version: 66.10
glider: 108
mission: 20
dive: 5
start: 1 26 112 22 41 20
data:
$ID,108
$MISSION,20
$DIVE,5
$N_DIVES,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,20
$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,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51077
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,641.27148
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-188867.22
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3205
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,420
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.657539
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044220644
$SEABIRD_T_H,0.00065538363
$SEABIRD_T_I,2.8550956e-05
$SEABIRD_T_J,3.214675e-06
$SEABIRD_C_G,-10.084064
$SEABIRD_C_H,1.1288997
$SEABIRD_C_I,-0.0014441535
$SEABIRD_C_J,0.00017831143
$GPS1,260112,223647,4743.505,-12225.065,23,0.8,23,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-76.5
$GPS2,260112,224050,4743.510,-12225.071,17,0.8,19,16.6
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,74.2,1335,-18.0,-10.000
$D_GRID,179
$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,16,-0.78,-146.6,0.0,0.0,0,140,0.00,0.00,-118.95,0.000,6,0.000,0.000,345,2216,3999,0,0,0,0,0,0,28.83,28.83,26.70
$GC,143,-0.78,-146.6,2.8,-3.0,22,156,10.18,0.00,0.00,0.000,6,0.247,0.000,2947,2216,4002,0,0,0,0,0,0,26.11,28.83,28.83
$GC,282,-0.57,-146.6,24.6,-11.7,48,289,0.22,2.08,0.00,0.000,4,0.161,0.050,3009,3586,4006,0,0,0,0,0,0,26.28,26.39,28.83
$GC,363,-0.70,-146.6,32.2,-8.3,63,370,0.00,2.05,0.00,0.000,6,0.000,0.035,3009,2173,4007,0,0,0,0,0,0,28.83,26.46,28.83
$GC,496,-0.77,-146.6,41.9,-6.8,88,503,0.12,2.15,0.00,0.000,4,0.088,0.050,2930,3589,4006,0,0,0,0,0,0,26.52,26.46,28.83
$GC,566,-0.51,-146.6,49.8,-11.5,101,574,0.32,2.05,0.00,0.000,6,0.150,0.036,3033,2199,4006,0,0,0,0,0,0,26.34,26.52,28.83
$GC,699,-0.71,-146.6,58.0,-5.6,126,706,0.15,0.00,0.00,0.000,6,0.080,0.000,2956,2194,4007,0,0,0,0,0,0,26.56,28.83,28.83
$GC,829,-0.56,-146.6,71.4,-12.3,151,836,0.20,2.10,0.00,0.000,4,0.155,0.050,3009,3584,4007,0,0,0,0,0,0,26.42,26.53,28.83
$GC,905,-0.78,-146.6,78.4,-9.0,165,913,0.17,2.05,0.00,0.000,6,0.073,0.035,2926,2179,4007,0,0,0,0,0,0,26.57,26.59,28.83
$GC,1037,-0.53,-146.6,95.2,-12.2,190,1045,0.32,2.05,0.00,0.000,4,0.152,0.040,3030,804,4007,0,0,0,0,0,0,26.43,26.58,28.83
$GC,1103,-0.75,-146.6,100.6,-8.1,202,1111,0.17,2.15,0.00,0.000,6,0.069,0.043,2937,2204,4007,0,0,0,0,0,0,26.61,26.59,28.83
$GC,1235,-0.53,-146.6,116.8,-12.5,227,1243,0.30,2.08,0.00,0.000,4,0.152,0.050,3021,3602,4007,0,0,0,0,0,0,26.46,26.59,28.83
$GC,1324,-0.77,-146.6,124.3,-6.8,243,1331,0.20,2.05,0.00,0.000,6,0.070,0.035,2929,2191,4007,0,0,0,0,0,0,26.63,26.63,28.83
$GC,1457,-0.52,-146.6,140.1,-11.5,268,1464,0.32,2.12,0.00,0.000,4,0.148,0.049,3022,3603,4007,0,0,0,0,0,0,26.48,26.61,28.83
$GC,1509,-0.78,-146.6,144.2,-6.8,277,1516,0.20,2.05,0.00,0.000,6,0.068,0.035,2926,2192,4007,0,0,0,0,0,0,26.65,26.66,28.83
