version: 66.08
glider: 107
mission: 17
dive: 28
start: 9 3 110 15 17 20
data:
$ID,107
$MISSION,17
$DIVE,28
$N_DIVES,0
$D_SURF,3
$D_FLARE,4
$D_TGT,30
$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,10
$T_MISSION,15
$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,-64794.059
$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,15
$R_STBD_OVSHOOT,22
$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
$GPS1,030910,150913,4808.021,-12222.949,9,1.7,14,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-68.9
$GPS2,030910,151638,4807.978,-12222.902,13,1.7,13,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12222.980
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.155,0.121
$KALMAN_X,34.2,75.1,-4.6,204.4,-1.4
$KALMAN_Y,-2336.0,-174.1,-114.2,2609.5,-31.3
$MHEAD_RNG_PITCHd_Wd,289.5,105,-24.6,-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,14,-1.74,-80.9,0.0,0.0,0,93,0.00,0.00,-74.88,0.000,6,0.000,0.000,356,2061,3522,0,0,0,0,0,0
$GC,95,-1.75,-87.9,3.2,-9.4,14,114,10.85,2.62,-0.77,0.000,4,0.177,0.081,2188,648,3554,0,0,0,0,0,0
$GC,118,-1.75,-87.9,8.6,-20.2,18,125,0.00,2.53,0.00,0.000,6,0.000,0.037,2188,2065,3554,0,0,0,0,0,0
$GC,188,-1.75,-87.9,15.9,-11.0,31,195,0.00,2.55,0.00,0.000,4,0.000,0.055,2188,3466,3554,0,0,0,0,0,0
$GC,301,-1.75,-87.9,28.6,-11.7,45,308,0.00,2.55,0.00,0.000,6,0.000,0.048,2189,2062,3554,0,0,0,0,0,0
$STATE,314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,315,begin apogee
$GC,319,-0.33,0.0,30.3,11.1,47,394,1.58,0.00,70.18,0.516,6,0.116,0.000,2497,2061,3193,0,0,0,0,0,0
$STATE,394,end apogee,CONTROL_FINISHED_OK
$STATE,394,begin climb
$GC,396,1.75,87.9,32.7,0.0,54,474,2.10,0.00,68.80,0.508,6,0.066,0.000,2949,2061,2834,0,0,0,0,0,0
$GC,661,1.75,87.9,10.2,10.0,89,662,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2061,2834,0,0,0,0,0,0
$GC,725,1.78,116.5,4.7,7.6,101,754,0.00,2.55,22.75,0.480,4,0.000,0.049,2949,3473,2718,0,0,0,0,0,0
$STATE,757,end climb,SURFACE_DEPTH_REACHED
$STATE,757,begin surface coast
$FINISH,1.2,1.020168
$STATE,827,end surface coast,CONTROL_FINISHED_OK
$STATE,827,begin surface
$SM_CCo,848,110.12,0.116,0,0,1868,325.02
$SM_GC,0.66,0.00,0.00,110.12,0.000,0.000,0.116,356,2054,1868,-10.21,-0.17,325.02
$IRIDIUM_FIX,4751.72,-12056.72,030910,151535
$TT8_MAMPS,0.055426
$HUMID,56.02
$INTERNAL_PRESSURE,9.15654
$TCM_TEMP,20.20
$24V_AH,23.7,2.140
$10V_AH,9.9,0.704
$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,26.550,15.375,161.725,110.125,0.000,58.591,85.640,152.139,0.000,0.000,14.324,0.000,394.840,351.411,581.819,78.306,33.306,496.626,0.000,201.256,0.000,0.000,0.000
$DEVICE_MAMPS,177.480,81.090,515.610,116.280,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,78.130,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323980
$DATA_FILE_SIZE,3496,120
$CAP_FILE_SIZE,25723,0
$CFSIZE,260034560,255844352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,153353,4808.003,-12222.987,16,1.8,16,18.3