version: 66.04
glider: 159
mission: 1
dive: 6
start: 9 29 108 23 27 13
data:
$ID,159
$MISSION,1
$DIVE,6
$D_SURF,2
$D_FLARE,3
$D_TGT,120
$D_ABORT,1090
$D_NO_BLEED,50
$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,40
$T_MISSION,60
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,125
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51631
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0043390002
$HD_B,0.013382
$HD_C,5.8987e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-32680.012
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,30
$PITCH_MAX,4055
$C_PITCH,3130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,145
$ROLL_MAX,4045
$ROLL_DEG,40
$C_ROLL_DIVE,2225
$C_ROLL_CLIMB,2225
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,3040
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,40
$AH0_10V,16
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.372244
$PRESSURE_SLOPE,0.0001162598
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,25
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,1
$SMARTDEVICE1,3
$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
$GPS1,232145,4808.013,-12223.949,11,1.5,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-71.4
$GPS2,232615,4807.998,-12223.950,14,1.5,14,18.3
$SPEED_LIMITS,0.100,0.202
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.078,-0.187
$KALMAN_X,-198.0,-116.0,-113.7,-1230.0,99.0
$KALMAN_Y,-154.6,-66.6,-39.7,-394.8,-20.1
$MHEAD_RNG_PITCHd_Wd,139.1,2190,-23.3,-10.000
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.94,-122.2,0.0,0.0,0,110,0.00,0.00,-88.90,0.000,6,0.000,0.000,21,2221,3539
$GC,113,-1.94,-122.2,3.8,-12.3,18,131,11.10,2.35,0.00,0.000,4,0.238,0.057,2702,810,3541
$GC,311,-1.94,-122.2,28.4,-10.2,46,317,0.00,2.33,0.00,0.000,6,0.000,0.044,2695,2224,3541
$GC,508,-1.94,-122.2,48.1,-9.9,65,512,0.00,2.40,0.00,0.000,4,0.000,0.067,2685,3641,3542
$GC,609,-1.94,-122.2,59.2,-11.0,73,616,0.10,2.35,0.00,0.000,6,0.173,0.045,2706,2210,3543
$GC,934,-1.94,-122.2,91.2,-9.8,104,938,0.00,2.42,0.00,0.000,4,0.000,0.064,2705,3637,3543
$GC,950,-1.94,-122.2,92.8,-9.6,105,956,0.00,2.33,0.00,0.000,6,0.000,0.045,2705,2221,3543
$STATE,1081,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1081,begin apogee
$GC,1088,-0.38,0.0,105.4,9.5,118,1187,1.12,0.00,95.47,0.711,6,0.140,0.000,3044,2217,3040
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1191,1.94,122.2,107.6,0.0,128,1292,1.50,2.45,93.07,0.691,4,0.084,0.063,3554,3634,2541
$GC,1303,1.94,122.2,97.8,13.5,139,1310,0.00,2.35,0.00,0.000,6,0.000,0.049,3563,2217,2541
$GC,1630,1.94,122.2,55.3,12.6,170,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2217,2540
$GC,1948,1.94,122.2,16.7,12.1,202,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2216,2540
$GC,2021,1.94,122.2,8.0,12.2,215,2027,0.00,2.40,0.00,0.000,4,0.000,0.061,3563,3631,2539
$GC,2033,1.94,122.2,6.5,11.7,217,2039,0.00,2.35,0.00,0.000,6,0.000,0.049,3564,2214,2539
$STATE,2082,end climb,SURFACE_DEPTH_REACHED
$STATE,2082,begin surface coast
$FINISH,0.6,1.019638
$STATE,2112,end surface coast,CONTROL_FINISHED_OK
$STATE,2112,begin surface
$SM_CCo,2133,169.88,0.644,0,0,1613,350.04
$SM_GC,0.43,0.00,0.00,169.88,0.000,0.000,0.644,22,2209,1613,-14.29,-0.45,350.04
$IRIDIUM_FIX,4748.51,-12226.29,241297,222252
$TT8_MAMPS,0.023777
$HUMID,1924
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.8,999.0
$24V_AH,24.6,0.859
$10V_AH,12.1,0.258
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,24.350,23.725,188.550,169.875,0.000,29.571,29.563,106.452,0.250,0.000,0.000,15.653,377.649,1111.192,442.287,396.736,267.979,33.325,691.896,0.000,389.632,0.000,3.488,0.000
$DEVICE_MAMPS,237.770,67.496,711.009,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,153.671,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6444,231
$CAP_FILE_SIZE,30164,0
$CFSIZE,260165632,258727936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,000647,4807.794,-12223.868,12,3.5,31,18.3