version: 66.05
glider: 159
mission: 3
dive: 1
start: 6 17 109 17 56 13
data:
$ID,159
$MISSION,3
$DIVE,1
$D_SURF,4
$D_FLARE,3
$D_TGT,45
$D_ABORT,1090
$D_NO_BLEED,80
$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,240
$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,100
$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,700
$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,-83900.75
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,137
$PITCH_MAX,3974
$C_PITCH,2734
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.1
$PITCH_GAIN,12
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,253
$ROLL_MAX,4045
$ROLL_DEG,40
$C_ROLL_DIVE,2149
$C_ROLL_CLIMB,2149
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,70
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,188
$VBD_MAX,3616
$C_VBD,3060
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,4.7896309
$FG_AHR_24V,2.7483606
$PHONE_SUPPLY,2
$PRESSURE_YINT,-12.938553
$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,0.0043238276
$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
$GPS1,181525,4807.038,-12222.555,8,1.9,8,18.3
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-73.8
$GPS2,182401,4807.101,-12222.625,10,1.6,15,18.3
$SPEED_LIMITS,0.100,0.177
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,-0.047,0.171
$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,326.1,1728,-26.4,-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,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,-2.32,-97.8,0.0,0.0,0,124,0.00,0.00,-97.25,0.000,2,0.007,0.000,126,2132,2591,0,0,0,0,0,0
$GC,127,-2.32,-97.8,3.1,-7.1,19,171,6.70,2.08,-30.00,0.000,4,0.232,0.047,1952,3530,3460,0,0,0,0,0,0
$GC,463,-2.32,-97.8,44.5,-22.6,81,469,0.00,1.95,0.00,0.010,6,0.043,0.037,1955,2156,3461,0,0,0,0,0,0
$STATE,474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,474,begin apogee
$GC,480,-0.42,0.0,47.5,23.6,83,557,2.05,0.00,69.95,0.670,6,0.200,0.000,2575,2154,3060,0,0,0,0,0,0
$STATE,558,end apogee,CONTROL_FINISHED_OK
$STATE,558,begin climb
$GC,561,2.32,97.8,55.2,0.0,98,641,2.50,2.20,71.07,0.642,4,0.101,0.048,3465,755,2659,0,0,0,0,0,0
$GC,833,2.35,116.7,4.3,8.7,148,856,0.00,2.00,15.07,0.567,6,0.019,0.027,3465,2124,2579,0,0,0,0,0,0
$GC,922,2.48,226.5,5.2,2.3,164,1003,0.10,0.00,76.65,0.000,2,0.000,0.000,3516,2124,2138,0,0,0,0,0,0
$STATE,1004,end climb,SURFACE_DEPTH_REACHED
$STATE,1004,begin surface coast
$FINISH,3.4,1.018229
$STATE,1276,end surface coast,CONTROL_FINISHED_OK
$STATE,1276,begin surface
$SM_CCo,1296,351.73,0.652,0,0,206,700.09
$SM_GC,1.32,0.00,0.00,351.73,0.007,0.639,0.652,145,2129,206,-8.09,-0.57,700.09
$SUPER,3,206,254,0,0,0
$IRIDIUM_FIX,4751.72,-12340.51,110998,181839
$HUMID,1078505544
$INTERNAL_PRESSURE,8.07445
$TCM_TEMP,15.80
$XPDR_PINGS,127
$ALTIM_BOTTOM_PING,27.4,999.0
$24V_AH,24.8,0.304
$10V_AH,10.7,0.135
$FG_AHR_24Vo,2.858
$FG_AHR_10Vo,4.814
$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,21.100,8.225,232.750,351.725,0.000,0.000,0.000,0.000,32.000,0.000,17.252,306.022,170.993,575.132,620.480,51.121,29.237,766.477,0.000,616.036,0.000,2.560,0.000
$DEVICE_MAMPS,231.880,48.135,669.993,651.678,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,132.289,536.573,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324412
$DATA_FILE_SIZE,9700,229
$CAP_FILE_SIZE,40818,0
$CFSIZE,260034560,257400832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170609,185336,4807.203,-12222.655,10,1.8,26,18.3