version: 66.11
glider: 108
mission: 25
dive: 129
start: 10 15 113 19 43 2
data:
$ID,108
$MISSION,25
$DIVE,129
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$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,410
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,375
$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,-193668
$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,3215
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,61
$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,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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,108
$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,3
$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,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,14.0
$GPS1,151013,193701,4750.620,-12513.131,13,1.1,14,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-74.6
$GPS2,151013,194235,4750.603,-12513.143,21,1.0,21,17.2
$SPEED_LIMITS,0.139,0.199
$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,233.7,164314,-15.8,-8.049,-22.04,2046
$D_GRID,343
$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,-1.11,-107.1,330,2324,1540,1381,0.0,0.0,0,73,0.00,0.00,-44.38,0.000,16386,0.000,0.000,330,2324,2655,2692,2618,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.11,-107.1,330,2324,2695,2622,3.1,-2.2,8,122,9.65,1.95,-25.15,0.000,18692,0.233,0.061,2846,3574,3449,3495,3404,0,0,0,0,0,0,25.93,26.20,26.48
$GC,350,-1.11,-107.1,1872,3574,3493,3409,47.2,-16.0,47,362,0.00,1.83,0.00,0.000,1030,0.000,0.025,2850,2281,3457,3503,3412,0,0,0,0,0,0,28.83,26.41,28.83
$GC,671,-1.11,-107.1,2850,2278,3508,3415,88.5,-13.4,64,682,0.00,1.95,0.00,0.000,260,0.000,0.044,2842,3576,3461,3508,3414,0,0,0,0,0,0,28.83,26.46,28.83
$GC,694,-1.11,-107.1,2842,3576,3508,3415,88.5,-13.4,64,706,0.00,1.80,0.00,0.000,1030,0.000,0.026,2842,2290,3462,3509,3415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1000,-1.11,-107.1,2842,2290,3509,3415,131.5,-12.4,80,1011,0.00,1.95,0.00,0.000,260,0.000,0.044,2833,3590,3462,3509,3415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1119,-1.11,-107.1,2832,3590,3509,3415,145.6,-13.1,85,1130,0.00,1.80,0.00,0.000,1030,0.000,0.025,2834,2297,3462,3509,3415,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1438,-1.11,-107.1,2834,2295,3509,3415,185.0,-11.7,101,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2296,3462,3509,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-1.11,-107.1,2834,2295,3509,3415,221.0,-11.4,116,1750,0.00,2.03,0.00,0.000,516,0.000,0.031,2836,912,3462,3509,3415,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1808,-1.11,-107.1,2835,912,3509,3415,229.3,-11.7,119,1819,0.00,2.08,0.00,0.000,1030,0.000,0.032,2828,2302,3461,3508,3415,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2137,-1.11,-107.1,2828,2301,3507,3415,267.1,-11.2,135,2148,0.00,2.05,0.00,0.000,516,0.000,0.031,2828,913,3461,3507,3415,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2200,-1.11,-107.1,2828,913,3507,3415,272.6,-11.2,137,2213,0.15,2.08,0.00,0.000,3078,0.168,0.032,2859,2300,3461,3507,3415,0,0,0,0,0,0,26.51,26.69,28.83
$GC,2506,-1.11,-107.1,2859,2300,3506,3415,302.5,-9.1,153,2517,0.00,1.90,0.00,0.000,260,0.000,0.044,2851,3596,3460,3506,3415,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2609,-1.11,-107.1,2851,3596,3505,3415,311.5,-10.1,157,2621,0.00,1.85,0.00,0.000,1030,0.000,0.026,2851,2298,3460,3505,3415,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,2893,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2893,begin apogee
$GC,2899,-0.25,0.0,2851,2023,3506,3415,343.2,-11.6,172,3042,0.85,0.00,128.60,0.681,10246,0.132,0.000,3131,2023,3007,3102,2913,0,0,0,0,0,0,26.55,28.83,24.69
