version: 66.05
glider: 159
mission: 11
dive: 23
start: 4 10 109 13 35 15
data:
$ID,159
$MISSION,11
$DIVE,23
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$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,30
$T_MISSION,45
$T_ABORT,1440
$T_TURN,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,175
$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,550
$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,-83436.82
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,30
$PITCH_MAX,4055
$C_PITCH,2975
$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,2235
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,2836
$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,13.499644
$FG_AHR_24V,15.145639
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.703127
$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
$GPS1,133610,4807.963,-12223.589,12,2.4,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-67.9
$GPS2,134021,4807.952,-12223.580,9,99.0,28,18.3
$SPEED_LIMITS,0.100,0.229
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.224,0.046
$KALMAN_X,-799.4,128.4,-65.9,101.1,21.0
$KALMAN_Y,3018.5,-219.8,112.9,-1969.3,-30.6
$MHEAD_RNG_PITCHd_Wd,60.1,722,-19.9,-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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.87,-171.1,0.0,0.0,0,150,0.00,0.00,-122.93,0.000,2,0.000,0.000,28,2207,2880,0,0,0,0,0,0
$GC,155,-1.87,-171.1,3.0,-9.5,24,194,10.73,2.33,-21.95,0.000,4,0.240,0.200,2562,837,3536,0,0,0,0,0,0
$GC,218,-1.87,-171.1,6.3,-6.5,35,225,0.00,2.35,0.00,0.000,6,0.058,0.050,2554,2232,3536,0,0,0,0,0,0
$GC,292,-1.87,-171.1,12.4,-8.3,48,299,0.00,0.00,0.00,0.007,6,0.007,0.007,2553,2234,3536,0,0,0,0,0,0
$GC,365,-1.87,-171.1,18.4,-9.9,61,372,0.00,2.42,0.00,0.000,4,0.007,0.067,2543,3634,3536,0,0,0,0,0,0
$GC,484,-1.87,-171.1,31.3,-11.2,73,491,0.08,2.33,0.00,0.011,6,0.011,0.034,2564,2249,3536,0,0,0,0,0,0
$GC,682,-1.87,-171.1,52.3,-11.1,92,687,0.00,2.40,0.00,-0.000,4,0.007,0.065,2556,3644,3536,0,0,0,0,0,0
$GC,724,-1.87,-171.1,56.9,-11.9,95,729,0.00,2.33,0.00,0.008,6,0.062,0.047,2555,2233,3536,0,0,0,0,0,0
$STATE,1028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1035,-0.42,0.0,90.7,10.9,123,1173,1.05,0.00,131.57,0.784,6,0.074,0.017,2876,2317,2835,0,0,0,0,0,0
$STATE,1173,end apogee,CONTROL_FINISHED_OK
$STATE,1174,begin climb
$GC,1176,1.87,171.1,94.8,0.0,137,1316,1.50,2.50,128.68,0.739,4,0.093,0.067,3385,900,2137,0,0,0,0,0,0
$GC,1324,1.87,171.1,81.1,13.0,151,1329,0.00,2.30,0.00,0.010,6,0.010,0.047,3386,2286,2137,0,0,0,0,0,0
$GC,1652,1.87,171.1,34.5,13.9,181,1657,0.00,2.42,0.00,0.007,4,0.007,0.070,3386,3707,2135,0,0,0,0,0,0
$GC,1707,1.87,171.1,25.7,15.0,185,1714,0.00,2.38,0.00,0.014,6,0.014,0.037,3386,2310,2136,0,0,0,0,0,0
$STATE,1879,end climb,SURFACE_DEPTH_REACHED
$STATE,1881,begin surface coast
$FINISH,2.1,1.013533
$STATE,1919,end surface coast,CONTROL_FINISHED_OK
$STATE,1920,begin surface
$SM_CCo,1942,296.45,0.709,0,0,593,550.21
$SM_GC,0.29,0.00,0.00,296.45,0.008,0.010,0.709,22,2213,593,-13.58,-0.62,550.21
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12230.75,050798,131340
$HUMID,1078019062
$INTERNAL_PRESSURE,9.01924
$TCM_TEMP,11.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,66.3,999.0
$24V_AH,23.7,4.319
$10V_AH,12.0,1.631
$FG_AHR_24Vo,15.265
$FG_AHR_10Vo,13.525
$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,23.475,23.975,260.250,296.450,0.000,24.446,29.823,82.826,0.250,0.000,30.808,340.495,646.105,589.275,686.924,246.162,33.349,791.762,0.000,670.145,0.000,2.557,0.000
$DEVICE_MAMPS,239.715,200.305,783.642,708.837,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,128.337,564.280,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324924
$DATA_FILE_SIZE,9712,221
$CAP_FILE_SIZE,34150,0
$CFSIZE,260034560,256905216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100409,141958,4807.956,-12223.255,10,99.0,29,18.3