version: 66.04
glider: 128
mission: 2
dive: 26
start: 10 15 108 17 9 8
data:
$ID,128
$MISSION,2
$DIVE,26
$D_SURF,5
$D_FLARE,3
$D_TGT,150
$D_ABORT,1100
$D_NO_BLEED,200
$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,50
$T_MISSION,70
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,180
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51675
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,20
$TGT_DEFAULT_LON,-158
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$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,-108244.11
$T_RSLEEP,5
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,60
$PITCH_MAX,4070
$C_PITCH,2861
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,75
$ROLL_MAX,4020
$ROLL_DEG,40
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.435914
$PRESSURE_SLOPE,0.0001162386
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$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,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$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,0.0043206438
$SEABIRD_T_H,0.00063139666
$SEABIRD_T_I,2.5065803e-05
$SEABIRD_T_J,2.8780487e-06
$SEABIRD_C_G,-9.8634701
$SEABIRD_C_H,1.1197931
$SEABIRD_C_I,-0.0018544764
$SEABIRD_C_J,0.0002103937
$GPS1,165422,4807.961,-12223.062,13,2.3,32,18.3
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.8
$GPS2,170850,4807.976,-12223.065,31,1.8,31,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$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,42.9,92,-27.8,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,22,-1.47,-63.1,0.0,0.0,0,88,0.00,0.00,-63.33,0.000,2,0.000,0.000,50,2068,2859
$GC,94,-1.51,-97.3,3.1,-4.1,11,120,9.32,2.38,-6.28,0.000,4,0.216,0.058,2362,3454,3149
$GC,369,-1.51,-97.3,40.3,-13.5,72,375,0.00,2.28,0.00,0.000,6,0.000,0.031,2362,2045,3151
$GC,515,-1.51,-97.3,58.7,-12.5,103,521,0.00,2.35,0.00,0.000,4,0.000,0.045,2351,3455,3151
$GC,688,-1.51,-97.3,81.4,-13.1,139,694,0.00,2.28,0.00,0.000,6,0.000,0.031,2351,2041,3150
$GC,833,-1.51,-97.3,101.7,-13.0,170,839,0.00,0.00,0.00,0.000,6,0.000,0.000,2351,2041,3151
$STATE,842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,842,begin apogee
$GC,853,-0.25,0.0,103.6,13.4,172,932,1.40,0.00,72.43,0.804,6,0.142,0.000,2772,2035,2750
$STATE,933,end apogee,CONTROL_FINISHED_OK
$STATE,933,begin climb
$GC,938,1.51,97.3,107.0,0.0,186,1019,1.70,2.55,72.70,0.739,4,0.064,0.043,3346,3457,2352
$GC,1033,1.51,97.3,100.4,10.8,202,1039,0.00,2.38,0.00,0.000,6,0.000,0.031,3357,2055,2352
$GC,1183,1.51,97.3,79.9,13.9,233,1189,0.00,2.38,0.00,0.000,4,0.000,0.044,3356,3463,2352
$GC,1203,1.51,97.3,76.3,13.9,236,1209,0.00,2.33,0.00,0.000,6,0.000,0.031,3367,2043,2352
$GC,1347,1.51,97.3,55.5,13.7,267,1353,0.00,2.38,0.00,0.000,4,0.000,0.044,3368,3455,2351
$GC,1362,1.51,97.3,53.2,13.9,269,1369,0.12,2.30,0.00,0.000,6,0.152,0.032,3349,2046,2351
$GC,1511,1.51,97.3,33.4,12.8,300,1518,0.00,2.38,0.00,0.000,4,0.000,0.044,3347,3454,2351
$GC,1531,1.51,97.3,30.7,13.5,303,1537,0.00,2.28,0.00,0.000,6,0.000,0.032,3357,2042,2351
$GC,1605,1.51,97.3,21.0,12.7,319,1611,0.00,2.35,0.00,0.000,4,0.000,0.044,3357,3459,2351
$GC,1658,1.51,97.3,14.7,11.8,330,1664,0.00,2.28,0.00,0.000,6,0.000,0.031,3368,2044,2351
$GC,1732,1.52,105.4,6.6,9.1,346,1745,0.00,0.00,6.85,0.731,6,0.000,0.000,3368,2044,2320
$STATE,1749,end climb,SURFACE_DEPTH_REACHED
$STATE,1749,begin surface coast
$FINISH,3.3,1.020649
$STATE,1813,end surface coast,CONTROL_FINISHED_OK
$STATE,1813,begin surface
$SM_CCo,1840,117.60,0.686,0,0,1323,350.04
$SM_GC,1.19,0.00,0.00,117.60,0.000,0.000,0.686,56,2032,1323,-8.76,-0.51,350.04
$IRIDIUM_FIX,4751.72,-12340.51,090198,171723
$TT8_MAMPS,0.026845
$HUMID,1637
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,24.5,2.321
$10V_AH,10.8,1.312
$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,22.250,32.850,151.975,117.600,0.000,73.347,167.787,288.683,0.000,0.000,0.000,33.117,559.686,432.774,339.012,644.973,858.794,0.000,682.889,0.000,676.272,0.000,0.541,0.000
$DEVICE_MAMPS,215.527,58.292,803.816,686.465,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,251.561,430.186,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15918,364
$CAP_FILE_SIZE,42297,0
$CFSIZE,260165632,226050048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,151008,174307,4808.017,-12222.823,31,1.0,31,18.3