version: 66.10
glider: 108
mission: 19
dive: 4
start: 1 23 112 19 48 20
data:
$ID,108
$MISSION,19
$DIVE,4
$N_DIVES,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,150
$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,60
$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,500
$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,-187959.42
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3230
$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,50
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3103
$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,-22.395119
$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
$GPS1,230112,194237,4743.903,-12224.018,17,1.2,17,16.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,11.8
$GPS2,230112,194750,4743.959,-12224.028,15,1.8,15,16.6
$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,218.3,1479,-18.0,-10.000
$D_GRID,173
$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,-146.6,0.0,0.0,0,111,0.00,0.00,-92.22,0.000,6,0.000,0.000,340,2226,3702,0,0,0,0,0,0,28.83,28.83,26.99
$GC,115,-0.78,-146.6,2.2,-2.0,17,134,10.12,2.05,0.00,0.000,4,0.247,0.048,2964,3582,3707,0,0,0,0,0,0,26.35,26.63,28.83
$GC,364,-0.22,-146.6,31.5,-10.7,65,371,0.60,2.05,0.00,0.000,6,0.168,0.036,3152,2172,3711,0,0,0,0,0,0,26.46,26.68,28.83
$GC,499,-0.49,-146.6,37.0,-4.9,90,506,0.20,2.03,0.00,0.000,4,0.065,0.038,3044,790,3711,0,0,0,0,0,0,26.70,26.66,28.83
$GC,736,-0.20,-146.6,55.8,-7.8,136,744,0.43,2.15,0.00,0.000,6,0.147,0.044,3165,2199,3711,0,0,0,0,0,0,26.49,26.65,28.83
$GC,869,-0.60,-146.6,58.9,-1.8,161,877,0.32,2.08,0.00,0.000,4,0.050,0.037,3010,802,3711,0,0,0,0,0,0,26.71,26.67,28.83
$GC,925,-0.17,-146.6,62.1,-7.5,171,933,0.57,2.15,0.00,0.000,6,0.158,0.044,3176,2211,3712,0,0,0,0,0,0,26.47,26.65,28.83
$GC,1060,-0.65,-146.6,65.8,-1.9,196,1066,0.40,0.00,0.00,0.000,6,0.051,0.000,2994,2211,3711,0,0,0,0,0,0,26.69,28.83,28.83
$GC,1192,-0.20,-146.6,75.5,-8.5,221,1199,0.52,2.08,0.00,0.000,4,0.159,0.050,3149,3600,3712,0,0,0,0,0,0,26.48,26.64,28.83
$GC,1209,0.11,-146.6,76.8,-8.2,223,1216,0.35,2.05,0.00,0.000,6,0.100,0.034,3270,2180,3712,0,0,0,0,0,0,26.58,26.68,28.83
$GC,1341,-1.10,-146.6,80.4,-4.2,248,1349,1.08,2.12,0.00,0.000,4,0.088,0.049,2878,3598,3711,0,0,0,0,0,0,26.59,26.64,28.83
$GC,1440,-0.46,-146.6,90.3,-14.4,266,1447,0.68,2.03,0.00,0.000,6,0.184,0.036,3080,2208,3712,0,0,0,0,0,0,26.44,26.69,28.83
$GC,1573,-0.40,-146.6,99.1,-5.3,291,1580,0.00,2.08,0.00,0.000,4,0.000,0.041,3081,796,3712,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1654,-0.30,-146.6,103.9,-6.6,306,1662,0.20,2.15,0.00,0.000,6,0.145,0.044,3133,2204,3712,0,0,0,0,0,0,26.52,26.65,28.83
$GC,1788,-0.53,-146.6,109.7,-4.2,331,1795,0.17,0.00,0.00,0.000,6,0.073,0.000,3044,2204,3712,0,0,0,0,0,0,26.70,28.83,28.83
$STATE,1805,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,1805,begin apogee
$GC,1812,-0.17,0.0,111.1,-5.8,334,1932,0.40,0.00,112.12,0.836,6,0.138,0.000,3173,1985,3103,0,0,0,0,0,0,26.51,28.83,24.57
$STATE,1933,end apogee,CONTROL_FINISHED_OK
$STATE,1933,begin climb
$GC,1936,0.78,146.6,113.4,0.0,355,2061,0.90,2.25,114.57,0.802,4,0.093,0.042,3491,605,2504,0,0,0,0,0,0,25.27,25.02,24.36
$GC,2111,0.65,146.6,89.0,16.3,386,2119,0.20,2.25,0.00,0.000,6,0.148,0.042,3437,1999,2501,0,0,0,0,0,0,25.39,25.51,28.83
$GC,2243,0.65,146.6,71.6,13.9,411,2250,0.00,2.20,0.00,0.000,4,0.000,0.050,3436,3411,2498,0,0,0,0,0,0,28.83,25.89,28.83
$GC,2328,0.55,146.6,59.5,14.9,427,2336,0.12,2.12,0.00,0.000,6,0.159,0.037,3412,2014,2495,0,0,0,0,0,0,25.92,26.06,28.83
$GC,2462,0.67,173.5,46.7,8.8,452,2492,0.12,2.22,21.08,0.728,4,0.090,0.043,3485,589,2395,0,0,0,0,0,0,26.20,25.86,25.22
$GC,2562,0.67,173.5,33.7,12.9,470,2570,0.15,2.25,0.00,0.000,6,0.146,0.043,3444,2010,2393,0,0,0,0,0,0,25.91,26.03,28.83
$GC,2695,0.67,173.5,17.8,10.6,495,2701,0.00,2.15,0.00,0.000,4,0.000,0.050,3444,3407,2391,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2745,0.61,173.5,11.7,12.0,504,2752,0.00,2.15,0.00,0.000,6,0.000,0.037,3451,1986,2390,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,2802,end climb,SURFACE_DEPTH_REACHED
$STATE,2802,begin surface coast
$FINISH,0.6,1.022686
$STATE,2835,end surface coast,CONTROL_FINISHED_OK
$STATE,2835,begin surface
$SM_CCo,2854,138.30,0.064,0,0,1063,500.17
$SM_GC,1.48,8.27,0.35,138.30,0.050,0.050,0.064,345,2242,1063,-8.96,-1.02,500.17,0,0,0,0,0,0,26.25,26.29,26.16
$RAFOS_CLK,70
$RAFOS,1,1327350244,20.416666,20.401112,49,47,46,46,40,39,1620,1375,1744,2248,1909,1027
$RAFOS,0,1327349043,20.083334,20.067499,44,43,40,39,39,38,61,1373,1,1409,826,140
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,230112,191934
$TT8_MAMPS,0.025466,0.025466
$HUMID,39.13
$INTERNAL_PRESSURE,8.16438
$TCM_TEMP,18.80
$XPDR_PINGS,212
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,24.4,3.800
$10V_AH,10.5,2.811
$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,25.825,43.250,247.775,138.300,0.000,0.000,0.000,0.000,54.250,0.000,16.855,1164.222,546.020,497.520,767.220,110.006,0.000,944.508,0.000,754.893,780.000,8.781,0.000
$DEVICE_MAMPS,247.095,52.020,836.145,64.260,0.000,0.000,0.000,0.000,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.031,371.902,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,281556
$DATA_FILE_SIZE,20155,521
$CAP_FILE_SIZE,74800,0
$CFSIZE,260165632,249851904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1477.5
$GPS,230112,203915,4743.826,-12224.244,13,1.1,14,16.6