version: 66.05
glider: 159
mission: 3
dive: 18
start: 6 18 109 8 22 44
data:
$ID,159
$MISSION,3
$DIVE,18
$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,-84323.312
$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,29
$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,5.4546089
$FG_AHR_24V,4.7435312
$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
$GPS1,082415,4807.107,-12222.865,48,99.0,67,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-75.1
$GPS2,083151,4807.103,-12222.878,8,99.0,27,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.119,0.134
$KALMAN_X,-1125.0,-75.4,-43.6,928.3,-23.4
$KALMAN_Y,3703.4,151.5,46.8,-3893.2,48.7
$MHEAD_RNG_PITCHd_Wd,300.3,2165,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-0.85,-127.1,0.0,0.0,0,136,0.00,0.00,-108.45,0.000,2,-0.000,0.000,152,2194,3459,0,0,0,0,0,0
$GC,139,-0.85,-127.1,3.2,-6.1,21,158,8.73,2.47,-2.78,0.000,4,0.239,0.050,2445,3789,3581,0,0,0,0,0,0
$GC,450,-0.69,-127.1,42.8,-12.7,78,456,0.20,2.35,0.00,0.011,6,0.011,0.043,2512,2196,3582,0,0,0,0,0,0
$GC,594,-0.63,-127.1,57.6,-9.5,103,601,0.05,2.40,0.00,0.033,4,0.000,0.053,2524,3793,3582,0,0,0,0,0,0
$GC,696,-0.63,-127.1,67.0,-8.5,121,702,0.00,2.35,0.00,0.010,6,0.000,0.047,2524,2195,3583,0,0,0,0,0,0
$GC,838,-0.59,-127.1,79.4,-8.4,146,844,0.05,0.00,0.00,0.007,6,0.007,0.009,2544,2194,3583,0,0,0,0,0,0
$GC,979,-0.59,-127.1,90.5,-7.9,171,985,0.00,2.35,0.00,0.007,4,0.007,0.065,2544,613,3583,0,0,0,0,0,0
$GC,1025,-0.56,-127.1,94.2,-8.5,179,1032,0.05,2.30,0.00,0.012,6,0.012,0.041,2554,2202,3582,0,0,0,0,0,0
$GC,1170,-0.58,-127.1,104.5,-7.2,204,1175,0.00,0.00,0.00,0.000,6,0.007,0.007,2554,2203,3583,0,0,0,0,0,0
$STATE,1179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1179,begin apogee
$GC,1185,-0.19,0.0,105.4,7.1,206,1288,0.28,0.00,92.57,0.788,6,0.000,0.014,2670,2203,3060,0,0,0,0,0,0
$STATE,1288,end apogee,CONTROL_FINISHED_OK
$STATE,1288,begin climb
$GC,1291,0.85,127.1,108.1,0.0,226,1399,0.90,2.60,94.35,0.757,4,0.084,0.055,3002,3779,2540,0,0,0,0,0,0
$GC,1445,0.75,127.1,96.4,11.8,255,1451,0.00,2.47,0.00,0.014,6,0.014,0.047,3004,2197,2539,0,0,0,0,0,0
$GC,1588,0.67,127.1,80.5,10.6,280,1594,0.00,2.45,0.00,0.007,4,0.007,0.057,3016,605,2539,0,0,0,0,0,0
$GC,1612,0.58,127.1,77.7,10.8,284,1619,0.17,2.40,0.00,0.123,6,0.123,0.041,2958,2208,2538,0,0,0,0,0,0
$GC,1756,0.58,127.1,64.9,8.7,309,1762,0.00,2.38,0.00,0.007,4,0.007,0.056,2959,3784,2538,0,0,0,0,0,0
$GC,1824,0.58,127.1,58.9,8.6,321,1830,0.00,2.38,0.00,0.010,6,0.000,0.050,2965,2198,2538,0,0,0,0,0,0
$GC,1965,0.58,127.1,47.0,8.3,346,1971,0.00,2.40,0.00,0.007,4,0.007,0.043,2977,608,2537,0,0,0,0,0,0
$GC,1989,0.58,127.1,45.0,8.3,350,1995,0.05,2.35,0.00,0.012,6,0.012,0.042,2958,2204,2537,0,0,0,0,0,0
$GC,2131,0.59,141.1,34.8,6.9,375,2150,0.00,2.42,11.52,0.640,4,0.007,0.055,2958,3777,2482,0,0,0,0,0,0
$GC,2195,0.59,141.1,29.6,8.0,386,2201,0.00,2.42,0.00,0.058,6,0.058,0.039,2965,2193,2482,0,0,0,0,0,0
$GC,2267,0.59,141.1,24.0,7.7,399,2274,0.00,2.42,0.00,0.007,4,-0.000,0.057,2977,614,2481,0,0,0,0,0,0
$GC,2293,0.59,141.1,21.9,7.8,403,2300,0.00,2.38,0.00,0.047,6,0.047,0.039,2977,2191,2481,0,0,0,0,0,0
$GC,2365,0.60,148.2,16.4,7.2,416,2377,0.00,2.45,6.93,0.633,4,0.007,0.055,2977,3789,2452,0,0,0,0,0,0
$GC,2406,0.60,148.2,12.6,8.9,423,2413,0.00,2.42,0.00,0.058,6,0.058,0.046,2978,2200,2452,0,0,0,0,0,0
$GC,2479,0.61,152.5,7.0,7.3,436,2491,0.00,2.45,4.25,0.503,4,0.007,0.066,2978,614,2437,0,0,0,0,0,0
$GC,2498,0.61,154.9,5.5,7.4,439,2511,0.00,2.40,3.72,0.603,6,0.045,0.045,2978,2202,2425,0,0,0,0,0,0
$STATE,2522,end climb,SURFACE_DEPTH_REACHED
$STATE,2522,begin surface coast
$FINISH,1.7,1.020515
$STATE,2587,end surface coast,CONTROL_FINISHED_OK
$STATE,2590,begin surface
$SM_CCo,2608,257.55,0.738,0,0,1020,500.17
$SM_GC,0.37,0.00,0.00,257.55,-0.000,0.032,0.738,153,2205,1020,-8.13,0.14,500.17
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,070702
$HUMID,1078537308
$INTERNAL_PRESSURE,7.89124
$TCM_TEMP,13.00
$XPDR_PINGS,2
$24V_AH,24.2,2.358
$10V_AH,10.5,0.922
$FG_AHR_24Vo,4.849
$FG_AHR_10Vo,5.486
$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,18.200,53.025,213.350,257.550,0.000,27.017,32.061,227.426,0.500,0.000,29.843,661.730,735.460,556.457,898.139,480.918,33.338,738.620,0.000,876.983,0.000,0.537,0.000
$DEVICE_MAMPS,238.994,65.667,787.929,737.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,263.658,428.134,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324396
$DATA_FILE_SIZE,19165,455
$CAP_FILE_SIZE,59659,0
$CFSIZE,260034560,256864256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,092152,4807.227,-12223.054,10,99.0,29,18.3