version: 66.05
glider: 159
mission: 3
dive: 21
start: 6 18 109 11 14 24
data:
$ID,159
$MISSION,3
$DIVE,21
$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,-84434.664
$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,45
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,37
$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,5.5705671
$FG_AHR_24V,5.1094222
$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
$GPS1,111516,4807.408,-12223.293,9,99.0,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-75.8
$GPS2,112222,4807.351,-12223.294,13,99.0,32,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.096,0.151
$KALMAN_X,-934.3,47.2,9.3,51.6,108.0
$KALMAN_Y,3477.9,-302.7,-4.2,-2708.1,-200.1
$MHEAD_RNG_PITCHd_Wd,309.1,1486,-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,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.85,-127.1,0.0,0.0,0,133,0.00,0.00,-103.57,0.000,2,0.007,0.000,151,2184,3535,0,0,0,0,0,0
$GC,136,-0.85,-127.1,3.4,-5.1,20,155,8.75,2.50,-1.02,0.000,4,0.240,0.041,2446,3777,3581,0,0,0,0,0,0
$GC,227,-0.68,-127.1,15.4,-10.4,36,235,0.17,2.40,0.00,-0.000,6,0.019,0.031,2517,2193,3582,0,0,0,0,0,0
$GC,301,-0.59,-127.1,22.0,-8.4,49,308,0.08,0.00,0.00,0.016,6,0.007,0.016,2546,2191,3583,0,0,0,0,0,0
$GC,373,-0.55,-127.1,27.9,-8.1,62,380,0.00,2.40,0.00,0.007,4,0.000,0.055,2547,619,3583,0,0,0,0,0,0
$GC,394,-0.49,-127.1,29.7,-8.3,65,401,0.10,2.35,0.00,0.029,6,0.000,0.040,2570,2200,3583,0,0,0,0,0,0
$GC,467,-0.49,-127.1,35.3,-7.5,78,474,0.00,2.38,0.00,0.007,4,0.007,0.053,2560,3772,3584,0,0,0,0,0,0
$GC,487,-0.49,-127.1,36.6,-7.0,81,494,0.00,2.35,0.00,0.053,6,0.053,0.047,2560,2207,3583,0,0,0,0,0,0
$GC,560,-0.49,-127.1,42.4,-7.7,94,567,0.03,2.38,0.00,0.000,4,0.007,0.054,2571,617,3584,0,0,0,0,0,0
$GC,584,-0.49,-127.1,44.2,-7.5,98,590,0.00,2.33,0.00,0.009,6,0.046,0.036,2562,2199,3584,0,0,0,0,0,0
$GC,726,-0.49,-127.1,55.1,-7.3,123,731,0.00,0.00,0.00,0.007,6,0.007,0.007,2562,2199,3584,0,0,0,0,0,0
$GC,867,-0.49,-127.1,64.9,-7.0,148,872,0.00,0.00,0.00,0.007,6,0.000,0.007,2562,2199,3584,0,0,0,0,0,0
$GC,1007,-0.49,-127.1,74.9,-6.7,173,1012,0.00,0.00,0.00,0.000,6,0.007,0.007,2562,2199,3584,0,0,0,0,0,0
$GC,1148,-0.52,-127.1,84.6,-6.5,198,1154,0.00,0.00,0.00,0.007,6,0.007,0.007,2562,2199,3585,0,0,0,0,0,0
$GC,1290,-0.54,-127.1,94.2,-6.8,223,1295,0.00,0.00,0.00,0.007,6,0.007,0.007,2562,2199,3584,0,0,0,0,0,0
$GC,1431,-0.57,-127.1,103.5,-6.3,248,1437,0.00,2.38,0.00,0.000,4,0.007,0.054,2561,617,3584,0,0,0,0,0,0
$GC,1449,-0.60,-127.1,104.9,-7.2,251,1455,0.00,2.30,0.00,0.009,6,0.047,0.036,2550,2205,3584,0,0,0,0,0,0
$STATE,1459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1459,begin apogee
