version: 66.05
glider: 159
mission: 3
dive: 20
start: 6 18 109 10 17 5
data:
$ID,159
$MISSION,3
$DIVE,20
$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,-4
$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,500
$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,-84398.867
$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,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,40
$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,5.5295858
$FG_AHR_24V,4.9995003
$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,0
$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
$GPS1,101758,4807.316,-12223.130,10,2.5,29,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-75.3
$GPS2,102425,4807.282,-12223.148,9,1.5,14,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.098,0.150
$KALMAN_X,-924.0,-8.9,-44.1,328.3,134.6
$KALMAN_Y,3519.9,-128.6,73.3,-3128.2,-246.3
$MHEAD_RNG_PITCHd_Wd,308.7,1696,-18.0,-7.463
$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,24,-0.85,-127.1,0.0,0.0,0,174,0.00,0.00,-144.18,0.000,6,0.007,1.295,148,2193,3580,0,0,0,0,0,0
$GC,177,-0.85,-127.1,3.0,-3.6,28,195,8.68,2.45,0.00,0.016,4,0.222,0.035,2445,3785,3582,0,0,0,0,0,0
$GC,480,-0.69,-127.1,42.3,-12.8,84,487,0.17,2.35,0.00,0.012,6,0.012,0.045,2505,2197,3583,0,0,0,0,0,0
$GC,625,-0.62,-127.1,57.0,-10.1,109,630,0.08,0.00,0.00,0.016,6,0.007,0.016,2535,2196,3584,0,0,0,0,0,0
$GC,766,-0.60,-127.1,69.5,-9.0,134,771,0.00,0.00,0.00,0.007,6,0.007,0.007,2535,2198,3584,0,0,0,0,0,0
$GC,906,-0.60,-127.1,81.3,-8.9,159,912,0.00,2.38,0.00,0.007,4,0.007,0.060,2535,607,3584,0,0,0,0,0,0
$GC,935,-0.56,-127.1,83.9,-8.8,164,942,0.08,2.33,0.00,0.032,6,0.000,0.044,2552,2203,3584,0,0,0,0,0,0
$GC,1079,-0.56,-127.1,94.6,-6.8,189,1085,0.00,0.00,0.00,0.007,6,0.007,0.000,2552,2201,3583,0,0,0,0,0,0
$STATE,1212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1212,begin apogee
$GC,1218,-0.19,0.0,105.2,7.3,213,1321,0.28,0.00,92.88,0.773,6,0.008,0.023,2669,2203,3060,0,0,0,0,0,0
$STATE,1322,end apogee,CONTROL_FINISHED_OK
$STATE,1322,begin climb
$GC,1324,0.85,127.1,107.6,0.0,233,1433,0.93,2.60,94.28,0.746,4,0.043,0.038,3007,3778,2540,0,0,0,0,0,0
$GC,1479,0.74,127.1,95.9,12.0,262,1485,0.00,2.45,0.00,0.013,6,0.013,0.045,3018,2204,2540,0,0,0,0,0,0
$GC,1624,0.65,127.1,80.1,10.8,287,1630,0.10,0.00,0.00,0.000,6,0.007,0.010,2984,2203,2539,0,0,0,0,0,0
$GC,1765,0.61,127.1,65.9,9.5,312,1771,0.03,0.00,0.00,0.007,6,0.007,0.009,2972,2204,2539,0,0,0,0,0,0
$GC,1906,0.61,127.1,53.8,8.7,337,1911,0.00,0.00,0.00,0.000,6,0.007,0.007,2972,2204,2539,0,0,0,0,0,0
$GC,2047,0.62,135.4,42.9,7.1,362,2062,0.00,2.45,7.05,0.542,4,0.000,0.054,2971,3783,2508,0,0,0,0,0,0
$GC,2086,0.62,135.4,39.6,8.5,369,2093,0.00,2.42,0.00,0.058,6,0.058,0.047,2978,2202,2508,0,0,0,0,0,0
$GC,2160,0.62,135.4,33.4,8.4,382,2167,0.00,0.00,0.00,0.007,6,0.007,0.007,2978,2202,2508,0,0,0,0,0,0
$GC,2234,0.62,135.4,27.5,8.5,395,2241,0.00,0.00,0.00,0.007,6,0.007,0.007,2978,2202,2508,0,0,0,0,0,0
$GC,2306,0.62,135.4,21.8,7.8,408,2313,0.00,2.45,0.00,0.007,4,0.007,0.072,2978,605,2508,0,0,0,0,0,0
$GC,2340,0.60,135.4,18.9,8.0,414,2347,0.00,2.38,0.00,0.012,6,0.012,0.042,2978,2191,2507,0,0,0,0,0,0
$GC,2414,0.60,135.4,13.7,7.5,427,2421,0.00,2.40,0.00,0.007,4,0.007,0.054,2978,3778,2508,0,0,0,0,0,0
$GC,2440,0.60,135.4,11.5,7.6,431,2446,0.00,2.42,0.00,0.024,6,0.024,0.034,2978,2187,2508,0,0,0,0,0,0
$GC,2513,0.61,144.0,6.1,7.1,444,2532,0.00,2.50,7.93,0.641,4,0.007,0.056,2979,3779,2472,0,0,0,0,0,0
$STATE,2548,end climb,SURFACE_DEPTH_REACHED
$STATE,2549,begin surface coast
$FINISH,2.0,1.019472
$STATE,2630,end surface coast,CONTROL_FINISHED_OK
$STATE,2630,begin surface
$SM_CCo,2652,265.90,0.721,0,0,1021,500.17
$SM_GC,0.54,0.00,0.00,265.90,0.007,0.710,0.721,151,2184,1021,-8.14,-0.45,500.17
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,090902
$HUMID,1078537632
$INTERNAL_PRESSURE,7.89093
$TCM_TEMP,12.90
$XPDR_PINGS,2
$24V_AH,24.2,2.621
$10V_AH,10.4,1.003
$FG_AHR_24Vo,5.102
$FG_AHR_10Vo,5.562
$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,18.050,34.025,202.125,265.900,0.000,26.778,31.627,186.188,0.500,0.000,16.251,661.815,749.654,572.362,913.854,420.453,33.337,765.267,0.000,906.423,0.000,0.538,0.000
$DEVICE_MAMPS,221.896,72.167,773.252,721.231,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,269.406,454.893,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,19129,465
$CAP_FILE_SIZE,54645,0
$CFSIZE,260034560,256806912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,111516,4807.408,-12223.293,9,99.0,28,18.3