version: 66.05
glider: 159
mission: 3
dive: 17
start: 6 18 109 7 15 28
data:
$ID,159
$MISSION,3
$DIVE,17
$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,-84292.484
$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,38
$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,5.4095168
$FG_AHR_24V,4.6270013
$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
$GPS1,071843,4806.965,-12222.504,152,2.8,171,18.3
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-76.6
$GPS2,072728,4806.967,-12222.507,10,2.8,29,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.134,0.120
$KALMAN_X,-1206.0,-95.1,-4.2,1452.4,-109.5
$KALMAN_Y,3825.8,304.7,-36.8,-4345.1,190.1
$MHEAD_RNG_PITCHd_Wd,293.5,2659,-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,-127.1,0.0,0.0,0,137,0.00,0.00,-107.62,0.000,6,0.007,1.298,151,2200,3580,0,0,0,0,0,0
$GC,142,-0.85,-127.1,3.7,-6.3,21,160,8.70,2.70,0.00,-0.000,4,0.241,0.037,2457,436,3582,0,0,0,0,0,0
$GC,355,-0.62,-127.1,32.9,-13.9,60,363,0.22,2.65,0.00,0.000,6,0.016,0.040,2531,2203,3583,0,0,0,0,0,0
$GC,430,-0.57,-127.1,40.2,-8.8,73,435,0.05,0.00,0.00,0.000,6,0.007,0.011,2552,2204,3584,0,0,0,0,0,0
$GC,571,-0.57,-127.1,51.7,-8.3,98,576,0.00,0.00,0.00,0.007,6,0.007,0.007,2552,2204,3585,0,0,0,0,0,0
$GC,712,-0.57,-127.1,62.4,-7.0,123,717,0.00,0.00,0.00,0.007,6,0.007,0.007,2552,2204,3585,0,0,0,0,0,0
$GC,852,-0.57,-127.1,73.0,-7.2,148,857,0.00,0.00,0.00,0.007,6,0.000,0.007,2552,2204,3585,0,0,0,0,0,0
$GC,993,-0.57,-127.1,83.2,-7.3,173,998,0.00,0.00,0.00,0.000,6,0.007,0.007,2552,2204,3585,0,0,0,0,0,0
$GC,1133,-0.57,-127.1,93.6,-7.6,198,1139,0.00,2.67,0.00,0.007,4,0.007,0.057,2552,435,3584,0,0,0,0,0,0
$GC,1156,-0.57,-127.1,95.5,-8.0,202,1162,0.00,2.58,0.00,0.000,6,0.050,0.030,2541,2202,3585,0,0,0,0,0,0
$GC,1298,-0.57,-127.1,106.2,-7.5,227,1304,0.00,2.60,0.00,0.007,4,0.000,0.054,2528,3957,3584,0,0,0,0,0,0
$GC,1326,-0.57,-127.1,108.4,-7.6,232,1333,0.05,2.58,0.00,0.015,6,0.015,0.042,2549,2193,3584,0,0,0,0,0,0
$STATE,1382,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1382,begin apogee
$GC,1388,-0.19,0.0,112.8,7.2,242,1492,0.28,0.00,93.53,0.777,6,0.112,0.764,2666,2193,3059,0,0,0,0,0,0
$STATE,1492,end apogee,CONTROL_FINISHED_OK
$STATE,1492,begin climb
$GC,1495,0.85,127.1,115.9,0.0,262,1603,0.93,2.88,95.00,0.743,4,0.081,0.043,3008,3953,2541,0,0,0,0,0,0
$GC,1638,0.74,127.1,105.5,11.6,289,1644,0.00,2.72,0.00,0.020,6,0.020,0.036,3021,2208,2540,0,0,0,0,0,0
$GC,1781,0.63,127.1,88.1,11.5,314,1788,0.12,2.75,0.00,0.039,4,-0.000,0.053,2980,3963,2540,0,0,0,0,0,0