$GC,1465,-0.19,0.0,105.7,6.7,253,1568,0.28,0.00,92.82,0.778,6,0.008,0.013,2669,2205,3059,0,0,0,0,0,0
$STATE,1569,end apogee,CONTROL_FINISHED_OK
$STATE,1569,begin climb
$GC,1571,0.85,127.1,108.7,0.0,273,1680,0.93,2.60,94.30,0.746,4,0.043,0.053,3007,3784,2540,0,0,0,0,0,0
$GC,1737,0.74,127.1,94.9,12.2,304,1743,0.00,2.47,0.00,0.016,6,0.016,0.046,3018,2200,2539,0,0,0,0,0,0
$GC,1880,0.64,127.1,78.4,11.5,329,1886,0.10,0.00,0.00,0.099,6,0.000,0.000,2984,2199,2538,0,0,0,0,0,0
$GC,2022,0.60,127.1,64.3,10.1,354,2028,0.03,2.40,0.00,0.007,4,0.007,0.055,2971,3780,2538,0,0,0,0,0,0
$GC,2052,0.56,127.1,61.7,8.8,359,2058,0.05,2.38,0.00,0.017,6,0.059,0.040,2960,2197,2537,0,0,0,0,0,0
$GC,2196,0.56,127.1,49.8,8.0,384,2201,0.00,0.00,0.00,0.007,6,0.000,0.007,2960,2196,2537,0,0,0,0,0,0
$GC,2337,0.56,127.9,39.2,7.4,409,2345,0.00,2.42,0.00,0.008,4,0.008,0.063,2965,615,2537,0,0,0,0,0,0
$GC,2357,0.58,141.1,37.8,6.9,412,2376,0.00,2.38,11.25,0.683,6,0.023,0.031,2965,2202,2483,0,0,0,0,0,0
$GC,2443,0.60,158.9,31.3,6.7,427,2468,0.00,2.45,14.27,0.742,4,0.007,0.058,2966,3786,2411,0,0,0,0,0,0
$GC,2495,0.60,158.9,26.9,8.5,436,2502,0.00,2.45,0.00,0.011,6,0.056,0.051,2977,2202,2411,0,0,0,0,0,0
$GC,2567,0.60,158.9,20.4,8.5,449,2574,0.00,2.47,0.00,0.007,4,0.007,0.062,2978,605,2411,0,0,0,0,0,0
$GC,2613,0.60,158.9,16.4,8.9,457,2620,0.00,2.40,0.00,0.047,6,0.047,0.036,2978,2195,2411,0,0,0,0,0,0
$GC,2685,0.60,158.9,10.4,7.9,470,2692,0.00,0.00,0.00,0.007,6,0.007,0.007,2978,2195,2411,0,0,0,0,0,0
$GC,2758,0.65,181.1,5.3,6.5,483,2782,0.00,2.45,17.85,0.708,4,0.007,0.054,2978,3776,2317,0,0,0,0,0,0
$STATE,2787,end climb,SURFACE_DEPTH_REACHED
$STATE,2787,begin surface coast
$FINISH,2.3,1.019199
$STATE,2885,end surface coast,CONTROL_FINISHED_OK
$STATE,2885,begin surface
$SM_CCo,2907,239.02,0.720,0,0,1021,500.17
$SM_GC,0.28,0.00,0.00,239.02,-0.000,0.701,0.720,147,2178,1021,-8.15,-0.62,500.17
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,101055
$HUMID,1078546800
$INTERNAL_PRESSURE,7.90223
$TCM_TEMP,12.90
$XPDR_PINGS,1
$24V_AH,24.2,2.733
$10V_AH,10.5,1.051
$FG_AHR_24Vo,5.214
$FG_AHR_10Vo,5.606
$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,18.225,53.075,230.500,239.025,0.000,24.627,31.015,202.851,0.250,0.000,34.813,738.655,822.732,561.957,1004.754,453.820,33.350,768.919,0.000,977.677,0.000,0.537,0.000
$DEVICE_MAMPS,240.363,63.344,777.599,719.546,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,293.170,481.013,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324360
$DATA_FILE_SIZE,22320,506
$CAP_FILE_SIZE,66346,0
$CFSIZE,260034560,256753664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,121706,4807.502,-12223.511,35,1.1,35,18.3