version: 66.08
glider: 117
mission: 25
dive: 19
start: 9 3 110 6 31 8
data:
$ID,117
$MISSION,25
$DIVE,19
$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,-109553.05
$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,15
$R_STBD_OVSHOOT,29
$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
$GPS1,030910,062538,4807.171,-12223.204,14,1.5,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.9
$GPS2,030910,063026,4807.158,-12223.186,13,1.7,13,18.3
$SPEED_LIMITS,0.100,0.261
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,300.000
$KALMAN_CONTROL,-0.132,0.225
$KALMAN_X,-375.7,-59.1,27.0,356.2,42.1
$KALMAN_Y,-1439.5,-82.8,41.0,-21.3,-109.8
$MHEAD_RNG_PITCHd_Wd,311.4,1856,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-1.58,-146.6,0.0,0.0,0,82,0.00,0.00,-68.62,0.000,2,0.000,0.000,412,1544,3460,0,0,0,0,0,0
$GC,84,-1.58,-146.6,3.8,-9.9,12,107,13.18,0.00,-3.88,0.000,6,0.213,0.000,2388,1545,3644,0,0,0,0,0,0
$GC,170,-1.58,-146.6,18.1,-13.0,28,177,0.00,2.55,0.00,0.000,4,0.000,0.046,2388,2947,3644,0,0,0,0,0,0
$GC,207,-1.58,-146.6,22.9,-12.2,33,215,0.00,2.58,0.00,0.000,6,0.000,0.050,2388,1551,3645,0,0,0,0,0,0
$GC,399,-1.58,-146.6,47.8,-13.1,52,400,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1552,3646,0,0,0,0,0,0
$GC,585,-1.58,-146.6,71.7,-12.9,70,586,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,1552,3646,0,0,0,0,0,0
$STATE,853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,853,begin apogee
$GC,856,-0.38,0.0,105.6,12.7,96,978,1.40,0.00,116.93,0.672,6,0.125,0.000,2651,1551,3044,0,0,0,0,0,0
$STATE,978,end apogee,CONTROL_FINISHED_OK
$STATE,978,begin climb
$GC,980,1.58,146.6,109.1,0.0,107,1109,2.05,2.75,118.18,0.648,4,0.071,0.085,3089,158,2445,0,0,0,0,0,0
$GC,1123,1.58,146.6,95.9,14.5,120,1131,0.00,2.53,0.00,0.000,6,0.000,0.042,3089,1557,2442,0,0,0,0,0,0
$GC,1439,1.58,146.6,53.2,13.0,151,1443,0.00,2.53,0.00,0.000,4,0.000,0.047,3089,2942,2439,0,0,0,0,0,0
$GC,1460,1.58,146.6,50.4,13.4,153,1464,0.00,2.60,0.00,0.000,6,0.000,0.055,3089,1551,2439,0,0,0,0,0,0
$GC,1778,1.58,146.6,10.4,11.2,190,1785,0.00,2.72,0.00,0.000,4,0.000,0.086,3089,162,2438,0,0,0,0,0,0
$GC,1789,1.58,146.6,9.0,12.1,192,1796,0.00,2.47,0.00,0.000,6,0.000,0.043,3089,1551,2438,0,0,0,0,0,0
$STATE,1847,end climb,SURFACE_DEPTH_REACHED
$STATE,1847,begin surface coast
$FINISH,0.1,1.017045
$STATE,1879,end surface coast,CONTROL_FINISHED_OK
$STATE,1879,begin surface
$SM_CCo,1896,95.60,0.074,0,0,1719,325.02
$SM_GC,1.27,0.00,0.00,95.60,0.000,0.000,0.074,413,1552,1719,-10.71,0.06,325.02
$IRIDIUM_FIX,4751.72,-12340.51,030910,050533
$TT8_MAMPS,0.050932
$HUMID,55.71
$INTERNAL_PRESSURE,9.04556
$TCM_TEMP,20.20
$24V_AH,23.7,1.506
$10V_AH,9.9,2.293
$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,29.000,20.725,235.100,95.600,0.000,24.055,27.240,162.460,0.000,0.000,14.126,0.000,1151.119,387.114,686.181,60.395,33.328,620.609,0.000,351.256,0.000,0.000,0.000
$DEVICE_MAMPS,213.435,85.680,672.435,74.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.390,18.000,38.000,44.000,0.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,147.143,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323480
$DATA_FILE_SIZE,6818,209
$CAP_FILE_SIZE,34222,0
$CFSIZE,260165632,255819776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030910,070449,4807.349,-12223.376,11,1.7,11,18.3