version: 66.05
glider: 159
mission: 3
dive: 23
start: 6 18 109 13 17 52
data:
$ID,159
$MISSION,3
$DIVE,23
$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,-84482.617
$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,38
$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,5.6583042
$FG_AHR_24V,5.3337002
$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
$GPS1,131843,4807.629,-12223.641,12,1.8,29,18.3
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-75.9
$GPS2,132608,4807.600,-12223.599,12,1.7,12,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.084,0.158
$KALMAN_X,-1002.9,136.6,85.7,-423.9,8.3
$KALMAN_Y,3439.7,-553.7,-131.1,-1831.3,-105.1
$MHEAD_RNG_PITCHd_Wd,313.8,892,-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,24,-0.85,-127.1,0.0,0.0,0,125,0.00,0.00,-98.00,0.000,2,0.007,0.000,151,2174,3462,0,0,0,0,0,0
$GC,129,-0.85,-127.1,3.3,-2.8,19,147,8.70,2.50,-2.90,0.000,4,0.217,0.039,2444,3780,3581,0,0,0,0,0,0
$GC,267,-0.66,-127.1,20.5,-10.4,44,275,0.22,2.38,0.00,0.135,6,0.135,0.043,2517,2207,3581,0,0,0,0,0,0
$GC,340,-0.57,-127.1,27.6,-9.0,57,347,0.08,0.00,0.00,0.018,6,0.007,0.018,2545,2206,3582,0,0,0,0,0,0
$GC,415,-0.53,-127.1,33.7,-8.1,70,422,0.03,0.00,0.00,0.013,6,0.007,0.013,2560,2206,3582,0,0,0,0,0,0
$GC,488,-0.53,-127.1,39.6,-8.0,83,495,0.00,2.42,0.00,0.000,4,0.007,0.056,2560,618,3583,0,0,0,0,0,0
$GC,506,-0.53,-127.1,41.4,-8.1,86,512,0.00,2.33,0.00,0.009,6,0.046,0.035,2550,2205,3583,0,0,0,0,0,0
$GC,648,-0.53,-127.1,53.2,-8.7,111,654,0.00,2.40,0.00,0.000,4,0.007,0.053,2549,615,3583,0,0,0,0,0,0
$GC,671,-0.51,-127.1,55.2,-8.6,115,678,0.08,2.33,0.00,0.011,6,0.046,0.028,2565,2206,3583,0,0,0,0,0,0
$GC,816,-0.53,-127.1,66.2,-7.3,140,821,0.00,0.00,0.00,-0.000,6,0.007,0.007,2566,2207,3583,0,0,0,0,0,0
$GC,957,-0.55,-127.1,76.5,-6.9,165,962,0.00,0.00,0.00,0.007,6,0.007,0.007,2566,2207,3583,0,0,0,0,0,0
$GC,1098,-0.58,-127.1,86.2,-7.3,190,1104,0.00,2.33,0.00,0.007,4,0.007,0.037,2556,3779,3583,0,0,0,0,0,0
$GC,1116,-0.62,-127.1,87.4,-7.1,193,1122,0.00,2.33,0.00,0.011,6,-0.000,0.043,2555,2199,3583,0,0,0,0,0,0
$GC,1260,-0.64,-127.1,97.1,-7.0,218,1266,0.00,2.35,0.00,0.007,4,0.007,0.066,2555,617,3583,0,0,0,0,0,0
$GC,1306,-0.64,-127.1,101.0,-8.2,226,1312,0.00,2.30,0.00,0.010,6,0.047,0.044,2544,2201,3583,0,0,0,0,0,0
$STATE,1366,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1366,begin apogee
$GC,1372,-0.19,0.0,105.5,6.7,237,1475,0.28,0.00,92.57,0.773,6,0.119,0.033,2665,2203,3060,0,0,0,0,0,0
$STATE,1476,end apogee,CONTROL_FINISHED_OK
$STATE,1476,begin climb
$GC,1478,0.85,127.1,108.0,0.0,257,1587,0.93,2.60,94.22,0.746,4,0.080,0.055,3005,3776,2541,0,0,0,0,0,0
