version: 66.05
glider: 159
mission: 3
dive: 24
start: 6 18 109 14 19 19
data:
$ID,159
$MISSION,3
$DIVE,24
$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,-84514.898
$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,30
$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,5.7024589
$FG_AHR_24V,5.447628
$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
$GPS1,142006,4807.776,-12223.717,8,1.6,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-75.8
$GPS2,142758,4807.729,-12223.611,9,3.7,28,18.3
$SPEED_LIMITS,0.075,0.179
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.125,0.129
$KALMAN_X,-794.5,143.3,74.5,-646.6,45.8
$KALMAN_Y,3332.5,-618.4,-158.5,-1392.0,-41.2
$MHEAD_RNG_PITCHd_Wd,297.6,696,-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,-127.1,0.0,0.0,0,99,0.00,0.00,-72.53,0.000,2,0.007,0.000,153,2206,2722,0,0,0,0,0,0
$GC,102,-0.85,-127.1,3.3,-8.5,14,142,8.75,2.42,-24.88,0.000,4,0.241,0.055,2445,3779,3580,0,0,0,0,0,0
$GC,434,-0.68,-127.1,38.1,-13.5,75,442,0.20,2.40,0.00,0.141,6,0.141,0.047,2521,2189,3582,0,0,0,0,0,0
$GC,510,-0.61,-127.1,45.8,-9.5,88,516,0.00,2.40,0.00,0.000,4,0.007,0.051,2511,3787,3583,0,0,0,0,0,0
$GC,573,-0.58,-127.1,51.9,-9.4,99,580,0.10,2.35,0.00,0.061,6,-0.000,0.044,2548,2194,3583,0,0,0,0,0,0
$GC,717,-0.58,-127.1,63.6,-7.9,124,723,0.00,2.35,0.00,0.007,4,0.000,0.054,2548,617,3584,0,0,0,0,0,0
$GC,734,-0.58,-127.1,65.5,-8.1,127,740,0.00,2.33,0.00,0.011,6,0.000,0.039,2537,2212,3583,0,0,0,0,0,0
$GC,876,-0.55,-127.1,77.8,-8.6,152,882,0.05,0.00,0.00,0.010,6,0.010,0.000,2558,2213,3583,0,0,0,0,0,0
$GC,1017,-0.55,-127.1,88.2,-6.8,177,1022,0.00,0.00,0.00,0.000,6,0.007,0.007,2558,2213,3583,0,0,0,0,0,0
$GC,1158,-0.57,-127.1,97.8,-7.0,202,1164,0.00,0.00,0.00,0.007,6,0.007,0.007,2558,2213,3583,0,0,0,0,0,0
$STATE,1269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1269,begin apogee
$GC,1275,-0.19,0.0,105.5,6.6,222,1377,0.25,0.00,92.53,0.773,6,0.099,0.766,2666,2213,3060,0,0,0,0,0,0
$STATE,1378,end apogee,CONTROL_FINISHED_OK
$STATE,1378,begin climb
$GC,1380,0.85,127.1,108.1,0.0,242,1485,0.93,2.55,93.40,0.741,4,0.083,0.053,3003,3781,2544,0,0,0,0,0,0
$GC,1570,0.76,127.1,92.3,11.9,277,1576,0.00,2.47,0.00,0.013,6,0.013,0.046,3005,2205,2544,0,0,0,0,0,0
$GC,1714,0.68,127.1,77.1,10.0,302,1720,0.00,2.42,0.00,0.008,4,0.008,0.042,3005,3783,2543,0,0,0,0,0,0
$GC,1754,0.59,127.1,72.4,11.3,309,1761,0.15,2.40,0.00,0.024,6,0.000,0.039,2968,2197,2543,0,0,0,0,0,0
$GC,1898,0.59,127.1,59.9,8.6,334,1903,0.00,0.00,0.00,0.007,6,0.007,0.007,2968,2197,2543,0,0,0,0,0,0
$GC,2038,0.59,127.1,48.2,8.3,359,2044,0.00,2.40,0.00,0.007,4,0.000,0.058,2978,614,2543,0,0,0,0,0,0
$GC,2061,0.59,127.1,46.3,8.0,363,2067,0.00,2.35,0.00,0.019,6,0.019,0.031,2978,2200,2542,0,0,0,0,0,0
$GC,2202,0.59,127.1,35.0,8.1,388,2209,0.00,2.40,0.00,0.007,4,0.007,0.057,2978,3776,2543,0,0,0,0,0,0
$GC,2234,0.56,127.1,32.6,7.6,393,2241,0.05,2.40,0.00,0.015,6,0.015,0.046,2961,2196,2542,0,0,0,0,0,0
$GC,2308,0.58,139.6,26.8,6.9,406,2325,0.00,0.00,11.23,0.675,6,0.000,0.000,2961,2197,2489,0,0,0,0,0,0
$GC,2393,0.58,143.0,20.7,7.3,421,2400,0.00,0.00,3.88,0.495,6,0.007,0.855,2961,2197,2477,0,0,0,0,0,0
$GC,2467,0.62,147.8,15.2,7.3,434,2478,0.00,0.00,5.75,0.578,6,0.007,0.023,2961,2197,2455,0,0,0,0,0,0
$GC,2546,0.67,160.4,9.6,6.9,448,2559,0.00,0.00,10.38,0.744,6,0.007,0.758,2961,2197,2406,0,0,0,0,0,0
$GC,2626,0.81,219.8,5.4,5.0,462,2650,0.08,0.00,20.67,0.000,2,0.007,0.000,3011,2197,2294,0,0,0,0,0,0
$STATE,2651,end climb,SURFACE_DEPTH_REACHED
$STATE,2651,begin surface coast
$FINISH,2.8,1.017762
$STATE,2734,end surface coast,CONTROL_FINISHED_OK
$STATE,2734,begin surface
$SM_CCo,2753,235.65,0.716,0,0,1021,500.17
$SM_GC,0.20,0.00,0.00,235.65,0.008,0.704,0.716,153,2182,1021,-8.13,-0.51,500.17
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,120998,131356
$HUMID,1078528785
$INTERNAL_PRESSURE,7.90232
$TCM_TEMP,12.40
$XPDR_PINGS,2
$24V_AH,24.1,3.075
$10V_AH,10.6,1.194
$FG_AHR_24Vo,5.552
$FG_AHR_10Vo,5.736
$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,18.450,33.650,237.825,235.650,0.000,24.818,40.367,234.351,0.500,0.000,31.303,699.024,797.715,527.773,955.120,491.324,33.346,704.249,0.000,932.297,0.000,0.537,0.000
$DEVICE_MAMPS,241.084,57.699,773.347,716.345,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,278.755,462.051,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324380
$DATA_FILE_SIZE,19108,481
$CAP_FILE_SIZE,59058,0
$CFSIZE,260034560,256663552
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180609,151944,4807.858,-12223.752,13,1.8,13,18.3