version: 66.07
glider: 22
mission: 15
dive: 30
start: 2 4 110 16 0 20
data:
$ID,22
$MISSION,15
$DIVE,30
$D_SURF,6
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,30
$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,50
$T_MISSION,75
$T_ABORT,1440
$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,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51743
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0040048002
$HD_B,0.010364
$HD_C,5.4717998e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.099998
$TGT_DEFAULT_LON,-122.36667
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,8
$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,150000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-253354.02
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,380
$PITCH_MAX,3641
$C_PITCH,2552
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,18
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3954
$ROLL_DEG,40
$C_ROLL_DIVE,2425
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,100
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3841
$C_VBD,3230
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00109
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,4
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-22.247711
$PRESSURE_SLOPE,0.00011632
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,1.7
$TCM_ROLL_OFFSET,-0.89999998
$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,10
$ALTIM_FREQUENCY,15
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,19
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044149966
$SEABIRD_T_H,0.00064680085
$SEABIRD_T_I,2.5778523e-05
$SEABIRD_T_J,2.7323422e-06
$SEABIRD_C_G,-10.507483
$SEABIRD_C_H,1.1800622
$SEABIRD_C_I,-0.00046262925
$SEABIRD_C_J,0.00014728548
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$GPS1,040210,155507,4807.993,-12223.919,13,1.4,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-71.7
$GPS2,040210,155928,4808.042,-12223.948,12,2.7,31,18.3
$SPEED_LIMITS,0.173,0.233
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.225,-0.061
$KALMAN_X,-1783.9,-145.5,-40.5,1437.5,87.3
$KALMAN_Y,4094.0,427.6,73.5,-4664.3,90.2
$MHEAD_RNG_PITCHd_Wd,86.9,1175,-20.7,-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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.28,-117.3,0.0,0.0,0,123,0.00,0.00,-104.90,0.000,2,0.000,0.000,374,2403,2835,0,0,0,0,0,0
$GC,127,-1.28,-117.3,3.4,-7.8,21,178,10.40,2.65,-33.20,0.000,4,0.167,0.072,2267,3828,3708,0,0,0,0,0,0
$GC,219,-1.28,-117.3,11.0,-14.1,38,225,0.00,2.45,0.00,0.000,6,0.000,0.043,2267,2429,3710,0,0,0,0,0,0
$GC,292,-1.28,-117.3,22.3,-15.2,50,296,0.00,2.45,0.00,0.000,4,0.000,0.048,2267,1015,3710,0,0,0,0,0,0
$GC,314,-1.28,-117.3,25.8,-15.3,51,320,0.00,2.50,0.00,0.000,6,0.000,0.051,2267,2431,3710,0,0,0,0,0,0
$GC,511,-1.28,-117.3,55.1,-15.1,70,515,0.00,2.55,0.00,0.000,4,0.000,0.063,2267,3843,3710,0,0,0,0,0,0
$GC,649,-1.28,-117.3,77.9,-16.1,82,656,0.00,2.47,0.00,0.000,6,0.000,0.043,2267,2422,3710,0,0,0,0,0,0
$STATE,834,end dive,TARGET_DEPTH_EXCEEDED
$STATE,834,begin apogee
$GC,840,-0.28,0.0,103.9,12.7,100,939,1.10,0.00,94.85,0.690,6,0.117,0.000,2486,2067,3229,0,0,0,0,0,0
$STATE,940,end apogee,CONTROL_FINISHED_OK
$STATE,940,begin climb
$GC,942,1.28,117.3,107.3,0.0,110,1048,1.58,2.53,94.70,0.670,4,0.077,0.051,2825,698,2749,0,0,0,0,0,0
$GC,1088,1.28,117.3,91.5,15.9,124,1092,0.00,2.50,0.00,0.000,6,0.000,0.046,2825,2112,2748,0,0,0,0,0,0
$GC,1412,1.28,117.3,43.0,14.2,154,1416,0.00,2.50,0.00,0.000,4,0.000,0.056,2825,3523,2744,0,0,0,0,0,0
$GC,1495,1.28,117.3,30.5,15.3,161,1499,0.00,2.47,0.00,0.000,6,0.000,0.043,2825,2104,2744,0,0,0,0,0,0
$STATE,1691,end climb,SURFACE_DEPTH_REACHED
$STATE,1691,begin surface coast
$FINISH,3.8,1.019855
$STATE,1765,end surface coast,CONTROL_FINISHED_OK
$STATE,1765,begin surface
$SM_CCo,1785,229.50,0.589,0,0,986,550.21
$SM_GC,0.81,0.00,0.00,229.50,0.000,0.000,0.589,380,2446,986,-10.00,0.59,550.21
$IRIDIUM_FIX,4751.72,-12122.72,310711,090900
$TT8_MAMPS,0.029146
$HUMID,1078088377
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,23.7,2.927
$10V_AH,9.9,0.781
$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,24.225,26.225,189.550,229.500,0.000,26.310,29.743,103.905,0.000,0.000,32.199,326.101,834.016,520.523,372.843,240.011,33.351,770.224,0.000,358.413,0.000,0.527,0.000
$DEVICE_MAMPS,167.206,72.098,690.300,589.056,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil
$SENSOR_SECS,131.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,324228
$DATA_FILE_SIZE,6441,202
$CAP_FILE_SIZE,33106,0
$CFSIZE,260034560,256294912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040210,163501,4808.063,-12223.706,13,1.1,30,18.3