version: 66.04
glider: 159
mission: 1
dive: 3
start: 9 29 108 21 0 17
data:
$ID,159
$MISSION,1
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,60
$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,20
$T_MISSION,45
$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,400
$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,-32478.143
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,30
$PITCH_MAX,4055
$C_PITCH,3100
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$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,2125
$C_ROLL_CLIMB,2125
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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
$GPS1,205520,4808.073,-12223.212,11,1.2,11,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-68.2
$GPS2,205923,4808.058,-12223.216,10,3.7,29,18.3
$SPEED_LIMITS,0.100,0.202
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.201,-0.023
$KALMAN_X,-276.9,-129.9,-121.0,-205.9,-53.3
$KALMAN_Y,-44.8,-16.4,-14.8,-465.3,-5.1
$MHEAD_RNG_PITCHd_Wd,245.1,975,-23.3,-10.000
$D_GRID,103
$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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,15,-1.61,-122.2,0.0,0.0,0,140,0.00,0.00,-120.72,0.000,6,0.000,0.000,21,2146,3540
$GC,144,-1.61,-122.2,3.1,-10.2,24,161,11.23,2.33,0.00,0.000,4,0.236,0.061,2738,3528,3541
$GC,465,-1.61,-122.2,35.7,-9.2,65,471,0.00,2.30,0.00,0.000,6,0.000,0.045,2738,2120,3543
$GC,663,-1.61,-122.2,52.1,-8.1,84,667,0.00,2.40,0.00,0.000,4,0.000,0.064,2734,3531,3543
$GC,736,-1.61,-122.2,58.7,-9.2,90,740,0.00,2.33,0.00,0.000,6,0.000,0.046,2735,2113,3543
$STATE,750,end dive,TARGET_DEPTH_EXCEEDED
$STATE,750,begin apogee
$GC,757,-0.31,0.0,60.4,9.4,91,856,0.98,0.00,95.28,0.667,6,0.137,0.000,3029,2110,3040
$STATE,856,end apogee,CONTROL_FINISHED_OK
$STATE,856,begin climb
$GC,859,1.61,122.2,63.4,0.0,101,960,1.25,2.42,92.90,0.650,4,0.085,0.061,3452,3524,2541
$GC,972,1.64,151.0,57.4,8.4,112,1002,0.00,2.33,23.35,0.630,6,0.000,0.049,3452,2118,2424
$GC,1328,1.65,160.5,23.2,9.5,146,1343,0.00,2.42,8.95,0.585,4,0.000,0.069,3455,717,2384
$GC,1379,1.67,169.9,18.4,9.5,151,1395,0.00,2.30,8.88,0.578,6,0.000,0.041,3455,2128,2346
$GC,1464,1.67,171.0,10.1,9.9,166,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,2129,2346
$GC,1538,1.71,208.3,3.7,7.9,179,1566,0.00,0.00,25.80,0.622,2,0.000,0.000,3456,2129,2209
$STATE,1566,end climb,SURFACE_DEPTH_REACHED
$STATE,1566,begin surface coast
$FINISH,0.4,1.019633
$STATE,1599,end surface coast,CONTROL_FINISHED_OK
$STATE,1599,begin surface
$SM_CCo,1620,146.15,0.636,0,0,1409,400.08
$SM_GC,0.54,0.00,0.00,146.15,0.000,0.000,0.636,24,2133,1409,-14.15,0.23,400.08
$IRIDIUM_FIX,4751.72,-12226.29,241297,212135
$TT8_MAMPS,0.02301
$HUMID,1915
$INTERNAL_PRESSURE,7.28544
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,35.2,999.0
$24V_AH,24.6,0.599
$10V_AH,12.1,0.188
$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,23.525,18.825,255.150,146.150,0.000,0.000,0.000,0.000,0.250,0.000,0.000,31.531,298.068,661.378,483.113,367.561,48.377,31.416,723.186,0.000,343.768,0.000,3.492,0.000
$DEVICE_MAMPS,236.236,69.030,666.523,635.843,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,123.936,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6450,190
$CAP_FILE_SIZE,38823,0
$CFSIZE,260165632,258777088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290908,213033,4808.063,-12223.401,11,1.0,11,18.3