$GC,1805,0.54,127.1,85.1,11.6,318,1812,0.12,2.70,0.00,0.012,6,0.012,0.040,2950,2191,2540,0,0,0,0,0,0
$GC,1949,0.54,127.1,72.6,8.4,343,1954,0.00,0.00,0.00,0.007,6,0.007,0.007,2950,2190,2539,0,0,0,0,0,0
$GC,2090,0.54,127.1,61.0,8.1,368,2096,0.00,2.70,0.00,0.007,4,-0.000,0.058,2962,428,2539,0,0,0,0,0,0
$GC,2113,0.54,127.1,59.2,8.1,372,2119,0.00,2.65,0.00,0.010,6,0.047,0.043,2962,2202,2538,0,0,0,0,0,0
$GC,2254,0.54,127.1,47.5,8.1,397,2260,0.00,2.62,0.00,0.007,4,0.000,0.053,2962,3956,2538,0,0,0,0,0,0
$GC,2288,0.54,127.1,44.5,8.8,403,2295,0.05,2.65,0.00,0.070,6,0.070,0.044,2946,2193,2538,0,0,0,0,0,0
$GC,2432,0.57,127.2,34.5,7.5,428,2439,0.00,2.72,0.00,0.007,4,0.007,0.060,2958,432,2538,0,0,0,0,0,0
$GC,2451,0.58,138.3,32.9,7.0,431,2468,0.00,2.65,9.50,0.673,6,0.046,0.042,2958,2195,2494,0,0,0,0,0,0
$GC,2535,0.58,138.3,26.8,7.6,446,2542,0.00,2.70,0.00,0.007,4,0.007,0.058,2958,3963,2494,0,0,0,0,0,0
$GC,2566,0.58,138.3,24.2,7.8,451,2573,0.00,2.67,0.00,0.014,6,0.014,0.049,2961,2206,2494,0,0,0,0,0,0
$GC,2639,0.60,152.7,19.0,6.9,464,2657,0.00,2.80,11.93,0.682,4,0.007,0.052,2965,428,2436,0,0,0,0,0,0
$GC,2670,0.60,155.1,16.5,7.4,469,2683,0.00,2.67,3.90,0.403,6,0.014,0.044,2965,2194,2424,0,0,0,0,0,0
$GC,2750,0.65,169.3,10.5,6.9,483,2773,0.00,2.75,12.15,0.680,4,0.007,0.056,2963,3965,2366,0,0,0,0,0,0
$GC,2785,0.68,169.3,7.8,7.5,489,2793,0.00,2.72,0.00,0.056,6,0.056,0.047,2966,2195,2366,0,0,0,0,0,0
$STATE,2856,end climb,SURFACE_DEPTH_REACHED
$STATE,2856,begin surface coast
$FINISH,2.1,1.019820
$STATE,2955,end surface coast,CONTROL_FINISHED_OK
$STATE,2955,begin surface
$SM_CCo,2973,262.85,0.719,0,0,940,520.04
$SM_GC,0.32,0.00,0.00,262.85,0.008,0.714,0.719,152,2194,940,-8.13,-0.17,520.04
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,060645
$HUMID,1078549389
$INTERNAL_PRESSURE,7.89446
$TCM_TEMP,13.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.2,32.2
$24V_AH,24.2,2.243
$10V_AH,10.5,0.877
$FG_AHR_24Vo,4.736
$FG_AHR_10Vo,5.445
$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,18.225,59.150,226.000,262.850,0.000,29.988,30.268,290.296,1.250,0.000,31.873,753.821,861.645,581.576,1016.003,556.599,33.332,780.148,0.000,987.530,0.000,9.912,0.000
$DEVICE_MAMPS,240.898,60.176,776.749,719.131,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,301.359,458.952,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324684
$DATA_FILE_SIZE,22220,520
$CAP_FILE_SIZE,66973,0
$CFSIZE,260034560,256884736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,082415,4807.107,-12222.865,48,99.0,67,18.3