version: 66.04
glider: 159
mission: 1
dive: 27
start: 9 30 108 13 59 52
data:
$ID,159
$MISSION,1
$DIVE,27
$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,-33176.973
$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,34
$R_STBD_OVSHOOT,41
$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
$GPS1,135515,4807.665,-12223.025,10,1.4,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.22
$_SM_ANGLEo,-71.5
$GPS2,135856,4807.660,-12223.019,10,1.4,15,18.3
$SPEED_LIMITS,0.100,0.202
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.012,0.202
$KALMAN_X,-347.8,75.5,-36.0,-197.9,-9.7
$KALMAN_Y,-904.3,30.0,82.0,-488.8,-14.3
$MHEAD_RNG_PITCHd_Wd,345.1,630,-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,-122.2,0.0,0.0,0,106,0.00,0.00,-84.97,0.000,6,0.000,0.000,19,2207,3540
$GC,109,-2.09,-122.2,3.4,-11.8,17,127,11.18,2.30,0.00,0.000,4,0.240,0.057,2668,828,3543
$GC,133,-2.09,-122.2,10.9,-28.5,21,139,0.00,2.28,0.00,0.000,6,0.000,0.040,2659,2212,3542
$GC,208,-2.09,-122.2,20.5,-10.8,34,209,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2213,3542
$GC,399,-2.09,-122.2,41.6,-10.5,52,403,0.00,2.40,0.00,0.000,4,0.000,0.063,2648,3627,3543
$GC,494,-2.09,-122.2,52.3,-11.5,60,499,0.12,2.30,0.00,0.000,6,0.169,0.044,2677,2235,3543
$GC,819,-2.09,-122.2,85.7,-10.2,90,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2234,3544
$STATE,1007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1007,begin apogee
$GC,1014,-0.42,0.0,105.9,10.6,108,1114,1.20,0.00,95.18,0.739,6,0.142,0.000,3034,2289,3040
$STATE,1114,end apogee,CONTROL_FINISHED_OK
$STATE,1114,begin climb
$GC,1117,2.09,122.2,108.8,0.0,118,1214,1.65,0.00,92.93,0.716,6,0.083,0.000,3588,2289,2540
$GC,1532,2.09,122.2,56.6,14.5,158,1536,0.00,2.33,0.00,0.000,4,0.000,0.061,3588,3665,2539
$GC,1578,2.09,122.2,49.9,14.6,162,1582,0.00,2.33,0.00,0.000,6,0.000,0.048,3590,2274,2539
$GC,1781,2.09,122.2,22.5,12.4,181,1782,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2273,2539
$STATE,1968,end climb,SURFACE_DEPTH_REACHED
$STATE,1968,begin surface coast
$FINISH,-0.4,1.019839
$STATE,1996,end surface coast,CONTROL_FINISHED_OK
$STATE,1997,begin surface
$SM_CCo,2018,151.50,0.666,0,0,1714,325.02
$SM_GC,0.31,0.00,0.00,151.50,0.000,0.000,0.666,22,2206,1714,-14.30,-0.54,325.02
$IRIDIUM_FIX,4748.51,-12233.46,251297,131323
$TT8_MAMPS,0.02301
$HUMID,1895
$INTERNAL_PRESSURE,7.27567
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.4,999.0
$24V_AH,24.4,2.417
$10V_AH,12.0,0.634
$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,24.575,14.075,188.100,151.500,0.000,22.192,38.569,74.326,0.250,0.000,0.000,16.836,360.606,1065.745,409.297,361.445,215.438,33.347,631.077,0.000,354.327,0.000,3.490,0.000
$DEVICE_MAMPS,240.071,91.273,738.621,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,145.375,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6428,218
$CAP_FILE_SIZE,26437,0
$CFSIZE,260165632,258301952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,143708,4807.875,-12222.993,26,1.9,26,18.3