0.00,2.67,0.00,0.008,4,0.007,0.055,2959,3958,2480,0,0,0,0,0,0
$GC,2458,0.56,141.9,32.3,9.1,429,2465,0.00,2.70,0.00,0.011,6,0.056,0.046,2961,2193,2480,0,0,0,0,0,0
$GC,2532,0.56,141.9,26.6,7.5,442,2539,0.00,0.00,0.00,0.007,6,0.007,0.007,2961,2193,2479,0,0,0,0,0,0
$GC,2605,0.56,141.9,21.2,7.6,455,2611,0.00,0.00,0.00,0.007,6,0.007,0.007,2961,2193,2480,0,0,0,0,0,0
$GC,2678,0.59,167.0,15.8,6.4,468,2702,0.00,0.00,19.48,0.708,6,0.007,-0.000,2961,2193,2379,0,0,0,0,0,0
$GC,2767,0.63,167.0,9.3,7.8,484,2774,0.00,0.00,0.00,0.007,6,0.007,0.007,2961,2193,2378,0,0,0,0,0,0
$GC,2841,0.79,223.7,4.7,5.1,497,2859,0.05,0.00,14.98,0.000,2,0.007,0.000,3004,2193,2299,0,0,0,0,0,0
$STATE,2860,end climb,SURFACE_DEPTH_REACHED
$STATE,2860,begin surface coast
$FINISH,1.7,1.019469
$STATE,2959,end surface coast,CONTROL_FINISHED_OK
$STATE,2960,begin surface
$SM_CCo,2978,250.80,0.711,0,0,942,520.53
$SM_GC,0.31,0.00,0.00,250.80,0.007,0.016,0.711,154,2190,942,-8.12,-0.28,520.53
$SUPER,3,254,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,030354
$HUMID,1078567491
$INTERNAL_PRESSURE,7.91654
$TCM_TEMP,12.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.3,37.9
$24V_AH,24.2,1.882
$10V_AH,10.3,0.724
$FG_AHR_24Vo,4.384
$FG_AHR_10Vo,5.303
$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,18.350,48.400,235.775,250.800,0.000,29.730,29.115,196.154,0.500,0.000,15.257,751.183,657.969,556.628,1220.045,450.613,33.325,807.479,0.000,1213.177,0.000,5.524,0.000
$DEVICE_MAMPS,217.910,60.891,771.738,710.895,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,300.281,906.235,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324364
$DATA_FILE_SIZE,25449,518
$CAP_FILE_SIZE,64073,0
$CFSIZE,260034560,256995328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,050443,4807.444,-12222.681,44,1.3,44,18.3