version: 66.10
glider: 107
mission: 22
dive: 2
start: 1 30 112 21 30 4
data:
$ID,107
$MISSION,22
$DIVE,2
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,500
$D_BOOST,5
$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,65
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,101
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,0.80000001
$RHO,1.027
$MASS,52089
$NAV_MODE,2
$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,40
$TGT_DEFAULT_LON,-71
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-77032.594
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,152
$PITCH_MAX,3914
$C_PITCH,2580
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,263
$ROLL_MAX,3810
$ROLL_DEG,25
$C_ROLL_DIVE,2868
$C_ROLL_CLIMB,2868
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,760
$VBD_MAX,3925
$C_VBD,2921
$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,150
$AH0_10V,98
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-10.728136
$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,1.35
$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,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,-1
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043459563
$SEABIRD_T_H,0.00064505072
$SEABIRD_T_I,2.5503063e-05
$SEABIRD_T_J,2.7066912e-06
$SEABIRD_C_G,-10.0667
$SEABIRD_C_H,1.1389354
$SEABIRD_C_I,-0.0022760942
$SEABIRD_C_J,0.00024535603
$MI_OFFLOAD,1.0
$MI_POWERSOURCE,0.0
$MI_RESTARTMONITOR,0.0
$MI_SCALEFACTOR24V,1.3
$MI_NOTIFYMOTORS,0.0
$GPS1,300112,212349,4806.986,-12221.831,13,1.2,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-77.9
$GPS2,300112,212910,4806.952,-12221.815,12,2.9,31,18.3
$SPEED_LIMITS,0.049,0.152
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.025,-0.150
$KALMAN_X,2.1,2.1,2.1,-15.0,6.4
$KALMAN_Y,-22.5,-22.5,-22.5,-167.2,-68.9
$MHEAD_RNG_PITCHd_Wd,170.8,1777,-14.4,-7.692
$D_GRID,97
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-0.66,-146.1,0.0,0.0,0,123,0.00,0.00,-103.97,0.000,6,0.000,0.000,152,2867,3517,0,0,0,0,0,0,28.83,28.83,26.38
$GC,125,-0.66,-146.1,4.7,-11.6,19,139,9.38,1.52,0.00,0.000,4,0.260,0.058,2355,3766,3518,0,0,0,0,0,0,25.72,26.10,28.83
$GC,201,-0.66,-146.1,16.5,-10.7,33,207,0.00,1.48,0.00,0.000,6,0.000,0.043,2355,2869,3520,0,0,0,0,0,0,28.83,26.18,28.83
$GC,269,-0.66,-146.1,24.0,-11.3,46,277,0.00,1.52,0.00,0.000,4,0.000,0.071,2348,3761,3521,0,0,0,0,0,0,28.83,26.13,28.83
$GC,288,-0.66,-146.1,26.2,-11.4,49,295,0.00,1.45,0.00,0.000,6,0.000,0.042,2350,2872,3520,0,0,0,0,0,0,28.83,26.21,28.83
$GC,358,-0.66,-146.1,33.8,-11.2,62,365,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2871,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,427,-0.66,-146.1,41.7,-10.7,75,434,0.00,1.45,0.00,0.000,4,0.000,0.047,2350,1987,3521,0,0,0,0,0,0,28.83,26.17,28.83
$GC,450,-0.66,-146.1,44.6,-12.6,79,457,0.00,1.52,0.00,0.000,6,0.000,0.066,2346,2893,3521,0,0,0,0,0,0,28.83,26.17,28.83
$GC,578,-0.66,-146.1,60.4,-12.7,104,585,0.00,1.48,0.00,0.000,4,0.000,0.048,2345,1995,3521,0,0,0,0,0,0,28.83,26.22,28.83
$GC,601,-0.66,-146.1,63.0,-11.4,108,608,0.00,1.50,0.00,0.000,6,0.000,0.067,2339,2863,3521,0,0,0,0,0,0,28.83,26.20,28.83
$GC,729,-0.66,-146.1,78.0,-11.8,133,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2863,3521,0,0,0,0,0,0,28.83,28.83,28.83
$GC,857,-0.66,-146.1,92.8,-11.2,158,864,0.00,1.52,0.00,0.000,4,0.000,0.072,2332,3760,3521,0,0,0,0,0,0,28.83,26.22,28.83
$GC,871,-0.66,-146.1,94.3,-11.5,160,878,0.08,1.45,0.00,0.000,6,0.174,0.044,2363,2871,3521,0,0,0,0,0,0,26.01,26.32,28.83
$STATE,893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,893,begin apogee
$GC,897,-0.17,0.0,97.1,-11.7,164,962,0.50,0.00,57.60,1.111,6,0.136,0.000,2521,2871,2918,0,0,0,0,0,0,26.12,28.83,24.07
$STATE,963,end apogee,CONTROL_FINISHED_OK
$STATE,963,begin climb
$GC,965,0.66,146.1,98.2,0.0,175,1030,0.75,0.00,60.97,1.071,6,0.072,0.000,2787,2871,2323,0,0,0,0,0,0,25.22,28.83,23.82
$GC,1152,0.66,146.1,66.3,21.6,210,1158,0.00,1.50,0.00,0.000,4,0.000,0.053,2794,1989,2319,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1205,0.66,146.1,55.5,19.6,220,1213,0.00,1.52,0.00,0.000,6,0.000,0.065,2794,2880,2319,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1336,0.66,146.1,29.0,20.5,245,1343,0.00,1.50,0.00,0.000,4,0.000,0.052,2801,1963,2318,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1481,0.66,146.1,5.1,9.7,273,1488,0.00,1.55,0.00,0.000,6,0.000,0.065,2801,2869,2317,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1549,0.93,362.7,3.5,0.0,286,1593,0.20,0.00,40.88,0.158,2,0.082,0.000,2882,2870,1864,0,0,0,0,0,0,26.12,28.83,28.83
$STATE,1594,end climb,SURFACE_DEPTH_REACHED
$STATE,1594,begin surface coast
$FINISH,2.1,1.018834
$STATE,1752,end surface coast,NO_VERTICAL_VELOCITY
$STATE,1752,begin surface
$SM_CCo,1767,88.68,0.153,0,0,878,500.17
$SM_GC,1.28,7.90,0.00,88.68,0.083,0.000,0.153,150,2869,878,-7.55,0.03,500.17,0,0,0,0,0,0,26.06,28.83,25.69
$IRIDIUM_FIX,4751.72,-12340.51,300112,212142
$TT8_MAMPS,0.028462,0.028462
$HUMID,33.42
$INTERNAL_PRESSURE,8.93818
$TCM_TEMP,19.00
$24V_AH,23.8,0.249
$10V_AH,10.6,0.161
$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,18.800,20.975,159.450,88.675,0.000,0.000,0.000,0.000,0.000,0.000,32.831,744.356,295.445,366.838,499.927,40.421,30.068,667.320,0.000,476.410,0.000,0.000,0.000
$DEVICE_MAMPS,260.100,71.910,1110.780,153.000,0.000,0.000,0.000,0.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,218.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323592
$DATA_FILE_SIZE,10148,324
$CAP_FILE_SIZE,55461,0
$CFSIZE,260034560,245723136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.117,340.2,1
$GPS,310112,050851,4808.397,-12222.779,25625,4.2,25635,18.3