version: 66.11
glider: 108
mission: 23
dive: 2
start: 7 2 113 17 52 34
data:
$ID,108
$MISSION,23
$DIVE,2
$N_DIVES,3
$D_SURF,4
$D_FLARE,3
$D_TGT,90
$D_ABORT,120
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,30
$T_MISSION,42
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51502
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,714.12561
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-192699.17
$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,3340
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,1946
$C_ROLL_CLIMB,1946
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.391403
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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,16
$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
$GPS1,020713,174823,4742.716,-12224.607,20,1.1,20,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-73.4
$GPS2,020713,175159,4742.650,-12224.622,18,1.1,18,16.6
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,326.8,1642,-18.3,-10.000,-21.08,2246
$D_GRID,175
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.79,-146.6,340,1933,535,407,0.0,0.0,0,141,0.00,0.00,-111.72,0.000,16386,0.000,0.000,341,1935,3730,3674,3786,0,0,0,0,0,0,28.83,28.83,28.83
$GC,145,-0.79,-146.6,340,1935,3674,3790,3.5,-8.3,20,167,10.48,2.20,-4.65,0.000,18948,0.239,0.057,3091,540,4002,4032,3972,0,0,0,0,0,0,26.32,26.59,26.86
$GC,192,-0.41,-146.6,3091,540,4050,3962,18.2,-22.7,27,201,0.40,2.15,0.00,0.000,3078,0.130,0.037,3210,1952,4006,4051,3961,0,0,0,0,0,0,26.48,26.61,28.83
$GC,387,-0.78,-146.6,3210,1951,4058,3961,31.2,-5.4,53,394,0.30,2.08,0.00,0.000,4356,0.049,0.044,3048,3350,4009,4057,3961,0,0,0,0,0,0,26.73,26.66,28.83
$GC,577,-0.66,-146.6,2048,3348,4057,3960,57.3,-15.0,69,585,0.28,2.08,0.00,0.000,3078,0.142,0.033,3133,1943,4009,4058,3961,0,0,0,0,0,0,26.58,26.75,28.83
$GC,839,-0.83,-146.6,3130,1942,4060,3960,85.8,-10.3,82,846,0.15,2.12,0.00,0.000,4356,0.076,0.045,3038,3352,4010,4059,3961,0,0,0,0,0,0,26.82,26.75,28.83
$STATE,882,end dive,TARGET_DEPTH_EXCEEDED
$STATE,882,begin apogee
$GC,890,-0.17,0.0,3040,1943,4058,3961,92.2,-11.7,84,1005,0.73,0.00,106.97,0.789,10246,0.135,0.000,3280,1931,3399,3501,3298,0,0,0,0,0,0,26.62,28.83,24.87
$STATE,1009,end apogee,CONTROL_FINISHED_OK
$STATE,1010,begin climb
$GC,1012,0.79,146.6,3280,1931,3500,3298,100.0,0.0,90,1139,0.88,2.22,110.28,0.772,10756,0.076,0.042,3605,542,2801,2915,2688,0,0,0,0,0,0,25.63,25.33,24.70
$GC,1366,0.86,204.0,3605,542,2910,2681,85.6,7.4,107,1417,0.00,2.17,43.95,0.755,9222,0.000,0.037,3605,1953,2569,2679,2459,0,0,0,0,0,0,28.83,26.33,25.10
$GC,1676,0.89,227.5,3605,1953,2674,2450,53.9,8.9,123,1698,0.00,0.00,18.27,0.725,8198,0.000,0.000,3607,1953,2472,2578,2366,0,0,0,0,0,0,28.83,28.83,25.49
$GC,1936,0.98,227.5,3605,1953,2572,2361,27.5,10.0,146,1943,0.12,2.17,0.00,0.000,2564,0.090,0.041,3680,534,2466,2571,2361,0,0,0,0,0,0,26.50,26.46,28.83
$GC,1987,0.85,227.5,3680,534,2570,2361,20.9,13.8,153,1997,0.22,2.17,0.00,0.000,5126,0.153,0.037,3617,1950,2465,2570,2361,0,0,0,0,0,0,26.36,26.51,28.83
$FREEZE,8.75,11.893,-1.597,0,1,0
$FREEZE,8.40,11.903,-1.597,0,1,0
$FREEZE,8.07,11.902,-1.597,0,1,0
$FREEZE,7.83,11.913,-1.596,0,1,0
$FREEZE,7.35,11.920,-1.596,0,1,0
$FREEZE,6.91,11.931,-1.595,0,1,0
$FREEZE,6.54,11.944,-1.595,0,1,0
$FREEZE,5.91,11.979,-1.594,0,1,0
$FREEZE,5.28,11.973,-1.594,0,1,0
$GC,2184,0.91,271.7,2816,1947,2505,2349,6.5,8.0,190,2206,0.00,0.00,18.73,0.064,8454,0.000,0.000,3617,1951,2291,2406,2177,0,0,0,0,0,0,28.83,28.83,26.54
$FREEZE,3.75,12.692,-1.573,0,1,0
$STATE,2213,end climb,SURFACE_DEPTH_REACHED
$STATE,2213,begin surface coast
$FREEZE,3.24,13.043,-1.556,0,1,0
$FREEZE,2.75,13.183,-1.547,0,1,0
$FREEZE,2.14,13.501,-1.530,0,1,0
$FREEZE,1.65,13.914,-1.510,0,1,0
$FREEZE,1.10,14.800,-1.499,0,1,0
$FREEZE,0.54,15.005,-1.466,0,1,0
$FREEZE,0.25,15.389,-1.458,0,1,0
$FREEZE,0.22,15.445,-0.043,0,1,0
$FREEZE,0.14,15.390,-1.397,0,1,0
$FINISH,0.1,1.018737
$STATE,2260,end surface coast,CONTROL_FINISHED_OK
$STATE,2261,begin surface
$SM_CCo,2284,183.98,0.053,0,0,488,714.31
$SM_GC,1.05,8.43,0.00,183.98,0.039,0.000,0.053,337,1949,488,-9.32,0.08,714.31,0,0,0,0,0,0,26.60,28.83,26.48
$RAFOS_CLK,70
$RAFOS,0,1372788250,18.083334,18.069445,122,117,55,0,0,0,899,567,333,0,0,0
$RAFOS,1,1372785844,17.416666,17.401112,106,70,45,0,0,0,961,628,397,0,0,0
$RAFOS_FIX,4830.801758,-12125.968750,020713,171736,2,114,0.00
$IRIDIUM_FIX,4726.11,-12220.67,020713,171736
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.47
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.9
$SC_FREEKB,3937504
$PM_FREEKB,7863716
$24V_AH,24.7,0.350
$10V_AH,10.4,3.039
$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,21.975,21.500,298.200,183.975,0.000,0.000,0.000,0.000,0.250,0.000,19.337,625.464,833.428,520.982,544.339,74.739,0.000,866.725,0.000,477.979,780.000,2.626,0.000
$DEVICE_MAMPS,239.445,56.610,789.480,52.785,0.000,0.000,0.000,0.000,420.000,0.000,29.960,11.750,2.310,11.750,38.710,49.200,0.000,15.970,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2222.000,2230.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.916,1000.000,0.000,0.000
$MEM,280296
$DATA_FILE_SIZE,6811,203
$CAP_FILE_SIZE,62742,0
$CFSIZE,260034560,242368512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$GPS,020713,183533,4742.600,-12224.786,29,0.8,29,16.6