version: 66.05
glider: 159
mission: 3
dive: 15
start: 6 18 109 5 3 36
data:
$ID,159
$MISSION,3
$DIVE,15
$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,-84225.562
$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,28
$R_STBD_OVSHOOT,36
$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,5.3131676
$FG_AHR_24V,4.3929834
$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
$GPS1,050443,4807.444,-12222.681,44,1.3,44,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-75.2
$GPS2,051250,4807.405,-12222.696,13,1.4,13,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.061,-0.169
$KALMAN_X,-854.1,-172.2,-19.8,959.1,-26.4
$KALMAN_Y,2916.4,638.6,25.5,-3020.7,20.9
$MHEAD_RNG_PITCHd_Wd,141.9,2741,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.85,-127.1,0.0,0.0,0,140,0.00,0.00,-112.78,0.000,6,-0.000,1.294,154,2191,3580,0,0,0,0,0,0
$GC,145,-0.85,-127.1,3.6,-6.6,22,163,8.65,2.70,0.00,0.059,4,0.217,0.053,2458,438,3582,0,0,0,0,0,0
$GC,310,-0.62,-127.1,27.9,-12.4,52,318,0.25,2.65,0.00,0.126,6,0.126,0.042,2533,2199,3583,0,0,0,0,0,0
$GC,386,-0.56,-127.1,35.4,-8.9,65,393,0.05,2.67,0.00,0.000,4,0.007,0.058,2543,3971,3584,0,0,0,0,0,0
$GC,422,-0.53,-127.1,38.5,-8.2,71,430,0.03,2.67,0.00,0.028,6,0.028,0.031,2554,2194,3584,0,0,0,0,0,0
$GC,497,-0.53,-127.1,44.9,-8.7,84,503,0.00,2.65,0.00,0.007,4,0.007,0.060,2554,438,3584,0,0,0,0,0,0
$GC,526,-0.50,-127.1,47.4,-8.1,89,533,0.08,2.60,0.00,0.014,6,0.014,0.042,2571,2202,3584,0,0,0,0,0,0
$GC,671,-0.52,-127.1,58.0,-7.5,114,676,0.00,0.00,0.00,0.007,6,0.007,0.007,2571,2202,3584,0,0,0,0,0,0
$GC,812,-0.55,-127.1,68.6,-7.7,139,818,0.00,2.62,0.00,0.007,4,0.007,0.055,2559,3967,3584,0,0,0,0,0,0
$GC,835,-0.59,-127.1,70.5,-7.5,143,841,0.00,2.60,0.00,0.011,6,0.000,0.038,2559,2201,3584,0,0,0,0,0,0
$GC,979,-0.62,-127.1,81.4,-7.4,168,985,0.00,2.65,0.00,0.008,4,-0.000,0.055,2560,434,3584,0,0,0,0,0,0
$GC,1014,-0.62,-127.1,84.3,-8.2,174,1020,0.00,2.60,0.00,0.010,6,0.000,0.038,2547,2209,3584,0,0,0,0,0,0
$GC,1155,-0.62,-127.1,95.3,-7.9,199,1160,0.00,0.00,0.00,0.007,6,0.000,0.000,2545,2209,3584,0,0,0,0,0,0
$GC,1295,-0.62,-127.1,105.8,-7.1,224,1302,0.00,2.60,0.00,0.000,4,0.007,0.058,2533,3957,3584,0,0,0,0,0,0
$GC,1336,-0.65,-127.1,108.9,-7.7,231,1342,0.00,2.58,0.00,0.009,6,0.055,0.045,2532,2198,3583,0,0,0,0,0,0
$STATE,1363,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1363,begin apogee
$GC,1369,-0.19,0.0,111.2,7.6,236,1472,0.32,0.00,93.47,0.777,6,0.076,0.777,2663,2198,3059,0,0,0,0,0,0
$STATE,1473,end apogee,CONTROL_FINISHED_OK
$STATE,1473,begin climb
$GC,1475,0.85,127.1,114.3,0.0,256,1584,0.93,2.88,95.05,0.737,4,0.081,0.055,3007,3950,2541,0,0,0,0,0,0
