version: 66.04
glider: 159
mission: 1
dive: 22
start: 9 30 108 10 31 45
data:
$ID,159
$MISSION,1
$DIVE,22
$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,325
$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,-33056.293
$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,12
$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,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,22
$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
$GPS1,102655,4807.331,-12223.239,32,1.7,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-71.4
$GPS2,103050,4807.308,-12223.207,13,1.7,30,18.3
$SPEED_LIMITS,0.100,0.202
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.070,-0.190
$KALMAN_X,-261.9,43.3,-41.9,-478.7,14.8
$KALMAN_Y,-895.2,-85.4,-19.5,-934.8,38.7
$MHEAD_RNG_PITCHd_Wd,141.4,626,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-2.09,-122.2,0.0,0.0,0,101,0.00,0.00,-82.03,0.000,6,0.000,0.000,26,2201,3540
$GC,105,-2.09,-122.2,3.9,-14.1,16,122,11.05,2.30,0.00,0.000,4,0.238,0.060,2669,830,3543
$GC,129,-2.09,-122.2,10.0,-22.5,20,135,0.00,2.30,0.00,0.000,6,0.000,0.040,2660,2231,3542
$GC,203,-2.09,-122.2,18.8,-10.7,33,209,0.00,2.38,0.00,0.000,4,0.000,0.064,2650,3633,3543
$GC,215,-2.09,-122.2,20.1,-10.2,35,220,0.10,2.30,0.00,0.000,6,0.179,0.042,2670,2229,3543
$GC,413,-2.09,-122.2,41.9,-10.8,53,417,0.00,2.38,0.00,0.000,4,0.000,0.061,2671,820,3544
$GC,654,-2.09,-122.2,70.5,-12.4,74,658,0.00,2.33,0.00,0.000,6,0.000,0.042,2662,2232,3543
$STATE,978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,978,begin apogee
$GC,985,-0.42,0.0,106.2,10.9,104,1084,1.27,0.00,94.82,0.742,6,0.144,0.000,3036,2296,3040
$STATE,1085,end apogee,CONTROL_FINISHED_OK
$STATE,1085,begin climb
$GC,1088,2.09,122.2,109.2,0.0,114,1192,1.62,2.53,92.55,0.715,4,0.083,0.064,3590,860,2540
$GC,1229,2.09,122.2,95.5,13.9,127,1233,0.00,2.33,0.00,0.000,6,0.000,0.042,3587,2267,2540
$GC,1556,2.09,122.2,51.2,13.1,157,1560,0.00,2.40,0.00,0.000,4,0.000,0.064,3587,3682,2539
$GC,1645,2.09,122.2,38.4,13.5,164,1651,0.00,2.33,0.00,0.000,6,0.000,0.047,3590,2280,2539
$GC,1845,2.09,122.2,13.0,12.3,187,1850,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2279,2539
$GC,1918,2.09,122.2,4.1,12.5,200,1924,0.00,2.40,0.00,0.000,4,0.000,0.061,3590,3685,2540
$GC,1937,2.09,122.2,2.4,10.2,203,1943,0.00,2.33,0.00,0.000,6,0.000,0.041,3590,2266,2539
$STATE,1947,end climb,SURFACE_DEPTH_REACHED
$STATE,1947,begin surface coast
$FINISH,1.1,1.020212
$STATE,1976,end surface coast,CONTROL_FINISHED_OK
$STATE,1977,begin surface
$SM_CCo,1999,151.68,0.670,0,0,1715,325.02
$SM_GC,0.31,0.00,0.00,151.68,0.000,0.000,0.670,24,2214,1715,-14.29,-0.31,325.02
$IRIDIUM_FIX,4751.72,-12223.57,251297,090920
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,7.2659
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.7,999.0
$24V_AH,24.4,2.043
$10V_AH,12.0,0.545
$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,24.750,28.400,187.375,151.675,0.000,30.335,31.354,73.107,0.250,0.000,0.000,31.717,360.205,995.605,413.105,414.216,223.067,33.350,667.753,0.000,388.268,0.000,3.487,0.000
$DEVICE_MAMPS,237.770,104.312,741.689,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,139.487,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6441,210
$CAP_FILE_SIZE,30261,0
$CFSIZE,260165632,258400256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,110844,4807.228,-12223.111,12,1.9,29,18.3