version: 66.11
glider: 108
mission: 25
dive: 5
start: 9 24 113 4 51 56
data:
$ID,108
$MISSION,25
$DIVE,5
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1040
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,60
$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,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51925
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020999999
$HD_B,0.0116
$HD_C,9.4299997e-07
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$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,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$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,-193507.86
$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,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1946
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,76
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3009
$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,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-21.975828
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$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,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,86
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042902208
$SEABIRD_T_H,0.00062879291
$SEABIRD_T_I,2.3436274e-05
$SEABIRD_T_J,2.4509632e-06
$SEABIRD_C_G,-9.8955164
$SEABIRD_C_H,1.1345812
$SEABIRD_C_I,-0.0014690319
$SEABIRD_C_J,0.0002024868
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$PM_RECORDABOVE,2000.0
$PM_PROFILE,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$GPS1,240913,044624,4749.131,-12504.943,17,0.9,17,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-69.8
$GPS2,240913,045129,4749.087,-12504.873,34,0.8,34,17.2
$SPEED_LIMITS,0.173,0.245
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,221.3,171491,-16.6,-10.000,-22.18,2246
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.73,-146.0,336,2160,525,389,0.0,0.0,0,110,0.00,0.00,-86.15,0.000,16386,0.000,0.000,336,2161,2911,2928,2894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.73,-146.0,336,2160,2929,2897,3.0,-3.5,15,148,10.43,2.15,-12.88,0.000,18948,0.248,0.057,2989,761,3609,3611,3608,0,0,0,0,0,0,26.13,26.39,26.67
$GC,182,-0.70,-146.0,2989,761,3611,3618,18.6,-15.8,26,189,0.00,2.15,0.00,0.000,1030,0.000,0.038,2983,2162,3615,3611,3619,0,0,0,0,0,0,28.83,26.41,28.83
$GC,504,-0.75,-146.0,2982,2162,3616,3645,54.9,-10.8,60,510,0.00,2.08,0.00,0.000,260,0.000,0.048,2972,3555,3630,3616,3645,0,0,0,0,0,0,28.83,26.53,28.83
$GC,635,-0.80,-146.0,1920,3553,3608,3645,67.0,-9.3,66,640,0.00,2.05,0.00,0.000,1030,0.000,0.032,2972,2143,3632,3617,3647,0,0,0,0,0,0,28.83,26.62,28.83
$GC,954,-0.85,-146.0,2972,2139,3618,3649,99.3,-10.6,82,959,0.00,2.12,0.00,0.000,260,0.000,0.049,2962,3551,3634,3619,3649,0,0,0,0,0,0,28.83,26.63,28.83
$GC,987,-0.90,-146.0,2962,3551,3618,3649,101.9,-10.5,83,993,0.00,2.03,0.00,0.000,1030,0.000,0.032,2962,2150,3634,3619,3649,0,0,0,0,0,0,28.83,26.68,28.83
$GC,1302,-0.95,-146.0,2962,2146,3617,3649,130.3,-8.3,99,1308,0.12,2.12,0.00,0.000,4356,0.088,0.047,2881,3557,3634,3619,3649,0,0,0,0,0,0,26.72,26.67,28.83
$GC,1412,-0.86,-146.0,2881,3556,3619,3649,147.6,-17.3,104,1418,0.25,2.05,0.00,0.000,3078,0.142,0.033,2955,2140,3633,3618,3649,0,0,0,0,0,0,26.56,26.74,28.83
$STATE,1689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1689,begin apogee
$GC,1695,-0.17,0.0,2956,1957,3618,3649,182.0,-14.0,118,1837,0.62,0.00,128.30,0.806,10246,0.127,0.000,3167,1950,3008,3105,2912,0,0,0,0,1,0,26.60,28.83,24.44
$STATE,1839,end apogee,CONTROL_FINISHED_OK
$STATE,1839,begin climb
$GC,1841,0.73,146.0,3167,1950,3107,2913,191.4,0.0,125,1978,0.82,2.30,121.90,0.827,11012,0.057,0.040,3486,550,2412,2526,2298,0,0,0,0,1,0,25.25,24.91,24.24
$GC,2011,0.95,399.0,3485,550,2522,2298,198.8,-1.6,133,2227,0.15,2.25,202.98,0.809,11270,0.088,0.034,3543,1955,1381,1523,1240,0,0,0,0,1,0,25.34,25.37,24.21
$GC,2540,0.95,399.0,3543,1955,1518,1233,122.5,18.2,160,2545,0.00,2.12,0.00,0.000,260,0.000,0.047,3543,3347,1375,1518,1233,0,0,0,0,0,0,28.83,26.04,28.83
$GC,2578,0.95,399.0,3544,3347,1517,1233,118.0,18.6,161,2585,0.00,2.12,0.00,0.000,1030,0.000,0.033,3553,1950,1375,1517,1233,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2884,0.95,399.0,3553,1950,1517,1231,67.1,14.5,177,2890,0.00,2.17,0.00,0.000,260,0.000,0.047,3554,3351,1373,1517,1230,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2972,0.92,399.0,2752,3349,1484,1229,54.8,14.6,181,2977,0.15,2.12,0.00,0.000,5126,0.148,0.034,3522,1940,1373,1515,1231,0,0,0,0,0,0,26.27,26.41,28.83
$GC,3284,1.00,404.9,3521,1938,1515,1228,20.4,9.7,214,3290,0.00,0.00,1.77,0.112,8198,0.000,0.000,3522,1938,1357,1500,1215,0,0,0,0,0,0,28.83,28.83,26.39
$STATE,3500,end climb,SURFACE_DEPTH_REACHED
$STATE,3500,begin surface coast
$FINISH,0.9,1.023264
$STATE,3569,end surface coast,CONTROL_FINISHED_OK
$STATE,3569,begin surface
$SM_CCo,3588,40.70,0.058,0,0,969,500.17
$SM_GC,1.91,8.20,0.32,40.70,0.037,0.058,0.058,333,2153,969,-8.97,-1.53,500.17,0,0,0,0,0,0,26.55,26.57,26.49
$IRIDIUM_FIX,4729.30,-12505.82,240913,030332
$TT8_MAMPS,0.025466,0.025466
$HUMID,63.54
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3936416
$24V_AH,24.2,1.702
$10V_AH,9.7,10.897
$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,20.750,30.400,454.950,40.700,0.000,0.000,0.000,165.100,0.000,0.000,34.961,760.692,1705.669,504.962,835.527,142.984,0.000,1086.329,0.000,622.362,0.000,0.536,0.000
$DEVICE_MAMPS,247.860,60.435,826.965,58.140,0.000,0.000,0.000,113.220,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3561.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.583,0.000,0.000,0.000
$MEM,307864
$DATA_FILE_SIZE,10145,269
$CAP_FILE_SIZE,60496,0
$CFSIZE,260034560,242384896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$CURRENT,0.101,165.3,1
$GPS,240913,055325,4748.706,-12505.516,19,1.3,19,17.2