version: 66.06
glider: 128
mission: 2
dive: 25
start: 3 25 110 12 48 9
data:
$ID,128
$MISSION,2
$DIVE,25
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,4
$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,60
$T_ABORT,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$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,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51580
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,19
$TGT_DEFAULT_LON,118
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-172553.3
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,154
$PITCH_MAX,3958
$C_PITCH,2910
$PITCH_DBAND,0.1
$PITCH_CNV,0.00312576
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,190
$ROLL_MAX,3778
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2320
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,204
$VBD_MAX,3580
$C_VBD,3007
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-13.18169
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,75
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$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
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043202997
$SEABIRD_T_H,0.00063066871
$SEABIRD_T_I,2.423454e-05
$SEABIRD_T_J,2.6245777e-06
$SEABIRD_C_G,-9.8552961
$SEABIRD_C_H,1.1169292
$SEABIRD_C_I,-0.0010928692
$SEABIRD_C_J,0.00015437596
$GPS1,124025,4807.990,-12223.877,7,1.5,7,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.0
$GPS2,124714,4808.011,-12223.889,11,1.8,11,18.3
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.213,0.029
$KALMAN_X,1119.7,-28.9,18.0,-1825.9,-100.1
$KALMAN_Y,-1288.4,-130.8,54.0,2639.1,-66.3
$MHEAD_RNG_PITCHd_Wd,64.0,1099,-22.4,-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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.09,-97.3,0.0,0.0,0,104,0.00,0.00,-83.07,0.000,2,0.000,0.000,150,2343,3320,0,0,0,0,0,0
$GC,108,-1.09,-97.3,3.7,-6.7,14,129,9.98,2.38,-1.85,0.000,4,0.238,0.057,2543,3749,3405,0,0,0,0,0,0
$GC,382,-1.09,-97.3,54.8,-17.6,62,390,0.00,2.30,0.00,0.000,6,0.000,0.030,2543,2330,3406,0,0,0,0,0,0
$GC,529,-1.09,-97.3,77.8,-14.7,87,535,0.00,2.35,0.00,0.000,4,0.000,0.044,2533,3760,3406,0,0,0,0,0,0
$GC,556,-1.09,-97.3,82.2,-16.0,91,562,0.00,2.28,0.00,0.000,6,0.000,0.030,2533,2344,3406,0,0,0,0,0,0
$STATE,695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,695,begin apogee
$GC,702,-0.22,0.0,105.5,16.4,115,783,1.02,0.00,73.20,0.975,6,0.159,0.000,2831,2334,3007,0,0,0,0,0,0
$STATE,783,end apogee,CONTROL_FINISHED_OK
$STATE,784,begin climb
$GC,789,1.09,97.3,110.3,0.0,130,875,1.33,2.47,74.97,0.912,4,0.089,0.044,3254,3715,2609,0,0,0,0,0,0
$GC,890,1.09,97.3,101.4,13.5,148,896,0.00,2.40,0.00,0.000,6,0.000,0.031,3265,2324,2609,0,0,0,0,0,0
$GC,1035,1.09,97.3,79.7,14.8,173,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2321,2608,0,0,0,0,0,0
$GC,1175,1.09,97.3,57.2,15.5,198,1181,0.00,2.42,0.00,0.000,4,0.000,0.044,3265,3731,2608,0,0,0,0,0,0
$GC,1262,1.09,97.3,42.8,16.6,213,1268,0.00,2.33,0.00,0.000,6,0.000,0.031,3276,2312,2608,0,0,0,0,0,0
$GC,1407,1.09,97.3,20.9,14.6,238,1414,0.00,2.35,0.00,0.000,4,0.000,0.044,3276,3717,2608,0,0,1,0,0,0
$STATE,1536,end climb,SURFACE_DEPTH_REACHED
$STATE,1536,begin surface coast
$FINISH,2.5,1.020821
$STATE,1575,end surface coast,CONTROL_FINISHED_OK
$STATE,1575,begin surface
$SM_CCo,1598,135.68,0.076,0,0,1375,400.08
$SM_GC,1.61,0.00,0.00,135.68,0.000,0.000,0.076,149,2342,1375,-8.63,-0.23,400.08
$IRIDIUM_FIX,4751.72,-12226.29,190699,121209
$TT8_MAMPS,0.026078
$HUMID,32.24
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.8,38.4
$24V_AH,24.1,2.043
$10V_AH,10.5,1.100
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,21.700,23.525,148.175,135.675,0.000,25.267,27.134,190.203,1.500,0.000,15.001,412.724,337.365,307.675,570.795,526.114,33.343,619.516,0.000,666.481,0.000,14.347,0.000
$DEVICE_MAMPS,237.770,56.758,974.857,75.933,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BB2F,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,186.478,445.489,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324328
$DATA_FILE_SIZE,12855,268
$CAP_FILE_SIZE,34924,0
$CFSIZE,260165632,188321792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,250310,131801,4808.036,-12223.668,10,1.1,15,18.3