version: 66.11
glider: 108
mission: 25
dive: 6
start: 9 24 113 5 59 1
data:
$ID,108
$MISSION,25
$DIVE,6
$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,-193509.11
$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,48
$R_STBD_OVSHOOT,53
$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
$GPS1,240913,055325,4748.706,-12505.516,19,1.3,19,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-70.9
$GPS2,240913,055834,4748.655,-12505.475,23,0.8,23,17.2
$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,244.1,170423,-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,-146.0,329,2164,1059,872,0.0,0.0,0,93,0.00,0.00,-69.78,0.000,16386,0.000,0.000,329,2165,2948,2958,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.73,-146.0,329,2165,2959,2941,3.5,-5.5,12,129,10.52,2.15,-11.70,0.000,18692,0.249,0.066,2979,3539,3611,3610,3613,0,0,0,0,0,0,26.08,26.29,26.58
$GC,359,-0.80,-146.0,2980,3538,3611,3640,41.7,-10.4,46,366,0.00,2.08,0.00,0.000,1030,0.000,0.032,2980,2123,3624,3611,3638,0,0,0,0,0,0,28.83,26.48,28.83
$GC,665,-0.87,-146.0,2979,2118,3612,3644,74.0,-10.4,66,670,0.00,2.17,0.00,0.000,260,0.000,0.048,2971,3545,3627,3611,3644,0,0,0,0,0,0,28.83,26.53,28.83
$GC,723,-0.94,-146.0,2969,3545,3612,3644,78.6,-10.4,68,731,0.12,2.05,0.00,0.000,5126,0.088,0.033,2911,2136,3628,3612,3644,0,0,0,0,0,0,26.56,26.60,28.83
$GC,1029,-0.94,-146.0,2911,2135,3612,3645,119.8,-12.9,84,1035,0.00,2.15,0.00,0.000,260,0.000,0.049,2900,3558,3628,3612,3645,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1144,-0.94,-146.0,2900,3558,3612,3645,133.3,-13.3,89,1149,0.00,2.05,0.00,0.000,1030,0.000,0.033,2900,2146,3628,3612,3645,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1457,-0.91,-146.0,2900,2143,3612,3644,179.3,-14.7,105,1463,0.12,2.12,0.00,0.000,2308,0.167,0.047,2930,3551,3627,3611,3644,0,0,0,0,0,0,26.57,26.66,28.83
$STATE,1479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1479,begin apogee
$GC,1488,-0.17,0.0,2930,1956,3611,3644,183.2,-14.0,106,1645,0.70,0.00,143.05,0.723,10246,0.116,0.000,3169,1950,3010,3105,2916,0,0,0,0,1,0,26.58,28.83,24.44
$STATE,1647,end apogee,CONTROL_FINISHED_OK
$STATE,1647,begin climb
$GC,1649,0.73,146.0,3169,1950,3104,2916,192.6,0.0,114,1786,0.85,2.28,119.57,0.823,11012,0.062,0.043,3474,3345,2412,2520,2304,0,0,0,0,1,0,25.20,24.87,24.22
$GC,1999,0.72,212.8,3474,3345,2513,2295,174.5,6.9,131,2071,0.00,2.15,57.00,0.777,9222,0.000,0.033,3484,1934,2141,2267,2015,0,0,0,0,1,0,28.83,25.95,24.58
$GC,2370,0.74,229.1,3484,1934,2259,2009,137.1,9.3,150,2399,0.00,2.17,17.45,0.613,8708,0.000,0.042,3495,541,2075,2205,1945,0,0,0,0,1,0,28.83,25.86,25.20
$GC,2452,0.74,229.1,3494,541,2204,1945,127.1,12.2,154,2459,0.00,2.17,0.00,0.000,1030,0.000,0.037,3495,1944,2074,2204,1945,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2777,0.74,229.1,3494,1944,2199,1945,91.1,10.2,170,2782,0.00,2.12,0.00,0.000,260,0.000,0.047,3495,3351,2072,2199,1945,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2986,0.69,229.1,3494,3350,2198,1943,68.7,10.4,180,2993,0.20,2.10,0.00,0.000,5126,0.143,0.034,3446,1937,2070,2198,1943,0,0,0,0,0,0,26.28,26.42,28.83
$GC,3307,0.89,320.8,3445,1936,2196,1942,48.8,5.8,196,3396,0.17,0.00,75.62,0.758,10758,0.077,0.000,3526,1936,1701,1834,1568,0,0,0,0,1,0,26.52,28.83,24.81
$GC,3700,1.08,407.1,3526,1936,1824,1559,17.5,6.1,246,3751,0.12,2.22,39.67,0.096,10500,0.090,0.047,3594,3333,1347,1482,1212,0,0,0,0,0,0,26.17,26.08,26.02
$STATE,3822,end climb,SURFACE_DEPTH_REACHED
$STATE,3822,begin surface coast
$FINISH,0.9,1.023253
$STATE,3855,end surface coast,CONTROL_FINISHED_OK
$STATE,3855,begin surface
$SM_CCo,3876,38.88,0.057,0,0,969,500.17
$SM_GC,1.93,8.52,1.83,38.88,0.040,0.033,0.057,339,2139,969,-8.96,1.70,500.17,0,0,0,0,0,0,26.21,26.25,26.17
$IRIDIUM_FIX,4732.49,-12510.28,240913,040423
$TT8_MAMPS,0.025466,0.025466
$HUMID,62.83
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,19.00
$XPDR_PINGS,0
$SC_FREEKB,3936096
$24V_AH,24.2,1.799
$10V_AH,9.8,10.937
$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,21.350,34.225,452.375,38.875,0.000,0.000,0.000,172.700,0.000,0.000,24.116,822.486,1851.900,509.657,911.163,142.427,0.000,1133.039,0.000,690.966,0.000,0.536,0.000
$DEVICE_MAMPS,248.625,65.790,823.140,57.375,0.000,0.000,0.000,121.635,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3855.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.401,0.000,0.000,0.000
$MEM,307840
$DATA_FILE_SIZE,10096,274
$CAP_FILE_SIZE,63765,0
$CFSIZE,260034560,242343936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,5,2,0
$CURRENT,0.158,153.4,1
$GPS,240913,070513,4748.271,-12505.896,14,1.0,15,17.2