version: 66.11
glider: 108
mission: 25
dive: 234
start: 11 4 113 23 2 32
data:
$ID,108
$MISSION,25
$DIVE,234
$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,-193799.69
$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,3200
$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,44
$R_STBD_OVSHOOT,63
$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,3
$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
$GPS1,041113,225652,4750.991,-12513.602,69,0.9,69,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-72.0
$GPS2,041113,230206,4751.037,-12513.655,19,0.9,20,17.2
$SPEED_LIMITS,0.139,0.199
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,96.3,4520,-15.8,-8.049,-22.04,2046
$D_GRID,280
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.11,-107.1,338,2268,1550,1372,0.0,0.0,0,78,0.00,0.00,-48.97,0.000,16386,0.000,0.000,338,2266,2770,2809,2732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-1.11,-107.1,338,2266,2809,2736,3.1,-0.9,9,120,9.75,2.08,-16.85,0.000,18692,0.237,0.059,2829,3590,3450,3494,3406,0,0,0,0,0,0,25.77,26.13,26.43
$GC,218,-1.11,-107.1,1856,3588,3491,3409,28.6,-22.9,31,230,0.00,1.92,0.00,0.000,1030,0.000,0.026,2837,2254,3456,3501,3412,0,0,0,0,0,0,28.83,26.28,28.83
$GC,528,-1.11,-107.1,2837,2250,3505,3412,79.5,-14.5,52,539,0.00,2.03,0.00,0.000,260,0.000,0.041,2829,3576,3458,3505,3412,0,0,0,0,0,0,28.83,26.36,28.83
$GC,572,-1.11,-107.1,2829,3577,3505,3412,84.1,-15.1,53,584,0.00,1.83,0.00,0.000,1030,0.000,0.024,2837,2282,3458,3505,3412,0,0,0,0,0,0,28.83,26.46,28.83
$GC,877,-1.11,-107.1,2836,2281,3507,3414,125.0,-11.9,69,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2281,3460,3506,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1178,-1.11,-107.1,2836,2281,3507,3414,164.1,-14.0,84,1189,0.00,1.95,0.00,0.000,260,0.000,0.042,2829,3582,3461,3508,3414,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1273,-1.11,-107.1,1824,3581,3497,3411,177.5,-14.7,88,1284,0.00,1.80,0.00,0.000,1030,0.000,0.025,2829,2291,3461,3508,3414,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1597,-1.11,-107.1,2829,2290,3507,3414,222.5,-13.5,104,1608,0.00,2.03,0.00,0.000,516,0.000,0.031,2832,913,3460,3507,3414,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1667,-1.11,-107.1,2832,913,3507,3414,231.6,-13.2,107,1678,0.00,2.08,0.00,0.000,1030,0.000,0.031,2826,2294,3461,3508,3414,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1997,-1.11,-107.1,2825,2294,3507,3414,276.0,-13.6,123,2008,0.00,1.92,0.00,0.000,260,0.000,0.042,2816,3598,3460,3507,3414,0,0,0,0,0,0,28.83,26.60,28.83
$STATE,2023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2023,begin apogee
$GC,2033,-0.25,0.0,2817,2039,3508,3414,280.3,-13.9,124,2177,0.93,0.00,131.20,0.658,10246,0.143,0.000,3115,2029,3006,3098,2914,0,0,0,0,0,0,26.37,28.83,24.72
$STATE,2179,end apogee,CONTROL_FINISHED_OK
$STATE,2179,begin climb
$GC,2182,1.11,107.1,3115,2030,3094,2910,286.8,0.0,131,2330,1.25,2.28,129.80,0.636,10756,0.079,0.032,3565,640,2563,2667,2459,0,0,0,0,0,0,25.39,25.12,24.52
$GC,2461,1.11,107.1,3564,640,2654,2454,261.0,12.5,145,2472,0.00,2.17,0.00,0.000,1030,0.000,0.029,3565,2030,2554,2654,2454,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2791,1.11,107.1,3564,2030,2650,2452,217.9,13.4,161,2802,0.00,2.10,0.00,0.000,260,0.000,0.040,3565,3429,2550,2650,2450,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2860,1.11,107.1,3564,3429,2649,2450,207.8,14.4,164,2871,0.00,2.05,0.00,0.000,1030,0.000,0.024,3573,2012,2549,2649,2450,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3189,1.11,107.1,3573,2013,2648,2449,162.1,13.0,180,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2012,2548,2648,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3490,1.11,107.1,3573,2013,2647,2449,126.3,11.1,195,3500,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2013,2547,2647,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3790,1.11,107.1,3573,2013,2646,2448,95.8,9.8,210,3801,0.00,2.05,0.00,0.000,516,0.000,0.034,3583,643,2547,2646,2448,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3853,1.11,107.1,3582,643,2645,2448,90.9,9.8,212,3866,0.00,2.10,0.00,0.000,1030,0.000,0.028,3583,2041,2546,2645,2448,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4159,1.11,107.1,3582,2041,2645,2447,60.4,8.7,228,4170,0.00,2.05,0.00,0.000,260,0.000,0.041,3583,3434,2546,2645,2447,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4402,1.28,163.6,3582,3434,2644,2446,43.5,5.2,244,4483,0.00,2.03,67.75,0.561,9222,0.000,0.024,3593,2011,2338,2439,2238,0,0,0,0,0,0,28.83,26.66,25.26
$GC,4793,1.28,163.6,3593,2011,2427,2231,14.8,9.3,293,4804,0.00,2.17,0.00,0.000,260,0.000,0.039,3593,3437,2328,2427,2230,0,0,0,0,0,0,28.83,26.24,28.83
$STATE,4872,end climb,SURFACE_DEPTH_REACHED
$STATE,4872,begin surface coast
$FINISH,1.6,1.024571
$STATE,4903,end surface coast,CONTROL_FINISHED_OK
$STATE,4903,begin surface
$SM_CCo,4926,91.75,0.056,0,0,1478,375.06
$SM_GC,2.58,8.55,1.70,91.75,0.042,0.024,0.056,338,2325,1478,-8.88,2.18,375.06,0,0,0,0,0,0,26.28,26.39,26.20
$IRIDIUM_FIX,4707.04,-12512.29,041113,212147
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.07
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3863232
$PM_FREEKB,4035476
$24V_AH,24.5,25.878
$10V_AH,9.9,30.144
$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,20.475,40.600,328.750,91.750,0.000,0.000,0.000,157.375,0.000,0.000,20.887,932.608,2721.481,441.856,1057.458,187.486,0.000,1176.461,0.000,726.048,0.000,0.535,0.000
$DEVICE_MAMPS,237.150,58.905,657.900,55.845,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4899.000,112.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.826,9.699,0.000,0.000
$MEM,258744
$DATA_FILE_SIZE,10139,313
$CAP_FILE_SIZE,76242,0
$CFSIZE,260034560,223076352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.114,333.4,1
$GPS,051113,002712,4751.119,-12513.222,14,1.4,14,17.2