$STATE,1571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1571,begin apogee
$GC,1578,-0.17,0.0,150.6,-12.2,288,1696,0.68,0.00,109.97,0.874,6,0.142,0.000,3145,1841,3399,0,0,0,0,0,0,26.49,28.83,24.49
$STATE,1699,end apogee,CONTROL_FINISHED_OK
$STATE,1699,begin climb
$GC,1702,0.78,146.6,153.5,0.0,309,1827,0.88,2.35,113.57,0.809,4,0.076,0.048,3447,3254,2801,0,0,0,0,0,0,25.22,24.93,24.30
$GC,1862,0.35,146.6,130.7,19.7,337,1870,0.47,2.17,0.00,0.000,6,0.164,0.036,3323,1868,2798,0,0,0,0,0,0,25.22,25.37,28.83
$GC,1997,0.59,206.9,118.4,7.3,362,2055,0.20,2.30,47.55,0.786,4,0.071,0.049,3410,3251,2555,0,0,0,0,0,0,25.83,25.25,24.63
$GC,2091,0.42,206.9,104.4,16.1,378,2098,0.28,2.17,0.00,0.000,6,0.154,0.037,3344,1844,2550,0,0,0,0,0,0,25.40,25.53,28.83
$GC,2224,0.63,231.6,89.6,8.9,403,2254,0.15,2.28,20.08,0.755,4,0.083,0.044,3423,450,2455,0,0,0,0,0,0,25.89,25.60,24.96
$GC,2282,0.63,231.6,81.1,14.6,413,2289,0.00,2.28,0.00,0.000,6,0.000,0.041,3423,1859,2453,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2416,0.56,231.6,60.7,15.9,438,2423,0.12,2.17,0.00,0.000,4,0.173,0.047,3388,3266,2451,0,0,0,0,0,0,25.86,25.96,28.83
$GC,2461,0.56,231.6,53.0,14.9,446,2468,0.00,2.17,0.00,0.000,6,0.000,0.037,3394,1843,2450,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2592,0.56,231.6,34.7,14.0,471,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1843,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2721,0.56,231.6,16.8,14.3,496,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1843,2449,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2817,end climb,SURFACE_DEPTH_REACHED
$STATE,2817,begin surface coast
$FINISH,0.7,1.008526
$STATE,2843,end surface coast,CONTROL_FINISHED_OK
$STATE,2845,begin surface
$SM_CCo,2864,170.40,0.060,0,0,784,641.46
$SM_GC,1.53,8.05,0.57,170.40,0.044,0.049,0.060,339,2213,784,-8.90,-1.02,641.46,0,0,0,0,0,0,26.32,26.33,26.18
$RAFOS_CLK,109
$RAFOS,0,1327619041,23.083334,23.066944,66,60,58,43,42,39,1311,1337,1368,881,1325,677
$RAFOS,2,1327617841,22.750000,22.733612,55,53,52,51,40,40,1414,1441,1367,2039,1931,2295
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12145.05,260112,212109
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.04
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,18.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.7
$24V_AH,24.3,4.188
$10V_AH,10.5,3.628
$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,23.725,43.900,291.175,170.400,0.000,0.000,0.000,140.650,2.500,0.000,19.768,1133.637,523.165,588.831,902.575,145.775,0.000,1194.474,0.000,755.753,1260.000,17.885,0.000
$DEVICE_MAMPS,247.095,49.725,873.630,59.670,0.000,0.000,0.000,261.417,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,353.410,367.548,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319296
$DATA_FILE_SIZE,20111,520
$CAP_FILE_SIZE,62952,0
$CFSIZE,260165632,249237504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1477.4
$GPS,260112,233302,4743.405,-12224.667,19,1.5,19,16.6