version: 66.08
glider: 118
mission: 1
dive: 26
start: 9 3 110 14 1 52
data:
$ID,118
$MISSION,1
$DIVE,26
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,90
$D_ABORT,200
$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,30
$T_MISSION,40
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-4
$USE_ICE,-1
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51539
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,325
$N_FILEKB,4
$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,-43754.887
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,409
$PITCH_MAX,3736
$C_PITCH,2597
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,320
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,1800
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,650
$VBD_MAX,3893
$C_VBD,3190
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$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,-7.3268147
$PRESSURE_SLOPE,0.0001161622
$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,80
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.4
$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,0.0043067457
$SEABIRD_T_H,0.00063597393
$SEABIRD_T_I,2.2520266e-05
$SEABIRD_T_J,2.121848e-06
$SEABIRD_C_G,-9.9730387
$SEABIRD_C_H,1.1230758
$SEABIRD_C_I,-0.0012369319
$SEABIRD_C_J,0.00015181596
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,030910,135420,4808.068,-12223.207,10,1.5,10,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-69.1
$GPS2,030910,140108,4808.048,-12223.149,14,1.3,14,18.3
$SPEED_LIMITS,0.100,0.260
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,0.128,-0.065
$KALMAN_X,-1017.3,-140.4,-51.4,1223.9,-26.3
$KALMAN_Y,-2529.8,-223.1,-114.1,2868.2,30.2
$MHEAD_RNG_PITCHd_Wd,98.7,227,-32.3,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,13,-2.21,-45.2,0.0,0.0,0,81,0.00,0.00,-65.65,0.000,6,0.000,0.000,407,1791,3376,0,0,0,0,0,0
$GC,85,-2.26,-86.2,1.6,-3.9,12,103,9.82,2.60,-4.32,0.000,4,0.161,0.057,2099,3199,3543,0,0,0,0,0,0
$GC,344,-2.26,-86.2,37.9,-12.5,47,348,0.00,2.47,0.00,0.000,6,0.000,0.033,2099,1797,3544,0,0,0,0,0,0
$GC,535,-2.26,-86.2,63.0,-13.5,65,539,0.00,2.53,0.00,0.000,4,0.000,0.044,2099,3202,3545,0,0,0,0,0,0
$GC,706,-2.26,-86.2,87.2,-13.5,80,712,0.00,2.47,0.00,0.000,6,0.000,0.034,2099,1798,3545,0,0,0,0,0,0
$STATE,729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,729,begin apogee
$GC,736,-0.33,0.0,90.9,14.2,83,811,2.17,0.00,67.18,0.571,6,0.125,0.000,2517,1798,3189,0,0,0,0,0,0
$STATE,811,end apogee,CONTROL_FINISHED_OK
$STATE,811,begin climb
$GC,814,2.26,86.2,93.7,0.0,90,885,2.62,0.00,66.22,0.549,6,0.060,0.000,3091,1798,2838,0,0,0,0,0,0
$GC,1190,2.26,86.2,34.8,16.3,127,1194,0.00,2.53,0.00,0.000,4,0.000,0.045,3091,3206,2837,0,0,0,0,0,0
$GC,1347,2.26,86.2,9.4,15.0,147,1353,0.00,2.50,0.00,0.000,6,0.000,0.037,3091,1804,2837,0,0,0,0,0,0
$STATE,1409,end climb,SURFACE_DEPTH_REACHED
$STATE,1409,begin surface coast
$FINISH,1.0,1.020956
$STATE,1449,end surface coast,CONTROL_FINISHED_OK
$STATE,1449,begin surface
$SM_CCo,1472,113.50,0.072,0,0,1865,325.02
$SM_GC,0.35,0.00,0.00,113.50,0.000,0.000,0.072,410,1796,1865,-10.06,-0.11,325.02
$IRIDIUM_FIX,4751.72,-12340.51,030910,131335
$TT8_MAMPS,0.053179
$HUMID,46.61
$INTERNAL_PRESSURE,9.19327
$TCM_TEMP,19.90
$24V_AH,23.9,1.815
$10V_AH,9.8,4.246
$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,27.125,15.100,133.400,113.500,0.000,37.933,31.536,201.801,0.000,0.000,15.095,0.000,842.905,316.016,654.858,181.218,33.314,503.024,0.000,312.943,0.000,0.000,0.000
$DEVICE_MAMPS,161.415,56.610,571.455,71.910,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,114.797,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323956
$DATA_FILE_SIZE,3498,166
$CAP_FILE_SIZE,29265,0
$CFSIZE,-70647808,-85917696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,142901,4807.965,-12223.029,14,1.3,19,18.3