$STATE,3043,end apogee,CONTROL_FINISHED_OK
$STATE,3044,begin climb
$GC,3046,1.11,107.1,3130,2022,3098,2911,348.2,0.0,179,3190,1.23,2.20,126.05,0.623,10756,0.076,0.035,3576,653,2566,2669,2464,0,0,0,0,0,0,25.39,25.11,24.49
$GC,3213,1.11,107.1,3576,653,2662,2462,337.1,9.9,187,3224,0.00,2.17,0.00,0.000,1030,0.000,0.030,3576,2028,2562,2662,2462,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3532,1.11,107.1,3576,2028,2654,2456,296.6,12.6,203,3543,0.00,2.12,0.00,0.000,260,0.000,0.042,3576,3425,2555,2654,2456,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3676,1.11,107.1,3576,3425,2653,2454,277.7,15.1,209,3688,0.00,2.05,0.00,0.000,1030,0.000,0.026,3586,2020,2553,2653,2453,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3983,1.11,107.1,3586,2020,2651,2453,236.1,12.6,225,3994,0.00,2.10,0.00,0.000,516,0.000,0.035,3596,633,2552,2651,2453,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4126,1.11,107.1,3596,633,2649,2453,219.9,12.4,231,4139,0.00,2.12,0.00,0.000,1030,0.000,0.031,3595,2034,2551,2649,2453,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4432,1.11,107.1,3595,2033,2648,2452,175.5,14.4,247,4443,0.00,0.00,0.00,0.000,6,0.000,0.000,3595,2033,2549,2647,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4732,1.11,107.1,3595,2033,2647,2451,131.7,14.3,262,4743,0.00,2.10,0.00,0.000,260,0.000,0.043,3597,3438,2548,2647,2449,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4782,1.11,107.1,3595,3439,2646,2450,124.4,14.6,264,4794,0.12,2.05,0.00,0.000,5126,0.181,0.026,3573,2017,2548,2646,2450,0,0,0,0,0,0,26.39,26.60,28.83
$GC,5112,1.11,107.1,3573,2010,2646,2449,87.9,8.7,280,5123,0.00,2.08,0.00,0.000,516,0.000,0.034,3581,630,2547,2646,2449,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5162,1.11,107.1,3581,630,2645,2449,83.3,8.9,282,5173,0.00,2.10,0.00,0.000,1030,0.000,0.031,3581,2030,2547,2645,2449,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5482,1.11,107.1,3581,2030,2645,2449,48.9,9.5,298,5493,0.00,2.08,0.00,0.000,260,0.000,0.043,3581,3425,2547,2645,2450,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5512,1.11,107.1,3581,3425,2644,2449,46.0,9.6,300,5523,0.00,2.03,0.00,0.000,1030,0.000,0.026,3590,2011,2546,2644,2449,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5828,1.44,215.9,3590,2011,2643,2447,24.5,2.6,332,5975,0.22,2.20,128.65,0.543,10756,0.079,0.035,3695,644,2120,2227,2014,0,0,0,0,0,0,26.63,25.48,24.90
$STATE,6032,end climb,SURFACE_DEPTH_REACHED
$STATE,6032,begin surface coast
$FINISH,1.7,1.015848
$STATE,6059,end surface coast,CONTROL_FINISHED_OK
$STATE,6059,begin surface
$SM_CCo,6083,68.75,0.058,0,0,1479,375.06
$SM_GC,2.61,8.90,2.62,68.75,0.037,0.031,0.058,334,2302,1479,-8.92,-1.36,375.06,0,0,1,0,0,0,25.86,25.85,25.87
$IRIDIUM_FIX,4735.69,-12516.60,151013,171747
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.37
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3896736
$PM_FREEKB,4640392
$24V_AH,24.5,14.993
$10V_AH,9.6,21.544
$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,21.125,53.600,383.300,68.750,0.000,0.000,0.000,180.900,0.000,0.000,22.796,1085.711,3498.735,488.903,1219.341,203.668,0.000,1338.975,0.000,829.041,0.000,0.535,0.000
$DEVICE_MAMPS,232.560,61.200,680.850,58.140,0.000,0.000,0.000,121.635,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6052.000,140.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.533,9.608,0.000,0.000
$MEM,258740
$DATA_FILE_SIZE,13481,371
$CAP_FILE_SIZE,90715,0
$CFSIZE,260034560,232017920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.095,170.5,1
$GPS,151013,212703,4750.129,-12513.960,38,1.2,41,17.2