version: 66.10
glider: 108
mission: 20
dive: 3
start: 1 26 112 20 19 0
data:
$ID,108
$MISSION,20
$DIVE,3
$N_DIVES,3
$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,-188744.61
$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,3215
$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,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,43
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3250
$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
$GPS1,260112,201454,4743.615,-12224.351,12,1.6,12,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-76.7
$GPS2,260112,201830,4743.635,-12224.352,13,1.5,13,16.6
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$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,236.2,845,-18.0,-10.000
$D_GRID,174
$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,-146.6,0.0,0.0,0,139,0.00,0.00,-120.28,0.000,6,0.000,0.000,343,2216,3848,0,0,0,0,0,0,28.83,28.83,26.88
$GC,143,-0.78,-146.6,2.1,-1.0,22,162,10.23,2.20,0.00,0.000,4,0.251,0.041,2965,784,3851,0,0,0,0,0,0,26.25,26.53,28.83
$GC,392,-0.52,-146.6,30.8,-6.8,70,399,0.30,2.20,0.00,0.000,6,0.168,0.046,3042,2206,3854,0,0,0,0,0,0,26.39,26.58,28.83
$GC,525,-0.73,-146.6,42.8,-8.2,95,532,0.15,0.00,0.00,0.000,6,0.083,0.000,2969,2206,3854,0,0,0,0,0,0,26.63,28.83,28.83
$GC,659,-0.53,-146.6,54.8,-9.9,120,665,0.22,0.00,0.00,0.000,6,0.161,0.000,3037,2205,3854,0,0,0,0,0,0,26.46,28.83,28.83
$GC,791,-0.71,-146.6,62.4,-5.7,145,799,0.12,2.17,0.00,0.000,4,0.090,0.038,2970,776,3854,0,0,0,0,0,0,26.69,26.65,28.83
$GC,838,-0.51,-146.6,66.6,-9.6,153,845,0.30,2.20,0.00,0.000,6,0.155,0.042,3048,2212,3854,0,0,0,0,0,0,26.47,26.65,28.83
$GC,972,-0.72,-146.6,74.4,-5.1,178,978,0.17,0.00,0.00,0.000,6,0.073,0.000,2959,2212,3854,0,0,0,0,0,0,26.70,28.83,28.83
$GC,1104,-0.52,-146.6,85.5,-10.1,203,1111,0.28,2.05,0.00,0.000,4,0.150,0.049,3037,3599,3854,0,0,0,0,0,0,26.51,26.65,28.83
$GC,1140,-0.69,-146.6,87.8,-4.8,209,1147,0.12,2.05,0.00,0.000,6,0.087,0.034,2973,2182,3854,0,0,0,0,0,0,26.67,26.71,28.83
$GC,1273,-0.56,-146.6,98.3,-8.0,234,1280,0.20,2.15,0.00,0.000,4,0.157,0.049,3026,3602,3854,0,0,0,0,0,0,26.53,26.67,28.83
$GC,1314,-0.74,-146.6,101.2,-6.0,241,1321,0.15,2.05,0.00,0.000,6,0.080,0.034,2957,2183,3854,0,0,0,0,0,0,26.69,26.71,28.83
$GC,1446,-0.51,-146.6,112.9,-8.8,266,1454,0.28,2.05,0.00,0.000,4,0.159,0.038,3052,801,3854,0,0,0,0,0,0,26.52,26.70,28.83
$GC,1571,-0.74,-146.6,120.2,-5.0,289,1578,0.20,2.15,0.00,0.000,6,0.064,0.042,2946,2212,3855,0,0,0,0,0,0,26.73,26.70,28.83
$GC,1703,-0.49,-146.6,131.9,-9.7,314,1710,0.32,0.00,0.00,0.000,6,0.146,0.000,3049,2212,3855,0,0,0,0,0,0,26.54,28.83,28.83
$GC,1835,-0.76,-146.6,139.4,-5.7,339,1842,0.20,0.00,0.00,0.000,6,0.067,0.000,2947,2212,3855,0,0,0,0,0,0,26.76,28.83,28.83
$STATE,1958,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1958,begin apogee
