version: 66.10
glider: 107
mission: 22
dive: 4
start: 1 31 112 6 22 13
data:
$ID,107
$MISSION,22
$DIVE,4
$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,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,-77176.047
$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,27
$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
$GPS1,310112,061218,4809.286,-12223.109,32,1.1,42,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-84.3
$GPS2,310112,062118,4809.376,-12223.177,14,1.5,24,18.4
$SPEED_LIMITS,0.062,0.190
$TGT_NAME,HEADING
$TGT_LATLONG,4803.182,-12236.410
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.157,-0.108
$KALMAN_X,-501.8,-536.3,-435.7,-212.7,71.3
$KALMAN_Y,1509.3,1616.7,1316.7,-202.4,-203.4
$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,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,-100.03,0.000,6,0.000,0.000,150,2865,3517,0,0,0,0,0,0,28.83,28.83,26.08
$GC,126,-0.66,-146.1,2.7,-0.4,19,139,6.75,1.45,0.00,0.000,4,0.112,0.050,2364,1989,3518,0,0,0,0,0,0,25.81,25.84,28.83
$GC,366,-0.66,-146.1,2.9,0.0,66,373,0.00,1.52,0.00,0.000,6,0.000,0.060,2364,2872,3520,0,0,0,0,0,0,28.83,25.98,28.83
$GC,436,-0.66,-146.1,2.9,-0.2,79,442,0.00,1.55,0.00,0.000,4,0.000,0.085,2359,3750,3524,0,0,0,0,0,0,28.83,25.98,28.83
$GC,474,-0.66,-146.1,2.7,0.4,86,481,0.00,1.58,0.00,0.000,6,0.000,0.099,2359,2881,3521,0,0,0,0,0,0,28.83,25.97,28.83
$GC,543,-0.66,-146.1,2.7,0.4,99,550,0.00,1.50,0.00,0.000,4,0.000,0.064,2352,3751,3522,0,0,0,0,0,0,28.83,26.03,28.83
$GC,777,-0.66,-146.1,2.9,-0.0,145,783,0.00,1.60,0.00,0.000,6,0.000,0.097,2352,2861,3521,0,0,0,0,0,0,28.83,26.07,28.83
$GC,845,-0.66,-146.1,2.8,0.4,158,852,0.00,1.52,0.00,0.000,4,0.000,0.060,2349,3776,3522,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1079,-0.66,-146.1,2.8,0.0,204,1086,0.00,1.65,0.00,0.000,6,0.000,0.096,2349,2861,3522,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1148,-0.66,-146.1,2.8,-0.1,217,1155,0.00,1.50,0.00,0.000,4,0.000,0.060,2348,3744,3522,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1382,-0.66,-146.1,2.8,-0.3,263,1389,0.00,1.58,0.00,0.000,6,0.000,0.095,2348,2861,3521,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1451,-0.66,-146.1,2.8,0.3,276,1458,0.00,1.50,0.00,0.000,4,0.000,0.058,2347,3747,3522,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1685,-0.66,-146.1,2.8,0.4,322,1691,0.00,1.58,0.00,0.000,6,0.000,0.095,2347,2863,3522,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1754,-0.66,-146.1,2.8,0.4,335,1760,0.00,1.50,0.00,0.000,4,0.000,0.058,2346,3748,3522,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1988,-0.66,-146.1,2.9,-0.1,381,1995,0.00,1.58,0.00,0.000,6,0.000,0.094,2346,2862,3522,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2057,-0.66,-146.1,2.9,-0.1,394,2063,0.00,1.50,0.00,0.000,4,0.000,0.058,2345,3750,3521,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2291,-0.66,-146.1,2.7,0.7,440,2297,0.00,1.58,0.00,0.000,6,0.000,0.094,2345,2864,3522,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2359,-0.66,-146.1,2.9,-0.4,453,2366,0.00,1.48,0.00,0.000,4,0.000,0.056,2345,1979,3524,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,2406,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,2406,begin apogee
$GC,2413,-0.17,0.0,2.8,-0.0,462,2421,0.50,0.00,4.90,0.174,2,0.088,0.000,2523,2876,3465,0,0,0,0,0,0,26.24,28.83,28.83
$STATE,2421,end apogee,SURFACE_DEPTH_REACHED
$STATE,2422,begin surface coast
$FINISH,2.8,1.013497
$STATE,2432,end surface coast,NO_VERTICAL_VELOCITY
$STATE,2433,begin surface
$SM_CCo,2446,238.20,0.159,0,0,879,500.17
$SM_GC,2.22,6.38,0.00,238.20,0.043,0.000,0.159,134,2877,879,-7.56,0.25,500.17,0,0,0,0,0,0,26.30,28.83,25.44
$IRIDIUM_FIX,4751.72,-12340.51,310112,060630
$TT8_MAMPS,0.029211,0.029211
$HUMID,33.02
$INTERNAL_PRESSURE,8.86982
$TCM_TEMP,18.20
$24V_AH,25.4,0.418
$10V_AH,10.5,0.853
$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,13.625,27.675,4.900,238.200,0.000,53.212,89.546,247.070,0.000,0.000,24.959,1075.689,586.406,395.051,1107.825,77.686,32.222,760.219,0.000,681.432,0.000,0.000,0.000
$DEVICE_MAMPS,112.455,99.450,173.655,159.120,0.000,103.000,160.000,223.000,0.000,0.000,50.000,18.000,0.390,18.000,38.000,44.000,80.000,12.000,0.000,15.000,0.000,0.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,MIB,nil,nil,nil
$SENSOR_SECS,320.643,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323288
$DATA_FILE_SIZE,13491,465
$CAP_FILE_SIZE,53420,0
$CFSIZE,260034560,245661696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310112,071025,4809.458,-12223.244,152,6.7,171,18.4