version: 66.04
glider: 159
mission: 1
dive: 26
start: 9 30 108 13 17 53
data:
$ID,159
$MISSION,1
$DIVE,26
$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,-33159.508
$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,24
$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
$GPS1,131308,4807.440,-12223.058,7,1.6,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.23
$_SM_ANGLEo,-72.2
$GPS2,131657,4807.440,-12223.066,12,1.5,12,18.3
$SPEED_LIMITS,0.100,0.202
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.023,0.201
$KALMAN_X,-355.0,78.9,-39.7,-248.1,-15.7
$KALMAN_Y,-872.4,16.9,85.4,-917.9,-11.2
$MHEAD_RNG_PITCHd_Wd,348.1,1040,-23.3,-10.000
$D_GRID,107
$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,-122.2,0.0,0.0,0,106,0.00,0.00,-85.82,0.000,6,0.000,0.000,24,2198,3540
$GC,109,-2.09,-122.2,3.1,-11.0,17,127,11.02,2.33,0.00,0.000,4,0.235,0.059,2670,818,3542
$GC,162,-2.09,-122.2,13.4,-12.2,26,168,0.00,2.33,0.00,0.000,6,0.000,0.041,2662,2227,3542
$GC,240,-2.09,-122.2,22.4,-11.2,38,244,0.00,2.40,0.00,0.000,4,0.000,0.063,2650,3641,3543
$GC,269,-2.09,-122.2,25.9,-13.0,40,274,0.10,2.33,0.00,0.000,6,0.176,0.043,2671,2230,3543
$GC,466,-2.09,-122.2,47.9,-10.5,58,470,0.00,2.38,0.00,0.000,4,0.000,0.060,2663,3631,3544
$GC,504,-2.09,-122.2,52.3,-11.6,61,510,0.00,2.33,0.00,0.000,6,0.000,0.044,2663,2223,3544
$GC,829,-2.09,-122.2,86.7,-10.6,92,833,0.00,2.40,0.00,0.000,4,0.000,0.059,2652,3635,3543
$GC,850,-2.09,-122.2,89.1,-10.5,93,857,0.10,2.33,0.00,0.000,6,0.176,0.043,2673,2225,3543
$STATE,1024,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1024,begin apogee
$GC,1031,-0.42,0.0,107.8,10.0,110,1130,1.23,0.00,95.25,0.733,6,0.142,0.000,3036,2292,3040
$STATE,1131,end apogee,CONTROL_FINISHED_OK
$STATE,1131,begin climb
$GC,1134,2.09,122.2,110.5,0.0,120,1231,1.62,0.00,92.78,0.718,6,0.082,0.000,3584,2292,2540
$GC,1549,2.09,122.2,57.7,14.4,160,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,2292,2539
$GC,1869,2.09,122.2,15.8,11.5,193,1875,0.00,2.33,0.00,0.000,4,0.000,0.060,3584,3668,2539
$GC,1910,2.09,122.2,10.9,11.9,200,1916,0.00,2.33,0.00,0.000,6,0.000,0.046,3590,2268,2539
$GC,1985,2.11,134.4,3.1,9.3,213,2001,0.00,0.00,10.82,0.630,6,0.000,0.000,3590,2267,2491
$STATE,2004,end climb,SURFACE_DEPTH_REACHED
$STATE,2004,begin surface coast
$FINISH,-0.6,1.003583
$STATE,2028,end surface coast,CONTROL_FINISHED_OK
$STATE,2028,begin surface
$SM_CCo,2050,141.45,0.671,0,0,1715,325.02
$SM_GC,0.26,0.00,0.00,141.45,0.000,0.000,0.671,19,2207,1715,-14.31,-0.54,325.02
$IRIDIUM_FIX,4751.72,-12219.12,251297,121220
$TT8_MAMPS,0.02301
$HUMID,1895
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,18.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,82.2,999.0
$24V_AH,24.4,2.343
$10V_AH,12.0,0.617
$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,24.575,23.625,198.850,141.450,0.000,27.447,46.755,70.112,0.250,0.000,0.000,14.388,363.440,1071.526,422.627,357.898,227.083,33.344,655.008,0.000,354.254,0.000,3.488,0.000
$DEVICE_MAMPS,235.469,91.273,733.252,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,146.709,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6442,221
$CAP_FILE_SIZE,28880,0
$CFSIZE,260165632,258318336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,135515,4807.665,-12223.025,10,1.4,10,18.3