version: 66.05
glider: 159
mission: 3
dive: 22
start: 6 18 109 12 16 8
data:
$ID,159
$MISSION,3
$DIVE,22
$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,-84467.883
$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,39
$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,5.6145859
$FG_AHR_24V,5.2218537
$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
$GPS1,121706,4807.502,-12223.511,35,1.1,35,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-74.4
$GPS2,122443,4807.449,-12223.506,13,1.5,30,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.073,0.164
$KALMAN_X,-1022.5,98.3,61.3,-224.3,51.2
$KALMAN_Y,3426.5,-432.2,-64.8,-2284.9,-201.5
$MHEAD_RNG_PITCHd_Wd,317.7,1190,-18.0,-7.463
$D_GRID,103
$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,-0.85,-127.1,0.0,0.0,0,120,0.00,0.00,-93.10,0.000,2,0.008,0.000,147,2178,3332,0,0,0,0,0,0
$GC,123,-0.85,-127.1,3.0,-2.0,18,142,8.70,0.00,-6.60,0.000,6,0.238,1.294,2454,2178,3580,0,0,0,0,0,0
$GC,209,-0.67,-127.1,11.3,-8.9,33,216,0.17,2.50,0.00,0.014,4,0.007,0.054,2514,3787,3582,0,0,0,0,0,0
$GC,267,-0.59,-127.1,16.6,-9.0,43,275,0.08,2.40,0.00,0.014,6,0.014,0.043,2541,2203,3583,0,0,0,0,0,0
$GC,341,-0.53,-127.1,22.4,-8.1,56,348,0.05,0.00,0.00,0.000,6,0.007,0.010,2562,2201,3583,0,0,0,0,0,0
$GC,416,-0.53,-127.1,28.3,-7.7,69,423,0.00,2.40,0.00,0.007,4,0.007,0.054,2562,618,3583,0,0,0,0,0,0
$GC,447,-0.50,-127.1,30.9,-7.5,74,455,0.03,2.35,0.00,0.019,6,0.019,0.029,2562,2199,3584,0,0,0,0,0,0
$GC,522,-0.50,-127.1,36.9,-7.6,87,529,0.00,0.00,0.00,0.000,6,0.007,0.007,2562,2199,3584,0,0,0,0,0,0
$GC,596,-0.50,-127.1,42.7,-7.4,100,601,0.00,0.00,0.00,0.007,6,0.007,0.007,2562,2199,3583,0,0,0,0,0,0
$GC,737,-0.50,-127.1,53.2,-7.2,125,742,0.00,0.00,0.00,0.007,6,0.007,0.007,2562,2199,3584,0,0,0,0,0,0
$GC,877,-0.50,-127.1,63.8,-8.2,150,883,0.00,0.00,0.00,0.007,6,0.000,0.000,2562,2199,3584,0,0,0,0,0,0
$GC,1018,-0.50,-127.1,74.3,-7.7,175,1023,0.00,0.00,0.00,0.007,6,0.000,-0.000,2562,2199,3584,0,0,0,0,0,0
$GC,1158,-0.50,-127.1,84.1,-6.6,200,1163,0.00,0.00,0.00,-0.000,6,0.007,0.007,2562,2199,3584,0,0,0,0,0,0
$GC,1300,-0.53,-127.1,93.8,-6.5,225,1306,0.00,2.40,0.00,0.007,4,0.000,0.055,2562,608,3584,0,0,0,0,0,0
$GC,1329,-0.53,-127.1,96.0,-7.0,230,1335,0.00,2.33,0.00,0.021,6,0.021,0.030,2552,2208,3584,0,0,0,0,0,0
$STATE,1423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1423,begin apogee
$GC,1429,-0.19,0.0,103.1,6.7,247,1532,0.28,0.00,92.78,0.781,6,0.008,0.018,2670,2209,3060,0,0,0,0,0,0
$STATE,1533,end apogee,CONTROL_FINISHED_OK
