version: 66.11
glider: 108
mission: 25
dive: 14
start: 9 24 113 15 43 19
data:
$ID,108
$MISSION,25
$DIVE,14
$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,-193519.11
$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,44
$R_STBD_OVSHOOT,42
$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
$GPS1,240913,153818,4747.266,-12510.021,21,1.8,21,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.9
$GPS2,240913,154253,4747.336,-12509.998,18,1.1,18,17.2
$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,243.0,164285,-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,-146.0,332,2160,1033,884,0.0,0.0,0,96,0.00,0.00,-72.53,0.000,16386,0.000,0.000,332,2160,2996,2997,2995,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.73,-146.0,332,2160,2997,2998,3.2,-4.6,13,132,10.52,2.20,-11.95,0.000,19204,0.246,0.064,2980,3556,3611,3602,3620,0,0,0,0,0,0,25.92,26.14,26.43
$GC,168,-0.70,-146.0,2980,3556,3601,3626,17.4,-16.0,24,175,0.00,2.12,0.00,0.000,1030,0.000,0.033,2980,2127,3614,3602,3626,0,0,0,0,0,0,28.83,26.22,28.83
$GC,487,-0.74,-146.0,2979,2124,3602,3637,50.4,-9.6,60,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2124,3619,3602,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,785,-0.79,-146.0,2980,2124,3602,3641,79.7,-10.4,75,791,0.00,2.20,0.00,0.000,260,0.000,0.048,2972,3556,3622,3602,3642,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1014,-0.86,-146.0,1952,3555,3595,3640,101.7,-8.9,86,1020,0.00,2.08,0.00,0.000,1030,0.000,0.033,2971,2137,3622,3602,3642,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1334,-0.94,-146.0,2971,2135,3602,3642,128.4,-8.5,102,1340,0.12,2.17,0.00,0.000,4356,0.090,0.047,2894,3570,3622,3602,3642,0,0,0,0,0,0,26.61,26.56,28.83
$GC,1434,-0.94,-146.0,2894,3571,3602,3641,137.9,-11.2,106,1441,0.12,2.08,0.00,0.000,3078,0.150,0.034,2928,2145,3623,3602,3644,0,0,0,0,0,0,26.49,26.63,28.83
$GC,1738,-0.94,-146.0,2927,2145,3602,3641,171.8,-10.9,122,1744,0.00,2.15,0.00,0.000,260,0.000,0.049,2919,3568,3621,3602,3641,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1802,-0.94,-146.0,2919,3568,3602,3641,179.0,-11.1,125,1807,0.00,2.08,0.00,0.000,1030,0.000,0.034,2919,2144,3621,3602,3641,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,1823,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1823,begin apogee
$GC,1829,-0.17,0.0,2919,1936,3602,3641,181.9,-11.6,126,1987,0.75,0.00,140.70,0.662,10246,0.121,0.000,3171,1936,3009,3099,2919,0,0,0,0,1,0,26.53,28.83,24.52
$STATE,1989,end apogee,CONTROL_FINISHED_OK
$STATE,1989,begin climb
$GC,1991,0.73,146.0,3171,1936,3098,2919,189.0,0.0,134,2129,0.80,2.33,121.65,0.711,10756,0.063,0.043,3476,566,2412,2512,2313,0,0,0,0,1,0,25.22,24.84,24.22
$GC,2154,0.82,245.7,3475,565,2507,2313,185.8,5.4,142,2254,0.00,2.25,86.35,0.683,9222,0.000,0.035,3472,1958,2007,2129,1885,0,0,0,0,1,0,28.83,25.19,24.25
$GC,2553,0.86,245.7,3473,1958,2121,1875,143.5,11.0,162,2560,0.00,2.17,0.00,0.000,260,0.000,0.047,3474,3350,1998,2122,1875,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2688,0.86,245.7,3474,3350,2121,1874,128.5,12.1,168,2694,0.00,2.10,0.00,0.000,1030,0.000,0.034,3482,1966,1997,2121,1874,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3002,0.89,245.7,3482,1966,2120,1873,95.7,10.2,184,3008,0.10,2.15,0.00,0.000,2308,0.107,0.045,3527,3343,1996,2120,1873,0,0,0,0,0,0,26.31,26.27,28.83
$GC,3021,0.92,245.7,3526,3343,2120,1873,95.7,10.2,184,3028,0.00,2.12,0.00,0.000,1030,0.000,0.034,3536,1940,1996,2120,1873,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3327,0.89,245.7,3536,1941,2119,1873,57.6,11.0,200,3332,0.00,2.17,0.00,0.000,260,0.000,0.047,3537,3347,1995,2118,1872,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3405,0.83,245.7,2704,3344,2062,1864,48.4,12.5,204,3413,0.17,2.10,0.00,0.000,5126,0.147,0.034,3497,1939,1995,2119,1872,0,0,0,0,0,0,26.32,26.46,28.83
$GC,3714,0.99,306.4,3496,1939,2116,1870,20.6,7.2,240,3769,0.12,2.20,41.15,0.603,10500,0.092,0.047,3562,3351,1759,1883,1635,0,0,1,0,1,0,26.53,25.97,25.45
$STATE,3912,end climb,SURFACE_DEPTH_REACHED
$STATE,3913,begin surface coast
$FINISH,0.9,1.023313
$STATE,3953,end surface coast,CONTROL_FINISHED_OK
$STATE,3954,begin surface
$SM_CCo,3974,82.43,0.058,0,0,969,500.17
$SM_GC,1.81,8.50,1.88,82.43,0.043,0.034,0.058,339,2142,969,-8.96,1.36,500.17,0,0,0,0,0,0,26.21,26.24,26.14
$IRIDIUM_FIX,4729.30,-12508.44,240913,141434
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.58
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3933536
$24V_AH,24.2,2.493
$10V_AH,10.1,11.257
$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,21.225,38.800,389.850,82.425,0.000,0.000,0.000,141.675,0.000,0.000,19.532,840.400,1991.033,506.142,856.730,149.434,0.000,1085.732,0.000,671.991,0.000,0.535,0.000
$DEVICE_MAMPS,246.330,64.260,711.450,58.140,0.000,0.000,0.000,125.460,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3946.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.352,0.000,0.000,0.000
$MEM,307784
$DATA_FILE_SIZE,10141,285
$CAP_FILE_SIZE,66704,0
$CFSIZE,260034560,242024448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,4,0,0
$CURRENT,0.096,167.6,1
$GPS,240913,165204,4747.052,-12510.570,27,1.0,27,17.2