$GC,1965,-0.17,0.0,150.1,-9.9,362,2079,0.65,0.00,109.82,0.871,6,0.145,0.000,3157,1991,3250,0,0,0,0,0,0,26.55,28.83,24.59
$STATE,2080,end apogee,CONTROL_FINISHED_OK
$STATE,2083,begin climb
$GC,2085,0.78,146.6,151.0,0.0,382,2210,0.88,2.28,114.75,0.806,4,0.076,0.041,3477,609,2651,0,0,0,0,0,0,25.29,25.01,24.39
$GC,2266,0.47,146.6,120.3,21.8,414,2274,0.38,2.25,0.00,0.000,6,0.159,0.041,3368,1996,2647,0,0,0,0,0,0,25.39,25.53,28.83
$GC,2399,0.47,146.6,102.9,12.4,439,2405,0.00,2.22,0.00,0.000,4,0.000,0.042,3376,599,2644,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2479,0.61,146.6,92.5,12.0,454,2486,0.12,2.22,0.00,0.000,6,0.095,0.041,3432,2002,2644,0,0,0,0,0,0,26.03,26.04,28.83
$GC,2612,0.43,146.6,69.3,17.5,479,2619,0.25,2.17,0.00,0.000,4,0.151,0.047,3354,3422,2643,0,0,0,0,0,0,26.06,26.16,28.83
$GC,2642,0.43,146.6,64.6,13.5,484,2649,0.00,2.15,0.00,0.000,6,0.000,0.037,3361,2001,2642,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2775,0.49,146.6,50.2,11.3,509,2782,0.00,2.17,0.00,0.000,4,0.000,0.043,3372,596,2642,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2870,0.64,146.6,39.9,11.1,527,2878,0.15,2.20,0.00,0.000,6,0.085,0.041,3440,2002,2641,0,0,0,0,0,0,26.34,26.35,28.83
$GC,3003,0.43,146.6,16.7,17.7,552,3010,0.28,2.20,0.00,0.000,4,0.148,0.041,3363,594,2641,0,0,0,0,0,0,26.27,26.40,28.83
$GC,3043,0.62,146.6,11.3,10.7,559,3051,0.15,2.20,0.00,0.000,6,0.083,0.041,3432,2006,2641,0,0,0,0,0,0,26.42,26.42,28.83
$STATE,3091,end climb,SURFACE_DEPTH_REACHED
$STATE,3091,begin surface coast
$FINISH,0.7,1.022509
$STATE,3113,end surface coast,CONTROL_FINISHED_OK
$STATE,3113,begin surface
$SM_CCo,3132,204.45,0.060,0,0,634,641.46
$SM_GC,1.36,8.12,0.28,204.45,0.046,0.062,0.060,340,2214,634,-8.93,-1.19,641.46,0,0,0,0,0,0,26.42,26.46,26.26
$RAFOS_CLK,121
$RAFOS,0,1327611844,21.083334,21.067778,49,42,42,40,39,39,269,279,1542,816,566,1574
$RAFOS,2,1327610644,20.750000,20.734444,60,54,51,47,44,43,897,938,813,2452,318,137
$RAFOS,1,1327609443,20.416666,20.400833,58,54,50,39,39,37,684,668,694,1489,1689,1769
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12220.67,260112,202041
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.43
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.6
$ALTIM_BOTTOM_PING,150.1,39.2
$24V_AH,24.4,4.041
$10V_AH,10.6,3.492
$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,24.225,43.925,224.575,204.450,0.000,0.000,0.000,0.000,3.000,0.000,14.964,1278.327,604.217,575.384,844.396,124.082,0.000,1059.441,0.000,827.435,1260.000,25.057,0.000
$DEVICE_MAMPS,250.920,61.965,871.335,60.435,0.000,0.000,0.000,0.000,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,389.245,409.619,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319308
$DATA_FILE_SIZE,20120,572
$CAP_FILE_SIZE,77375,0
$CFSIZE,260165632,249298944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1477.4
$GPS,260112,211542,4743.730,-12224.838,18,1.2,18,16.6