version: 66.08
glider: 117
mission: 25
dive: 25
start: 9 3 110 10 26 37
data:
$ID,117
$MISSION,25
$DIVE,25
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,80
$D_BOOST,4
$T_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,60
$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,110
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51792
$NAV_MODE,1
$FERRY_MAX,0
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,21.83
$TGT_DEFAULT_LON,-159.78
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,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,-109561.07
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3715
$C_PITCH,2742
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3825
$ROLL_DEG,40
$C_ROLL_DIVE,1550
$C_ROLL_CLIMB,1550
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,746
$VBD_MAX,3936
$C_VBD,3044
$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,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$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,-7.3088388
$PRESSURE_SLOPE,0.0001163939
$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,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.5999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,83
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00439863
$SEABIRD_T_H,0.00065720873
$SEABIRD_T_I,3.0612431e-05
$SEABIRD_T_J,3.6729182e-06
$SEABIRD_C_G,-9.9227343
$SEABIRD_C_H,1.1140056
$SEABIRD_C_I,-0.0018444209
$SEABIRD_C_J,0.00019243189
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,030910,102044,4807.956,-12223.696,12,1.5,12,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-70.2
$GPS2,030910,102556,4807.933,-12223.689,15,1.5,15,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.242,0.096
$KALMAN_X,-544.1,59.0,30.7,-218.5,-42.9
$KALMAN_Y,-2381.6,-4.7,-175.8,2495.0,-135.3
$MHEAD_RNG_PITCHd_Wd,50.1,885,-18.2,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-1.58,-146.6,0.0,0.0,0,88,0.00,0.00,-73.50,0.000,2,0.000,0.000,412,1552,3507,0,0,0,0,0,0
$GC,90,-1.58,-146.6,3.2,-8.5,13,113,13.23,2.70,-2.80,0.000,4,0.216,0.096,2392,152,3644,0,0,0,0,0,0
$GC,352,-1.58,-146.6,45.8,-14.2,46,357,0.00,2.47,0.00,0.000,6,0.000,0.042,2392,1553,3645,0,0,0,0,0,0
$GC,549,-1.58,-146.6,70.8,-12.7,65,553,0.00,2.70,0.00,0.000,4,0.000,0.081,2392,158,3646,0,0,0,0,0,0
$GC,591,-1.58,-146.6,76.8,-14.2,69,596,0.00,2.47,0.00,0.000,6,0.000,0.041,2391,1552,3645,0,0,0,0,0,0
$STATE,818,end dive,TARGET_DEPTH_EXCEEDED
$STATE,818,begin apogee
$GC,821,-0.38,0.0,105.8,12.6,91,943,1.38,0.00,116.85,0.671,6,0.129,0.000,2648,1553,3044,0,0,0,0,0,0
$STATE,943,end apogee,CONTROL_FINISHED_OK
$STATE,943,begin climb
$GC,945,1.58,146.6,109.4,0.0,102,1067,2.10,0.00,118.53,0.646,6,0.070,0.000,3084,1553,2446,0,0,0,0,0,0
$GC,1373,1.58,146.6,58.8,13.4,144,1377,0.00,2.72,0.00,0.000,4,0.000,0.084,3084,157,2440,0,0,0,0,0,0
$GC,1394,1.58,146.6,55.8,14.3,146,1398,0.00,2.47,0.00,0.000,6,0.000,0.042,3084,1545,2439,0,0,0,0,0,0
$GC,1710,1.58,146.6,16.0,11.4,179,1711,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1546,2439,0,0,0,0,0,0
$GC,1775,1.58,146.6,8.5,11.6,191,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,3084,1546,2439,0,0,0,0,0,0
$STATE,1826,end climb,SURFACE_DEPTH_REACHED
$STATE,1826,begin surface coast
$FINISH,0.6,1.020531
$STATE,1853,end surface coast,CONTROL_FINISHED_OK
$STATE,1853,begin surface
$SM_CCo,1871,97.15,0.074,0,0,1719,325.02
$SM_GC,0.82,0.00,0.00,97.15,0.000,0.000,0.074,413,1548,1719,-10.72,-0.06,325.02
$IRIDIUM_FIX,4751.72,-12056.72,030910,090916
$TT8_MAMPS,0.051681
$HUMID,56.45
$INTERNAL_PRESSURE,9.04556
$TCM_TEMP,20.20
$24V_AH,23.7,1.911
$10V_AH,10.0,2.392
$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,29.175,15.550,235.375,97.150,0.000,30.387,32.732,168.866,0.000,0.000,16.160,0.000,1130.015,384.303,711.692,58.648,33.330,607.052,0.000,356.879,0.000,0.000,0.000
$DEVICE_MAMPS,215.730,96.390,670.905,74.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,145.105,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323500
$DATA_FILE_SIZE,6834,206
$CAP_FILE_SIZE,32289,0
$CFSIZE,260165632,255700992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,110016,4807.957,-12223.368,13,2.9,32,18.3