version: 66.05
glider: 159
mission: 10
dive: 1
start: 4 2 109 16 20 11
data:
$ID,159
$MISSION,10
$DIVE,1
$D_SURF,2
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,200
$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,15
$T_MISSION,30
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,-82640.477
$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,2095
$C_ROLL_CLIMB,2095
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,2686
$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
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,6.9480114
$FG_AHR_24V,6.7339878
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.092597
$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,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,0.0042382758
$SEABIRD_T_H,0.00063342927
$SEABIRD_T_I,2.5365067e-05
$SEABIRD_T_J,2.828881e-06
$SEABIRD_C_G,-10.044323
$SEABIRD_C_H,1.1187451
$SEABIRD_C_I,-0.0012770178
$SEABIRD_C_J,0.00018763109
$GPS1,170922,4743.011,-12224.373,9,3.3,28,18.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-59.3
$GPS2,171907,4742.992,-12224.486,30,1.7,30,18.2
$SPEED_LIMITS,0.100,0.214
$TGT_NAME,SOUTH
$TGT_LATLONG,4742.900,-12224.300
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.172,-0.127
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,108.1,288,-21.6,-10.000
$D_GRID,177
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.98,-146.6,0.0,0.0,0,244,0.00,0.00,-212.20,0.000,6,0.007,0.007,23,2098,3286,0,0,0,0,0,0
$GC,247,-1.98,-146.6,2.0,-8.1,42,271,13.25,2.62,0.00,-0.000,4,0.238,0.042,2690,710,3287,0,0,0,0,0,0
$GC,441,-1.98,-146.6,14.5,-5.4,77,447,0.00,2.50,0.00,0.009,6,0.057,0.048,2681,2062,3287,0,0,0,0,0,0
$GC,514,-1.98,-146.6,17.9,-4.3,90,521,0.00,2.75,0.00,0.000,4,0.007,0.071,2671,3503,3287,0,0,0,0,0,0
$GC,555,-1.98,-146.6,19.9,-5.4,97,563,0.08,2.55,0.00,0.014,6,0.000,0.045,2692,2114,3287,0,0,0,0,0,0
$GC,626,-1.98,-146.6,22.6,-3.6,104,628,0.00,0.00,0.00,0.007,6,0.007,0.007,2692,2114,3287,0,0,0,0,0,0
$GC,817,-1.98,-146.6,30.8,-4.0,122,822,0.00,2.65,0.00,0.007,4,0.007,0.065,2684,3500,3286,0,0,0,0,0,0
$GC,857,-1.98,-146.6,32.7,-5.2,125,862,0.00,2.55,0.00,-0.000,6,0.058,0.047,2684,2095,3286,0,0,0,0,0,0
$STATE,915,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,915,begin apogee
$GC,921,-0.42,0.0,35.5,4.2,130,1058,1.23,0.00,127.53,0.694,6,0.126,0.694,3033,2093,2687,0,0,0,0,0,0
$STATE,1059,end apogee,CONTROL_FINISHED_OK
$STATE,1059,begin climb
$GC,1062,1.98,146.6,34.6,0.0,144,1203,1.62,2.70,126.93,0.661,4,0.062,0.047,3566,3495,2087,0,0,0,0,0,0
$GC,1216,1.98,146.6,10.5,22.5,162,1223,0.00,2.65,0.00,0.013,6,0.013,0.042,3566,2102,2085,0,0,0,0,0,0
$STATE,1251,end climb,SURFACE_DEPTH_REACHED
$STATE,1251,begin surface coast
$FINISH,0.2,1.017421
$STATE,1258,end surface coast,CONTROL_FINISHED_OK
$STATE,1258,begin surface
$SM_CCo,1281,183.73,0.639,0,0,645,500.17
$SM_GC,0.42,0.00,0.00,183.73,0.007,0.644,0.639,26,2100,645,-14.28,0.14,500.17
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4726.11,-12227.78,270698,171729
$HUMID,1078054079
$INTERNAL_PRESSURE,9.06122
$TCM_TEMP,12.60
$XPDR_PINGS,5
$ALTIM_BOTTOM_PING,27.0,999.0
$24V_AH,21.7,1.274
$10V_AH,12.1,0.533
$FG_AHR_24Vo,6.819
$FG_AHR_10Vo,6.967
$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,27.625,20.975,254.450,183.725,0.000,0.000,0.000,0.000,1.500,0.000,31.564,235.385,250.597,511.641,508.468,65.568,29.238,745.523,0.000,489.715,0.000,2.549,0.000
$DEVICE_MAMPS,237.944,70.723,694.177,638.963,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,98.691,431.607,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324656
$DATA_FILE_SIZE,6593,169
$CAP_FILE_SIZE,47558,0
$CFSIZE,260034560,257507328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020409,174558,4742.917,-12224.479,9,99.0,28,18.2