version: 66.10
glider: 108
mission: 20
dive: 4
start: 1 26 112 21 44 56
data:
$ID,108
$MISSION,20
$DIVE,4
$N_DIVES,4
$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,-188865.97
$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,48
$R_STBD_OVSHOOT,51
$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
$GPS1,260112,214016,4743.892,-12224.824,16,1.6,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-76.8
$GPS2,260112,214428,4743.918,-12224.831,17,0.7,19,16.6
$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,178.6,803,-18.0,-10.000
$D_GRID,176
$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,-146.6,0.0,0.0,0,150,0.00,0.00,-126.50,0.000,6,0.000,0.000,340,2216,3999,0,0,0,0,0,0,28.83,28.83,27.01
$GC,153,-0.78,-146.6,3.1,-4.2,24,172,10.12,2.17,0.00,0.000,4,0.251,0.038,2955,781,4002,0,0,0,0,0,0,26.38,26.67,28.83
$GC,377,-0.59,-146.6,35.8,-11.6,67,385,0.22,2.17,0.00,0.000,6,0.158,0.043,3010,2201,4004,0,0,0,0,0,0,26.52,26.68,28.83
$GC,510,-0.71,-146.6,49.0,-10.6,92,516,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2201,4005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,641,-0.82,-146.6,58.4,-7.1,117,649,0.17,2.08,0.00,0.000,4,0.076,0.050,2917,3603,4005,0,0,0,0,0,0,26.74,26.69,28.83
$GC,687,-0.50,-146.6,64.4,-14.7,125,695,0.40,2.08,0.00,0.000,6,0.150,0.035,3045,2177,4004,0,0,0,0,0,0,26.55,26.73,28.83
$GC,822,-0.75,-146.6,73.6,-5.7,150,829,0.22,0.00,0.00,0.000,6,0.063,0.000,2937,2171,4005,0,0,0,0,0,0,26.75,28.83,28.83
$GC,954,-0.50,-146.6,88.5,-13.1,175,961,0.32,2.15,0.00,0.000,4,0.149,0.050,3030,3605,4005,0,0,0,0,0,0,26.57,26.70,28.83
$GC,1010,-0.82,-146.6,93.5,-6.9,185,1017,0.25,2.03,0.00,0.000,6,0.060,0.034,2911,2191,4005,0,0,0,0,0,0,26.74,26.75,28.83
$GC,1142,-0.44,-146.6,108.4,-12.7,210,1151,0.47,2.10,0.00,0.000,4,0.155,0.050,3050,3593,4005,0,0,0,0,0,0,26.56,26.71,28.83
$GC,1175,-0.67,-146.6,111.4,-8.4,215,1182,0.17,2.03,0.00,0.000,6,0.070,0.034,2962,2196,4005,0,0,0,0,0,0,26.75,26.77,28.83
$GC,1308,-0.56,-146.6,124.9,-8.8,240,1315,0.20,0.00,0.00,0.000,6,0.161,0.000,3021,2196,4004,0,0,0,0,0,0,26.58,28.83,28.83
$GC,1441,-0.74,-146.6,135.3,-7.3,265,1448,0.15,2.08,0.00,0.000,4,0.079,0.039,2945,798,4005,0,0,0,0,0,0,26.78,26.74,28.83
$GC,1516,-0.53,-146.6,143.1,-11.2,278,1523,0.32,2.15,0.00,0.000,6,0.150,0.044,3032,2202,4005,0,0,0,0,0,0,26.58,26.74,28.83
$STATE,1613,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1614,begin apogee
$GC,1620,-0.17,0.0,150.2,-6.4,297,1734,0.32,0.00,108.88,0.874,6,0.116,0.000,3147,1824,3400,0,0,0,0,0,0,26.65,28.83,24.57
$STATE,1735,end apogee,CONTROL_FINISHED_OK
$STATE,1735,begin climb
$GC,1738,0.78,146.6,151.3,0.0,317,1863,0.88,2.30,114.03,0.847,4,0.079,0.044,3466,463,2801,0,0,0,0,0,0,25.25,24.95,24.30
$GC,1914,0.42,146.6,125.9,21.6,348,1921,0.43,2.25,0.00,0.000,6,0.164,0.042,3340,1852,2798,0,0,0,0,0,0,25.32,25.46,28.83
$GC,2047,0.51,146.6,110.1,10.5,373,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,3340,1851,2796,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2178,0.67,174.5,97.6,8.7,398,2208,0.22,2.20,22.45,0.766,4,0.069,0.047,3437,3256,2687,0,0,0,0,0,0,26.07,25.72,25.10
$GC,2290,0.35,174.5,79.1,18.8,418,2297,0.45,2.15,0.00,0.000,6,0.157,0.037,3317,1856,2684,0,0,0,0,0,0,25.79,25.95,28.83
$GC,2423,0.70,244.5,65.7,6.8,443,2486,0.28,2.28,55.25,0.784,4,0.060,0.042,3452,449,2403,0,0,0,0,0,0,26.13,25.38,24.75
$GC,2509,0.61,244.5,51.9,17.6,458,2517,0.20,2.28,0.00,0.000,6,0.148,0.041,3398,1863,2401,0,0,0,0,0,0,25.44,25.56,28.83
$GC,2644,0.69,244.5,33.4,14.1,483,2650,0.00,2.17,0.00,0.000,4,0.000,0.048,3398,3265,2397,0,0,0,0,0,0,28.83,25.90,28.83
$GC,2675,0.69,244.5,28.4,15.4,488,2682,0.00,2.17,0.00,0.000,6,0.000,0.037,3405,1844,2396,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2807,0.76,244.5,9.0,14.8,513,2813,0.12,0.00,0.00,0.000,6,0.088,0.000,3472,1835,2396,0,0,0,0,0,0,26.15,28.83,28.83
$STATE,2833,end climb,SURFACE_DEPTH_REACHED
$STATE,2834,begin surface coast
$FINISH,0.7,1.007940
$STATE,2855,end surface coast,CONTROL_FINISHED_OK
$STATE,2855,begin surface
$SM_CCo,2875,165.30,0.061,0,0,784,641.46
$SM_GC,1.42,8.30,0.57,165.30,0.044,0.052,0.061,346,2214,784,-8.89,-1.07,641.46,0,0,0,0,0,0,26.14,26.17,26.08
$RAFOS_CLK,108
$RAFOS,1,1327616644,22.416666,22.401112,59,54,51,48,41,40,1070,1028,478,150,2396,1619
$RAFOS,0,1327615443,22.083334,22.067499,56,54,51,43,42,41,300,343,362,1598,1418,272
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12229.50,260112,212106
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.28
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.80
$XPDR_PINGS,11
$ALTIM_TOP_PING,20.0,19.1
$ALTIM_BOTTOM_PING,140.0,55.6
$24V_AH,24.3,4.116
$10V_AH,10.5,3.586
$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,24.250,39.925,300.600,165.300,0.000,0.000,0.000,0.000,5.000,0.000,19.864,1131.601,518.390,592.374,778.909,111.587,0.000,1055.143,0.000,756.031,780.000,16.492,0.000
$DEVICE_MAMPS,250.920,52.020,874.395,61.200,0.000,0.000,0.000,0.000,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,354.980,366.101,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319416
$DATA_FILE_SIZE,20151,522
$CAP_FILE_SIZE,83345,0
$CFSIZE,260165632,249253888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2
$SOUNDSPEED,1477.5
$GPS,260112,223647,4743.505,-12225.065,23,0.8,23,16.6