version: 66.05
glider: 159
mission: 3
dive: 16
start: 6 18 109 6 7 38
data:
$ID,159
$MISSION,3
$DIVE,16
$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,-84259.625
$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,31
$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,5.3595719
$FG_AHR_24V,4.5103064
$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
$GPS1,060929,4807.169,-12222.582,68,99.0,87,18.3
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-75.6
$GPS2,061822,4807.170,-12222.605,11,99.0,30,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.065,-0.167
$KALMAN_X,-1030.2,-133.7,-6.3,1196.0,-70.4
$KALMAN_Y,3354.2,478.8,-24.5,-3684.2,120.4
$MHEAD_RNG_PITCHd_Wd,140.5,2293,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-0.85,-127.1,0.0,0.0,0,132,0.00,0.00,-102.95,0.000,2,0.007,0.000,148,2192,3396,0,0,0,0,0,0
$GC,135,-0.85,-127.1,3.2,-5.8,20,159,8.65,2.72,-4.38,0.000,4,0.218,0.055,2457,431,3580,0,0,0,0,0,0
$GC,249,-0.62,-127.1,18.0,-11.1,40,257,0.25,2.65,0.00,0.024,6,0.000,0.041,2525,2193,3582,0,0,0,0,0,0
$GC,322,-0.54,-127.1,24.7,-8.5,53,329,0.10,0.00,0.00,0.011,6,0.007,0.011,2562,2195,3582,0,0,0,0,0,0
$GC,396,-0.54,-127.1,30.3,-7.7,66,403,0.00,0.00,0.00,0.007,6,0.007,0.007,2563,2195,3583,0,0,0,0,0,0
$GC,469,-0.54,-127.1,35.9,-7.5,79,475,0.00,0.00,0.00,0.007,6,0.007,0.007,2563,2195,3583,0,0,0,0,0,0
$GC,543,-0.54,-127.1,41.5,-7.9,92,548,0.00,0.00,0.00,0.007,6,0.007,0.000,2563,2195,3583,0,0,0,0,0,0
$GC,683,-0.54,-127.1,52.6,-7.8,117,688,0.00,0.00,0.00,0.007,6,0.007,0.007,2562,2195,3583,0,0,0,0,0,0
$GC,824,-0.54,-127.1,63.3,-7.1,142,829,0.00,0.00,0.00,0.007,6,0.007,0.007,2562,2195,3583,0,0,0,0,0,0
$GC,965,-0.56,-127.1,73.4,-7.2,167,970,0.00,0.00,0.00,0.007,6,0.007,0.007,2562,2195,3583,0,0,0,0,0,0
$GC,1108,-0.59,-127.1,84.2,-7.4,192,1114,0.00,2.67,0.00,0.007,4,0.000,0.056,2562,431,3583,0,0,0,0,0,0
$GC,1137,-0.59,-127.1,86.8,-8.2,197,1143,0.00,2.60,0.00,0.020,6,0.020,0.030,2551,2203,3583,0,0,0,0,0,0
$GC,1278,-0.59,-127.1,97.4,-7.9,222,1283,0.00,0.00,0.00,0.007,6,0.007,0.007,2551,2204,3582,0,0,0,0,0,0
$GC,1419,-0.59,-127.1,108.0,-7.3,247,1425,0.00,2.60,0.00,0.000,4,0.007,0.041,2538,3956,3583,0,0,0,0,0,0
$GC,1448,-0.61,-127.1,110.3,-7.5,252,1454,0.00,2.58,0.00,0.000,6,0.036,0.031,2537,2194,3583,0,0,0,0,0,0
$STATE,1481,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1481,begin apogee
$GC,1487,-0.19,0.0,113.1,7.7,258,1590,0.32,0.00,93.35,0.773,6,0.008,0.747,2665,2194,3061,0,0,0,0,0,0
$STATE,1591,end apogee,CONTROL_FINISHED_OK
$STATE,1591,begin climb
$GC,1593,0.85,127.1,115.8,0.0,278,1702,0.90,2.88,95.78,0.748,4,0.081,0.055,3001,3970,2541,0,0,0,0,0,0
