version: 66.04
glider: 159
mission: 1
dive: 29
start: 9 30 108 15 16 21
data:
$ID,159
$MISSION,1
$DIVE,29
$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,-33240.125
$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,26
$R_STBD_OVSHOOT,38
$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
$GPS1,151107,4807.988,-12223.052,30,1.6,34,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-70.6
$GPS2,151526,4807.996,-12223.061,12,1.6,29,18.3
$SPEED_LIMITS,0.100,0.202
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.088,0.047
$KALMAN_X,-421.1,60.4,-16.7,-179.1,-15.4
$KALMAN_Y,-966.1,50.3,53.5,202.0,-38.6
$MHEAD_RNG_PITCHd_Wd,43.9,76,-43.2,-10.000
$D_GRID,103
$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,-3.65,-35.8,0.0,0.0,0,91,0.00,0.00,-71.53,0.000,6,0.000,0.000,22,2207,3186
$GC,95,-3.70,-76.7,1.2,-2.3,14,118,9.75,2.38,-5.25,0.000,4,0.242,0.066,2321,811,3354
$GC,192,-3.70,-76.7,17.5,-14.5,31,198,0.00,2.33,0.00,0.000,6,0.000,0.041,2311,2227,3355
$GC,263,-3.70,-76.7,26.9,-12.9,39,264,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2229,3355
$GC,454,-3.70,-76.7,50.4,-12.1,57,458,0.00,2.35,0.00,0.000,4,0.000,0.058,2301,3634,3356
$GC,763,-3.70,-76.7,91.3,-13.3,84,768,0.12,2.33,0.00,0.000,6,0.209,0.041,2325,2218,3356
$STATE,852,end dive,TARGET_DEPTH_EXCEEDED
$STATE,852,begin apogee
$GC,859,-0.42,0.0,103.0,12.7,92,926,2.60,0.00,61.12,0.729,6,0.184,0.000,3039,2292,3040
$STATE,926,end apogee,CONTROL_FINISHED_OK
$STATE,926,begin climb
$GC,929,3.70,76.7,105.2,0.0,99,996,2.62,2.42,58.83,0.706,4,0.077,0.061,3948,865,2727
$GC,1067,3.70,76.7,82.8,22.8,111,1071,0.00,2.33,0.00,0.000,6,0.000,0.041,3948,2274,2726
$GC,1392,3.70,76.7,14.9,18.7,143,1398,0.00,2.38,0.00,0.000,4,0.000,0.061,3948,3686,2726
$STATE,1486,end climb,SURFACE_DEPTH_REACHED
$STATE,1486,begin surface coast
$FINISH,2.3,1.020921
$STATE,1527,end surface coast,CONTROL_FINISHED_OK
$STATE,1529,begin surface
$SM_CCo,1533,474.48,0.643,0,0,188,699.60
$SM_GC,-0.05,11.32,0.00,0.00,0.058,0.000,0.000,24,2217,183,-14.21,-0.23,701.07
$IRIDIUM_FIX,4748.51,-12221.84,251297,141414
$TT8_MAMPS,0.02301
$HUMID,1853
$INTERNAL_PRESSURE,7.14871
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,78.4,999.0
$24V_AH,24.4,2.605
$10V_AH,12.0,0.670
$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,26.425,19.075,119.950,474.475,0.000,31.133,34.253,90.749,0.250,0.000,0.000,31.406,303.587,848.979,665.339,345.185,238.262,33.349,872.526,0.000,321.742,0.000,3.491,0.000
$DEVICE_MAMPS,242.372,65.962,728.650,642.746,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,111.151,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,3316,167
$CAP_FILE_SIZE,26307,0
$CFSIZE,260165632,258265088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300908,155247,4808.028,-12222.988,6,99.0,25,18.3