version: 66.04
glider: 159
mission: 1
dive: 25
start: 9 30 108 12 37 47
data:
$ID,159
$MISSION,1
$DIVE,25
$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,-33144.492
$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,33
$R_STBD_OVSHOOT,37
$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
$GPS1,123322,4807.235,-12223.052,8,2.4,27,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.25
$_SM_ANGLEo,-72.2
$GPS2,123651,4807.223,-12223.049,12,1.4,12,18.3
$SPEED_LIMITS,0.100,0.202
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.010,0.202
$KALMAN_X,-307.8,76.3,-45.2,-266.2,-1.7
$KALMAN_Y,-805.4,-10.8,62.9,-1336.5,44.5
$MHEAD_RNG_PITCHd_Wd,344.6,1440,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-2.09,-122.2,0.0,0.0,0,106,0.00,0.00,-83.72,0.000,6,0.000,0.000,25,2211,3539
$GC,109,-2.09,-122.2,4.0,-13.1,17,126,11.10,0.00,0.00,0.000,6,0.239,0.000,2668,2207,3541
$GC,194,-2.09,-122.2,17.5,-10.5,32,200,0.00,2.35,0.00,0.000,4,0.000,0.060,2668,817,3542
$GC,212,-2.09,-122.2,19.5,-10.9,35,218,0.00,2.30,0.00,0.000,6,0.000,0.041,2660,2214,3541
$GC,282,-2.09,-122.2,27.4,-11.4,42,286,0.00,2.40,0.00,0.000,4,0.000,0.064,2649,3629,3541
$GC,321,-2.09,-122.2,32.1,-12.3,45,326,0.10,2.30,0.00,0.000,6,0.174,0.044,2669,2234,3542
$GC,520,-2.09,-122.2,53.8,-10.8,63,524,0.00,2.38,0.00,0.000,4,0.000,0.059,2661,3629,3542
$GC,537,-2.09,-122.2,55.6,-10.1,64,541,0.00,2.33,0.00,0.000,6,0.000,0.044,2661,2220,3542
$GC,865,-2.09,-122.2,90.4,-10.3,94,869,0.00,2.40,0.00,0.000,4,0.000,0.060,2651,3629,3543
$GC,882,-2.09,-122.2,92.7,-10.7,95,887,0.10,2.33,0.00,0.000,6,0.176,0.044,2672,2221,3542
$STATE,1002,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1002,begin apogee
$GC,1009,-0.42,0.0,105.5,10.3,106,1108,1.23,0.00,95.05,0.734,6,0.143,0.000,3034,2301,3040
$STATE,1109,end apogee,CONTROL_FINISHED_OK
$STATE,1109,begin climb
$GC,1112,2.09,122.2,108.0,0.0,116,1209,1.65,0.00,92.65,0.714,6,0.082,0.000,3601,2301,2541
$GC,1527,2.09,122.2,51.3,14.8,156,1531,0.00,2.30,0.00,0.000,4,0.000,0.061,3601,3666,2540
$GC,1583,2.09,122.2,42.6,15.9,161,1587,0.00,2.33,0.00,0.000,6,0.000,0.049,3603,2275,2540
$GC,1782,2.09,122.2,14.8,13.3,182,1787,0.00,0.00,0.00,0.000,6,0.000,0.000,3603,2274,2540
$GC,1856,2.09,122.2,5.0,13.7,195,1862,0.00,2.42,0.00,0.000,4,0.000,0.065,3603,853,2539
$GC,1868,2.09,122.2,3.5,12.9,197,1874,0.00,2.33,0.00,0.000,6,0.000,0.041,3603,2263,2539
$STATE,1879,end climb,SURFACE_DEPTH_REACHED
$STATE,1879,begin surface coast
$FINISH,0.4,1.020875
$STATE,1896,end surface coast,CONTROL_FINISHED_OK
$STATE,1896,begin surface
$SM_CCo,1917,150.90,0.664,0,0,1715,325.02
$SM_GC,0.22,0.00,0.00,150.90,0.000,0.000,0.664,24,2198,1715,-14.29,-0.79,325.02
$IRIDIUM_FIX,4751.72,-12226.29,251297,121243
$TT8_MAMPS,0.023777
$HUMID,1889
$INTERNAL_PRESSURE,7.2659
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.4,2.268
$10V_AH,12.0,0.599
$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,24.625,28.375,187.700,150.900,0.000,23.572,32.435,70.837,0.250,0.000,0.000,13.620,348.300,972.346,424.337,339.218,215.868,33.349,651.793,0.000,334.194,0.000,3.488,0.000
$DEVICE_MAMPS,238.537,70.564,734.019,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,134.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6476,202
$CAP_FILE_SIZE,29822,0
$CFSIZE,260165632,258338816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,131308,4807.440,-12223.058,7,1.6,12,18.3