$STATE,1533,begin climb
$GC,1535,0.85,127.1,106.2,0.0,267,1639,0.93,0.00,94.25,0.740,6,0.043,0.730,3008,2209,2540,0,0,0,0,0,0
$GC,1774,0.77,127.1,85.1,11.3,311,1780,0.00,2.40,0.00,0.008,4,0.007,0.053,3009,3776,2539,0,0,0,0,0,0
$GC,1843,0.67,127.1,77.1,12.0,323,1850,0.08,2.40,0.00,0.015,6,0.015,0.046,2996,2205,2539,0,0,0,0,0,0
$GC,1987,0.61,127.1,62.5,9.1,348,1994,0.05,2.45,0.00,0.018,4,0.000,0.059,2978,607,2538,0,0,0,0,0,0
$GC,2006,0.55,127.1,60.5,9.7,351,2012,0.08,2.38,0.00,0.013,6,0.013,0.041,2950,2203,2538,0,0,0,0,0,0
$GC,2150,0.56,138.5,50.1,7.0,376,2166,0.00,2.42,9.90,0.659,4,0.007,0.080,2950,3780,2493,0,0,0,0,0,0
$GC,2211,0.56,138.5,44.8,8.2,387,2217,0.00,2.40,0.00,0.014,6,0.014,0.045,2960,2185,2492,0,0,0,0,0,0
$GC,2351,0.56,138.9,34.4,7.4,412,2358,0.00,2.42,0.00,0.007,4,0.007,0.059,2965,612,2492,0,0,0,0,0,0
$GC,2382,0.56,138.9,32.0,7.8,417,2389,0.00,2.40,0.00,0.011,6,-0.000,0.042,2966,2202,2492,0,0,0,0,0,0
$GC,2455,0.56,138.9,26.3,7.6,430,2462,0.00,2.40,0.00,0.007,4,0.007,0.037,2965,3784,2491,0,0,0,0,0,0
$GC,2496,0.56,138.9,22.9,8.6,437,2504,0.05,2.40,0.00,0.058,6,0.058,0.047,2958,2206,2492,0,0,0,0,0,0
$GC,2570,0.60,154.2,17.5,6.8,450,2589,0.00,2.47,12.90,0.649,4,0.000,0.060,2965,612,2428,0,0,0,0,0,0
$GC,2624,0.60,154.2,13.4,7.5,459,2631,0.00,2.40,0.00,0.010,6,0.044,0.042,2966,2197,2427,0,0,0,0,0,0
$GC,2697,0.66,176.1,8.2,6.5,472,2720,0.00,2.47,17.25,0.691,4,0.000,0.064,2966,3787,2339,0,0,0,0,0,0
$STATE,2764,end climb,SURFACE_DEPTH_REACHED
$STATE,2764,begin surface coast
$FINISH,2.4,1.019016
$STATE,2841,end surface coast,CONTROL_FINISHED_OK
$STATE,2841,begin surface
$SM_CCo,2863,243.02,0.718,0,0,1020,500.17
$SM_GC,0.40,0.00,0.00,243.02,0.008,0.020,0.718,151,2174,1020,-8.14,-0.74,500.17
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,111123
$HUMID,1078536472
$INTERNAL_PRESSURE,7.90149
$TCM_TEMP,13.10
$XPDR_PINGS,2
$24V_AH,24.1,2.846
$10V_AH,10.5,1.100
$FG_AHR_24Vo,5.326
$FG_AHR_10Vo,5.650
$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,18.100,48.275,227.075,243.025,0.000,30.354,29.563,225.426,0.500,0.000,32.243,729.784,810.076,552.077,999.108,482.928,33.377,740.646,0.000,975.313,0.000,0.538,0.000
$DEVICE_MAMPS,237.623,80.245,780.707,718.308,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,288.663,495.686,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324384
$DATA_FILE_SIZE,22267,498
$CAP_FILE_SIZE,64559,0
$CFSIZE,260034560,256724992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,131843,4807.629,-12223.641,12,1.8,29,18.3