version: 66.05
glider: 159
mission: 3
dive: 19
start: 6 18 109 9 20 59
data:
$ID,159
$MISSION,3
$DIVE,19
$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,-84381.641
$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,5.4982243
$FG_AHR_24V,4.8608227
$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
$GPS1,092152,4807.227,-12223.054,10,99.0,29,18.3
$_CALLS,1
$_XMS_NAKs,37
$_XMS_TOUTs,1
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-78.0
$GPS2,093227,4807.200,-12223.038,36,2.1,55,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.101,0.148
$KALMAN_X,-1003.0,-54.4,-62.8,606.9,75.3
$KALMAN_Y,3583.7,39.3,97.9,-3533.9,-154.3
$MHEAD_RNG_PITCHd_Wd,307.2,1900,-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,-127.1,0.0,0.0,0,135,0.00,0.00,-105.00,0.000,6,0.007,0.007,153,2206,3579,0,0,0,0,0,0
$GC,140,-0.85,-127.1,3.5,-4.6,21,159,8.70,2.40,0.00,0.013,4,0.234,0.035,2442,3783,3581,0,0,0,0,0,0
$GC,452,-0.69,-127.1,43.8,-13.5,78,458,0.20,2.35,0.00,0.123,6,0.123,0.045,2509,2193,3584,0,0,0,0,0,0
$GC,596,-0.62,-127.1,57.9,-9.3,103,602,0.05,2.40,0.00,0.011,4,0.007,0.037,2521,3789,3584,0,0,0,0,0,0
$GC,637,-0.59,-127.1,61.8,-9.3,110,644,0.05,2.35,0.00,0.012,6,0.012,0.043,2542,2189,3584,0,0,0,0,0,0
$GC,781,-0.59,-127.1,73.1,-7.5,135,787,0.00,2.35,0.00,0.007,4,0.007,0.057,2542,615,3584,0,0,0,0,0,0
$GC,804,-0.57,-127.1,75.4,-8.1,139,811,0.05,2.33,0.00,-0.000,6,0.049,0.041,2551,2210,3584,0,0,0,0,0,0
$GC,946,-0.57,-127.1,86.3,-7.5,164,951,0.00,0.00,0.00,0.007,6,0.007,0.007,2551,2210,3584,0,0,0,0,0,0
$GC,1087,-0.57,-127.1,96.6,-7.6,189,1092,0.00,0.00,0.00,0.007,6,0.007,0.000,2551,2210,3584,0,0,0,0,0,0
$STATE,1208,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1208,begin apogee
$GC,1214,-0.19,0.0,105.4,7.2,211,1317,0.28,0.00,92.50,0.780,6,0.008,0.778,2668,2211,3059,0,0,0,0,0,0
$STATE,1318,end apogee,CONTROL_FINISHED_OK
$STATE,1318,begin climb
$GC,1320,0.85,127.1,108.3,0.0,231,1423,0.90,0.00,93.07,0.755,6,0.043,0.760,3002,2210,2545,0,0,0,0,0,0
$GC,1559,0.77,127.1,88.1,10.4,275,1565,0.00,2.42,0.00,0.007,4,0.007,0.038,3002,3788,2544,0,0,0,0,0,0
$GC,1650,0.68,127.1,77.7,11.8,291,1656,0.00,2.40,0.00,0.010,6,0.000,0.052,3004,2211,2544,0,0,0,0,0,0
$GC,1793,0.61,127.1,63.2,9.5,316,1800,0.10,2.50,0.00,0.014,4,0.007,0.060,2978,607,2544,0,0,0,0,0,0
$GC,1812,0.53,127.1,60.9,9.8,319,1819,0.08,2.38,0.00,0.013,6,0.013,0.042,2950,2204,2544,0,0,0,0,0,0
$GC,1956,0.54,137.7,50.1,7.0,344,1972,0.00,2.45,10.40,0.690,4,0.007,0.053,2950,3780,2495,0,0,0,0,0,0
$GC,2029,0.54,137.7,43.8,9.0,357,2035,0.00,2.38,0.00,0.020,6,0.020,0.035,2960,2195,2495,0,0,0,0,0,0
$STATE,2045,end climb,SURFACE_DEPTH_REACHED
$STATE,2045,begin surface coast
$FINISH,41.9,1.022925
$STATE,2053,end surface coast,CONTROL_FINISHED_OK
$STATE,2053,begin surface
$SM_CCo,2056,433.17,0.703,0,0,188,704.50
$SM_GC,0.04,7.75,0.00,0.00,0.054,0.000,0.063,148,2193,182,-8.10,-0.20,705.73
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,080828
$HUMID,1078554148
$INTERNAL_PRESSURE,7.7903
$TCM_TEMP,11.90
$XPDR_PINGS,1
$24V_AH,24.1,2.510
$10V_AH,10.7,0.959
$FG_AHR_24Vo,4.993
$FG_AHR_10Vo,5.522
$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,18.150,28.700,195.975,433.175,0.000,24.816,35.568,373.521,0.250,0.000,57.347,521.822,742.344,695.474,670.892,611.897,33.354,842.828,0.000,622.528,0.000,0.537,0.000
$DEVICE_MAMPS,234.058,60.438,779.678,703.098,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,209.255,188.971,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324380
$DATA_FILE_SIZE,16006,361
$CAP_FILE_SIZE,50461,0
$CFSIZE,260034560,256843776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,101758,4807.316,-12223.130,10,2.5,29,18.3