$GC,1655,0.75,127.1,93.1,12.2,290,1661,0.00,2.45,0.00,0.013,6,0.013,0.047,3005,2198,2540,0,0,0,0,0,0
$GC,1799,0.67,127.1,77.6,10.4,315,1804,0.03,0.00,0.00,0.007,6,0.007,0.009,2994,2198,2539,0,0,0,0,0,0
$GC,1940,0.61,127.1,63.4,9.5,340,1947,0.05,2.42,0.00,0.015,4,0.007,0.037,2971,3784,2539,0,0,0,0,0,0
$GC,1981,0.57,127.1,59.5,9.0,347,1988,0.05,2.40,0.00,0.000,6,0.022,0.033,2960,2197,2539,0,0,0,0,0,0
$GC,2125,0.57,127.1,48.0,8.1,372,2131,0.00,2.42,0.00,0.000,4,0.007,0.059,2970,614,2538,0,0,0,0,0,0
$GC,2154,0.57,127.1,45.5,7.9,377,2160,0.03,2.35,0.00,0.000,6,0.051,0.043,2959,2204,2538,0,0,0,0,0,0
$GC,2296,0.58,132.8,35.5,7.2,402,2309,0.00,2.40,5.60,0.501,4,0.007,0.066,2959,3779,2517,0,0,0,0,0,0
$GC,2328,0.58,132.8,32.8,7.8,407,2335,0.00,2.40,0.00,0.056,6,0.056,0.045,2962,2205,2517,0,0,0,0,0,0
$GC,2401,0.58,135.2,27.2,7.4,420,2414,0.00,2.47,3.55,0.422,4,0.007,0.044,2965,604,2507,0,0,0,0,0,0
$GC,2426,0.58,135.2,25.3,7.6,424,2433,0.00,2.40,0.00,0.012,6,-0.000,0.042,2965,2199,2507,0,0,0,0,0,0
$GC,2498,0.59,143.6,20.0,7.1,437,2516,0.00,2.42,7.57,0.714,4,0.007,0.055,2965,3780,2474,0,0,0,0,0,0
$GC,2544,0.59,143.6,16.4,7.7,445,2551,0.00,2.42,0.00,0.016,6,0.016,0.045,2965,2194,2474,0,0,0,0,0,0
$GC,2617,0.63,160.3,11.3,6.8,458,2640,0.00,2.45,13.77,0.783,4,0.007,0.059,2965,621,2405,0,0,0,0,0,0
$GC,2654,0.68,181.4,8.8,6.6,464,2677,0.00,2.40,16.73,0.685,6,0.019,0.031,2966,2203,2320,0,0,0,0,0,0
$GC,2744,0.85,234.2,4.0,5.2,480,2751,0.10,0.00,4.47,0.000,2,0.007,0.000,3025,2204,2301,0,0,0,0,0,0
$STATE,2752,end climb,SURFACE_DEPTH_REACHED
$STATE,2752,begin surface coast
$FINISH,3.2,1.019278
$STATE,2852,end surface coast,CONTROL_FINISHED_OK
$STATE,2852,begin surface
$SM_CCo,2871,236.77,0.722,0,0,1020,500.17
$SM_GC,0.39,0.00,0.00,236.77,0.007,0.713,0.722,153,2205,1020,-8.13,0.14,500.17
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,121224
$HUMID,1078533590
$INTERNAL_PRESSURE,7.90173
$TCM_TEMP,12.30
$XPDR_PINGS,1
$24V_AH,24.1,2.961
$10V_AH,10.5,1.148
$FG_AHR_24Vo,5.440
$FG_AHR_10Vo,5.693
$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,18.525,57.675,238.500,236.775,0.000,25.287,37.213,233.726,0.250,0.000,13.757,732.832,789.652,561.230,979.844,500.696,33.350,767.647,0.000,972.133,0.000,0.537,0.000
$DEVICE_MAMPS,217.044,65.703,782.998,721.854,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,289.065,489.703,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324316
$DATA_FILE_SIZE,22321,499
$CAP_FILE_SIZE,68415,0
$CFSIZE,260034560,256684032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,142006,4807.776,-12223.717,8,1.6,24,18.3