version: 66.10
glider: 107
mission: 22
dive: 5
start: 1 31 112 7 24 31
data:
$ID,107
$MISSION,22
$DIVE,5
$N_DIVES,10
$D_SURF,4
$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,0
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8541004e-06
$HEADING,235
$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,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,30
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-77177.312
$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,15
$R_STBD_OVSHOOT,23
$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
$GPS1,310112,071025,4809.458,-12223.244,152,6.7,171,18.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-84.9
$GPS2,310112,072334,4809.583,-12223.276,47,4.1,66,18.4
$SPEED_LIMITS,0.062,0.190
$TGT_NAME,HEADING
$TGT_LATLONG,4803.389,-12236.512
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.158,-0.106
$KALMAN_X,-565.8,-488.8,-458.4,-298.1,141.0
$KALMAN_Y,1752.7,1498.5,1425.7,-54.1,-460.7
$MHEAD_RNG_PITCHd_Wd,216.6,20000,-14.4,-7.692
$D_GRID,10
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.66,-146.1,0.0,0.0,0,116,0.00,0.00,-96.78,0.000,6,0.000,0.000,133,2878,3518,0,0,0,0,0,0,28.83,28.83,26.13
$GC,119,-0.66,-146.1,2.2,-1.2,18,132,7.07,1.50,0.00,0.000,4,0.133,0.046,2364,1964,3519,0,0,0,0,0,0,25.79,25.88,28.83
$GC,360,-0.66,-146.1,2.6,0.1,65,367,0.00,1.55,0.00,0.000,6,0.000,0.071,2362,2861,3520,0,0,0,0,0,0,28.83,25.97,28.83
$GC,429,-0.66,-146.1,2.6,0.0,78,435,0.00,1.48,0.00,0.000,4,0.000,0.053,2362,1981,3520,0,0,0,0,0,0,28.83,26.03,28.83
$GC,663,-0.66,-146.1,2.6,0.1,124,669,0.00,1.50,0.00,0.000,6,0.000,0.070,2362,2869,3520,0,0,0,0,0,0,28.83,26.07,28.83
$GC,731,-0.66,-146.1,2.6,0.1,137,738,0.00,1.50,0.00,0.000,4,0.000,0.052,2362,1970,3520,0,0,0,0,0,0,28.83,26.11,28.83
$GC,965,-0.66,-146.1,2.6,0.2,183,971,0.00,1.52,0.00,0.000,6,0.000,0.067,2362,2871,3520,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1034,-0.66,-146.1,2.6,0.2,196,1040,0.00,1.48,0.00,0.000,4,0.000,0.051,2362,1982,3520,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1268,-0.66,-146.1,2.6,0.4,242,1274,0.00,1.50,0.00,0.000,6,0.000,0.067,2362,2880,3520,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1337,-0.66,-146.1,2.7,-0.1,255,1343,0.00,1.50,0.00,0.000,4,0.000,0.051,2362,1951,3520,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1570,-0.66,-146.1,2.7,0.2,301,1577,0.00,1.58,0.00,0.000,6,0.000,0.072,2362,2869,3521,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1640,-0.66,-146.1,2.7,0.1,314,1646,0.00,1.48,0.00,0.000,4,0.000,0.051,2362,1970,3521,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1873,-0.66,-146.1,2.6,0.3,360,1880,0.00,1.52,0.00,0.000,6,0.000,0.073,2362,2870,3521,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1942,-0.66,-146.1,2.7,-0.1,373,1949,0.00,1.48,0.00,0.000,4,0.000,0.047,2362,1968,3521,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2176,-0.66,-146.1,2.6,-0.3,419,2183,0.00,1.52,0.00,0.000,6,0.000,0.070,2362,2869,3521,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2245,-0.66,-146.1,2.6,0.0,432,2251,0.00,1.48,0.00,0.000,4,0.000,0.052,2362,1979,3521,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,2407,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2407,begin apogee
$GC,2413,-0.17,0.0,2.7,-0.3,464,2421,0.47,0.00,4.90,0.176,2,0.091,0.000,2530,2873,3467,0,0,0,0,0,0,26.24,28.83,28.83
$STATE,2422,end apogee,SURFACE_DEPTH_REACHED
$STATE,2422,begin surface coast
$FINISH,2.6,1.012678
$STATE,2493,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2493,begin surface
$SM_CCo,2506,237.05,0.158,0,0,880,500.17
$SM_GC,2.08,6.38,0.00,237.05,0.043,0.000,0.158,138,2873,880,-7.55,0.14,500.17,0,0,0,0,0,0,26.32,28.83,25.46
$IRIDIUM_FIX,4751.72,-12340.51,310112,070726
$TT8_MAMPS,0.029211,0.029211
$HUMID,32.94
$INTERNAL_PRESSURE,8.86982
$TCM_TEMP,18.20
$24V_AH,25.5,0.455
$10V_AH,10.5,0.889
$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,13.925,24.150,4.900,237.050,0.000,115.338,127.006,261.244,0.000,0.000,68.115,1105.511,674.537,382.494,1294.458,93.116,33.201,750.750,0.000,698.032,0.000,0.000,0.000
$DEVICE_MAMPS,133.110,73.440,175.950,157.590,0.000,103.000,160.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,330.840,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323588
$DATA_FILE_SIZE,13431,479
$CAP_FILE_SIZE,54346,0
$CFSIZE,260034560,245637120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,090949,4809.972,-12223.276,3529,3.6,3539,18.4