$GC,1719,0.76,127.1,107.1,10.6,302,1726,0.00,2.78,0.00,0.000,6,0.059,0.050,3004,2207,2540,0,0,0,0,0,0
$GC,1863,0.67,127.1,91.3,10.7,327,1869,0.00,2.75,0.00,0.007,4,0.007,0.052,3005,3967,2540,0,0,0,0,0,0
$GC,1881,0.58,127.1,89.1,11.1,330,1888,0.12,2.72,0.00,0.110,6,0.110,0.047,2964,2186,2540,0,0,0,0,0,0
$GC,2025,0.58,127.1,76.0,8.4,355,2030,0.00,0.00,0.00,0.007,6,0.007,0.007,2965,2187,2539,0,0,0,0,0,0
$GC,2166,0.58,127.1,63.2,8.4,380,2171,0.00,0.00,0.00,0.007,6,-0.000,0.000,2964,2186,2538,0,0,0,0,0,0
$GC,2306,0.58,127.1,51.7,8.1,405,2311,0.00,0.00,0.00,0.007,6,0.007,0.008,2964,2186,2538,0,0,0,0,0,0
$GC,2446,0.58,127.1,40.4,7.8,430,2452,0.00,0.00,0.00,0.007,6,0.007,0.007,2964,2186,2538,0,0,0,0,0,0
$GC,2582,0.58,127.1,30.3,7.7,455,2588,0.00,0.00,0.00,0.007,6,0.000,0.000,2964,2186,2537,0,0,0,0,0,0
$GC,2655,0.61,149.5,25.4,6.5,468,2677,0.00,0.00,17.58,0.707,6,0.007,0.000,2964,2186,2447,0,0,0,0,0,0
$GC,2743,0.61,149.5,18.7,7.8,484,2750,0.00,2.72,0.00,0.007,4,0.007,0.045,2976,439,2446,0,0,0,0,0,0
$GC,2769,0.61,149.5,16.6,7.9,488,2776,0.00,2.65,0.00,0.029,6,0.029,0.032,2977,2199,2446,0,0,0,0,0,0
$GC,2843,0.61,149.5,10.5,8.0,501,2850,0.00,2.70,0.00,0.008,4,-0.000,0.053,2977,3960,2446,0,0,0,0,0,0
$GC,2858,0.61,149.5,9.5,7.8,503,2865,0.00,2.67,0.00,0.060,6,0.060,0.049,2978,2202,2446,0,0,0,0,0,0
$GC,2933,0.74,216.5,4.8,4.6,516,2951,0.00,0.00,15.35,0.000,2,0.008,0.000,2978,2202,2367,0,0,0,0,0,0
$STATE,2952,end climb,SURFACE_DEPTH_REACHED
$STATE,2952,begin surface coast
$FINISH,2.7,1.019861
$STATE,3062,end surface coast,CONTROL_FINISHED_OK
$STATE,3063,begin surface
$SM_CCo,3081,264.27,0.710,0,0,940,520.04
$SM_GC,0.37,0.00,0.00,264.27,0.008,0.690,0.710,151,2200,940,-8.14,-0.03,520.04
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,050558
$HUMID,1078557406
$INTERNAL_PRESSURE,7.89074
$TCM_TEMP,12.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.3,42.5
$24V_AH,24.2,2.122
$10V_AH,10.5,0.825
$FG_AHR_24Vo,4.618
$FG_AHR_10Vo,5.397
$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,18.100,37.700,222.050,264.275,0.000,29.041,28.464,299.979,0.750,0.000,33.081,777.331,901.305,578.414,1065.760,564.206,33.325,773.854,0.000,1036.050,0.000,5.539,0.000
$DEVICE_MAMPS,217.700,56.033,772.712,709.538,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,312.280,500.850,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324372
$DATA_FILE_SIZE,22314,539
$CAP_FILE_SIZE,66178,0
$CFSIZE,260034560,256921600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,071843,4806.965,-12222.504,152,2.8,171,18.3