version: 66.08
glider: 107
mission: 17
dive: 18
start: 9 3 110 8 7 36
data:
$ID,107
$MISSION,17
$DIVE,18
$N_DIVES,0
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$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,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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51754
$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,47.716702
$TGT_DEFAULT_LON,-122.4
$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,-64780.16
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,357
$PITCH_MAX,3724
$C_PITCH,2575
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,167
$ROLL_MAX,3940
$ROLL_DEG,40
$C_ROLL_DIVE,2060
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,28
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3960
$C_VBD,3193
$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,2
$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,-10.699804
$PRESSURE_SLOPE,0.0001156423
$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,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.5
$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,0.0043463423
$SEABIRD_T_H,0.00064514292
$SEABIRD_T_I,2.5540507e-05
$SEABIRD_T_J,2.7081812e-06
$SEABIRD_C_G,-10.058743
$SEABIRD_C_H,1.136763
$SEABIRD_C_I,-0.0017889598
$SEABIRD_C_J,0.00021392011
$MI_OFFLOAD,1.0
$MI_MAXUPLOADSIZE,20480.0
$MI_MAXOPTIONALUPLOADSIZE,20480.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$GPS1,030910,080125,4807.807,-12223.861,8,1.5,8,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-68.8
$GPS2,030910,080655,4807.786,-12223.864,10,1.6,15,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.094,0.219
$KALMAN_X,-57.8,5.1,30.5,-855.2,25.4
$KALMAN_Y,-1044.0,-102.5,22.1,754.9,-56.1
$MHEAD_RNG_PITCHd_Wd,318.5,431,-20.1,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-1.49,-121.0,0.0,0.0,0,99,0.00,0.00,-80.15,0.000,6,0.000,0.000,358,2068,3686,0,0,0,0,0,0
$GC,101,-1.49,-121.0,5.1,-15.5,15,113,11.25,0.00,0.00,0.000,6,0.181,0.000,2245,2067,3687,0,0,0,0,0,0
$GC,176,-1.49,-121.0,18.9,-10.6,29,177,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2067,3688,0,0,0,0,0,0
$GC,238,-1.49,-121.0,25.7,-11.0,36,239,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2067,3688,0,0,0,0,0,0
$GC,425,-1.49,-121.0,46.1,-11.3,54,429,0.00,2.55,0.00,0.000,4,0.000,0.059,2245,3482,3689,0,0,0,0,0,0
$GC,478,-1.49,-121.0,52.0,-10.5,59,482,0.00,2.60,0.00,0.000,6,0.000,0.050,2245,2055,3689,0,0,0,0,0,0
$GC,800,-1.49,-121.0,87.0,-10.8,90,804,0.00,2.58,0.00,0.000,4,0.000,0.061,2245,3470,3689,0,0,0,0,0,0
$GC,868,-1.49,-121.0,95.0,-11.4,96,872,0.00,2.58,0.00,0.000,6,0.000,0.054,2245,2065,3689,0,0,0,0,0,0
$STATE,949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,949,begin apogee
$GC,953,-0.33,0.0,104.0,10.8,104,1054,1.23,0.00,96.10,0.587,6,0.105,0.000,2493,2065,3193,0,0,0,0,0,0
$STATE,1055,end apogee,CONTROL_FINISHED_OK
$STATE,1055,begin climb
$GC,1057,1.49,121.0,107.1,0.0,113,1156,1.90,0.00,95.12,0.593,6,0.066,0.000,2899,2065,2699,0,0,0,0,0,0
$GC,1464,1.49,123.1,71.0,9.9,153,1468,0.00,2.70,0.00,0.000,4,0.000,0.078,2899,646,2698,0,0,0,0,0,0
$GC,1495,1.49,123.1,67.5,11.4,156,1499,0.00,2.53,0.00,0.000,6,0.000,0.039,2899,2055,2698,0,0,0,0,0,0
$GC,1816,1.51,135.6,36.5,9.3,187,1830,0.00,0.00,12.73,0.517,6,0.000,0.000,2899,2055,2640,0,0,0,0,0,0
$GC,2013,1.52,144.0,17.8,9.5,208,2026,0.00,0.00,8.20,0.487,6,0.000,0.000,2900,2055,2605,0,0,0,0,0,0
$GC,2089,1.53,154.1,10.6,9.4,222,2107,0.00,2.75,9.52,0.493,4,0.000,0.074,2900,644,2563,0,0,0,0,0,0
$GC,2112,1.53,154.1,8.2,10.6,226,2119,0.00,2.53,0.00,0.000,6,0.000,0.037,2899,2058,2563,0,0,0,0,0,0
$STATE,2180,end climb,SURFACE_DEPTH_REACHED
$STATE,2180,begin surface coast
$FINISH,0.3,1.019632
$STATE,2224,end surface coast,CONTROL_FINISHED_OK
$STATE,2224,begin surface
$SM_CCo,2242,95.15,0.495,1,0,1868,325.02
$SM_GC,0.77,0.00,0.00,95.15,0.000,0.000,0.495,357,2058,1868,-10.20,-0.03,325.02
$IRIDIUM_FIX,4751.72,-12340.51,030910,070758
$TT8_MAMPS,0.055426
$HUMID,58.38
$INTERNAL_PRESSURE,9.10771
$TCM_TEMP,19.70
$24V_AH,23.6,1.527
$10V_AH,10.0,0.526
$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,26.025,20.800,221.675,95.150,0.000,23.397,27.561,187.226,0.000,0.000,16.712,0.000,1415.387,389.221,766.914,99.895,33.313,636.756,0.000,400.691,0.000,0.000,0.000
$DEVICE_MAMPS,180.540,78.030,592.875,494.955,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,165.574,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323516
$DATA_FILE_SIZE,6825,247
$CAP_FILE_SIZE,38529,0
$CFSIZE,260034560,256057344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,084728,4807.995,-12224.006,11,2.1,30,18.3