$GC,1596,0.75,127.1,105.9,10.8,279,1602,0.00,2.75,0.00,0.020,6,0.020,0.035,3018,2200,2540,0,0,0,0,0,0
$GC,1740,0.64,127.1,89.7,11.2,304,1745,0.10,0.00,0.00,0.021,6,0.021,0.000,2986,2199,2540,0,0,0,0,0,0
$GC,1881,0.60,127.1,75.3,9.3,329,1887,0.05,0.00,0.00,0.007,6,0.007,0.009,2966,2200,2540,0,0,0,0,0,0
$GC,2022,0.60,127.1,63.1,8.3,354,2027,0.00,0.00,0.00,0.007,6,0.007,0.007,2966,2200,2539,0,0,0,0,0,0
$GC,2162,0.60,127.1,52.2,7.6,379,2169,0.00,2.67,0.00,0.007,4,0.007,0.055,2966,3960,2539,0,0,0,0,0,0
$GC,2181,0.60,127.1,50.5,8.6,382,2188,0.00,2.62,0.00,0.010,6,0.000,0.043,2977,2197,2538,0,0,0,0,0,0
$GC,2323,0.60,129.7,39.7,7.4,407,2330,0.00,2.72,0.00,0.007,4,0.007,0.061,2978,434,2538,0,0,0,0,0,0
$GC,2343,0.57,129.7,38.1,7.8,410,2357,0.05,2.65,2.80,0.339,6,0.046,0.039,2960,2195,2533,0,0,0,0,0,0
$GC,2424,0.57,130.5,32.2,7.4,424,2431,0.00,2.70,0.00,0.007,4,0.007,0.055,2960,3963,2533,0,0,0,0,0,0
$GC,2438,0.58,134.3,31.1,7.3,426,2451,0.00,2.67,5.55,0.583,6,0.058,0.048,2965,2195,2512,0,0,0,0,0,0
$GC,2517,0.58,134.3,25.3,7.5,440,2524,0.00,0.00,0.00,0.007,6,0.007,0.007,2965,2194,2512,0,0,0,0,0,0
$GC,2590,0.59,143.9,20.0,7.1,453,2609,0.00,2.72,8.68,0.649,4,0.007,0.059,2978,441,2473,0,0,0,0,0,0
$GC,2616,0.59,148.1,18.0,7.3,457,2629,0.00,2.65,4.97,0.528,6,0.049,0.044,2978,2197,2455,0,0,0,0,0,0
$GC,2696,0.59,148.1,11.8,8.0,471,2703,0.00,2.67,0.00,0.007,4,0.007,0.044,2978,3956,2455,0,0,0,0,0,0
$GC,2759,0.59,148.1,6.7,7.5,482,2766,0.00,2.67,0.00,0.056,6,0.056,0.047,2978,2193,2455,0,0,0,0,0,0
$STATE,2809,end climb,SURFACE_DEPTH_REACHED
$STATE,2809,begin surface coast
$FINISH,3.1,1.020284
$STATE,2908,end surface coast,CONTROL_FINISHED_OK
$STATE,2908,begin surface
$SM_CCo,2927,280.02,0.706,0,0,939,520.53
$SM_GC,0.32,0.00,0.00,280.02,0.008,0.020,0.706,148,2192,939,-8.14,-0.23,520.53
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,040452
$HUMID,1078561189
$INTERNAL_PRESSURE,7.89214
$TCM_TEMP,13.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.0,40.8
$24V_AH,24.2,2.001
$10V_AH,10.6,0.772
$FG_AHR_24Vo,4.501
$FG_AHR_10Vo,5.348
$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,18.225,64.000,210.525,280.025,0.000,22.673,31.821,274.916,0.500,0.000,14.921,745.711,839.391,598.901,979.197,539.716,33.339,800.103,0.000,968.862,0.000,5.530,0.000
$DEVICE_MAMPS,216.871,61.434,776.971,705.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,294.883,449.747,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324372
$DATA_FILE_SIZE,22306,509
$CAP_FILE_SIZE,67968,0
$CFSIZE,260034560,256958464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,060929,4807.169,-12222.582,68,99.0,87,18.3