version: 66.11
glider: 108
mission: 23
dive: 3
start: 7 2 113 18 50 36
data:
$ID,108
$MISSION,23
$DIVE,3
$N_DIVES,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,50
$T_MISSION,66
$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,-192733.73
$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,3350
$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,43
$R_STBD_OVSHOOT,48
$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
$GPS1,020713,184624,4742.403,-12224.838,14,1.1,14,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.3
$GPS2,020713,185005,4742.341,-12224.860,16,0.9,16,16.6
$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,338.8,2154,-18.3,-10.000,-21.08,2246
$D_GRID,147
$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,-146.6,334,2156,526,403,0.0,0.0,0,141,0.00,0.00,-111.47,0.000,16386,0.000,0.000,335,2156,3703,3652,3755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,145,-0.79,-146.6,332,2156,3652,3757,3.4,-7.4,20,172,10.65,2.20,-5.20,0.000,18948,0.243,0.056,3100,743,4001,4044,3958,0,0,0,0,0,0,26.29,26.54,26.82
$GC,197,-0.73,-146.6,3100,743,4051,3956,16.4,-13.2,28,206,0.00,2.12,0.00,0.000,1030,0.000,0.041,3093,2152,4004,4052,3956,0,0,0,0,0,0,28.83,26.56,28.83
$GC,389,-0.73,-146.6,3093,2151,4058,3956,40.4,-12.8,53,396,0.00,2.10,0.00,0.000,260,0.000,0.050,3082,3571,4006,4057,3956,0,0,0,0,0,0,28.83,26.62,28.83
$GC,501,-0.73,-146.6,3082,3571,4058,3956,54.8,-13.7,62,508,0.12,2.10,0.00,0.000,3078,0.158,0.034,3116,2131,4007,4058,3956,0,0,0,0,0,0,26.55,26.71,28.83
$GC,762,-0.79,-146.6,3116,2128,4060,3956,82.6,-9.3,75,769,0.00,2.15,0.00,0.000,260,0.000,0.050,3107,3569,4007,4059,3956,0,0,0,0,0,0,28.83,26.71,28.83
$GC,934,-0.85,-146.6,3107,3570,4059,3955,99.2,-10.0,83,940,0.00,2.05,0.00,0.000,1030,0.000,0.034,3107,2138,4008,4060,3956,0,0,0,0,0,0,28.83,26.79,28.83
$GC,1194,-0.91,-146.6,3106,2136,4060,3956,126.1,-10.6,96,1201,0.12,2.12,0.00,0.000,4356,0.087,0.047,3025,3564,4007,4060,3955,0,0,0,0,0,0,26.83,26.77,28.83
$STATE,1419,end dive,NO_VERTICAL_VELOCITY
$STATE,1419,begin apogee
$GC,1427,-0.17,0.0,3025,1949,4061,3955,128.8,0.0,107,1544,0.70,0.00,107.32,0.821,10246,0.048,0.000,3316,1948,3400,3504,3296,0,0,0,0,0,0,26.82,28.83,24.76
$STATE,1546,end apogee,CONTROL_FINISHED_OK
$STATE,1546,begin climb
$GC,1549,0.79,146.6,3316,1949,3504,3295,128.7,0.0,113,1675,0.73,2.25,110.85,0.797,11012,0.036,0.047,3627,3351,2801,2914,2689,0,0,0,0,0,0,25.61,25.20,24.58
$GC,1903,0.66,146.6,3629,3350,2913,2678,108.9,10.6,130,1912,0.25,2.12,0.00,0.000,5126,0.149,0.035,3566,1944,2795,2913,2677,0,0,0,0,0,0,26.09,26.25,28.83
$GC,2149,0.81,215.4,3565,1945,2913,2675,89.2,6.9,143,2211,0.12,2.30,52.47,0.783,10500,0.089,0.048,3628,3349,2520,2632,2408,0,0,0,0,0,0,26.49,25.68,25.08
$GC,2300,0.76,215.4,3628,3349,2627,2404,74.1,11.1,150,2307,0.17,2.12,0.00,0.000,5126,0.147,0.035,3589,1939,2513,2625,2402,0,0,0,0,0,0,25.96,26.10,28.83
$GC,2561,0.87,239.1,3589,1939,2625,2398,50.6,8.9,163,2587,0.12,2.15,18.02,0.736,10756,0.089,0.043,3663,541,2424,2533,2315,0,0,0,0,0,0,26.45,26.11,25.50
$GC,2716,0.87,239.1,3663,541,2528,2315,31.2,11.9,177,2724,0.12,2.17,0.00,0.000,5126,0.158,0.038,3631,1946,2421,2529,2314,0,0,0,0,0,0,26.24,26.35,28.83
$GC,2911,0.92,239.1,3631,1946,2528,2312,10.5,11.6,208,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,3631,1946,2419,2528,2310,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.58,11.615,-1.602,0,1,0
$FREEZE,8.01,11.824,-1.596,0,1,0
$FREEZE,7.50,11.939,-1.594,0,1,0
$FREEZE,7.06,12.193,-1.586,0,1,0
$FREEZE,6.59,12.898,-1.567,0,1,0
$FREEZE,6.20,13.048,-1.558,0,1,0
$FREEZE,5.83,13.215,-1.548,0,1,0
$FREEZE,5.45,13.232,-1.547,0,1,0
$FREEZE,5.22,13.281,-1.544,0,1,0
$FREEZE,4.91,13.337,-1.541,0,1,0
$FREEZE,4.47,13.371,-1.539,0,1,0
$FREEZE,4.11,13.464,-1.534,0,1,0
$FREEZE,3.71,13.592,-1.529,0,1,0
$STATE,2986,end climb,SURFACE_DEPTH_REACHED
$STATE,2986,begin surface coast
$FREEZE,3.32,13.640,-1.528,0,1,0
$FREEZE,2.95,13.919,-1.515,0,1,0
$FREEZE,2.64,14.110,-1.507,0,1,0
$FREEZE,2.35,14.325,-1.497,0,1,0
$FREEZE,1.98,14.607,-1.478,0,1,0
$FREEZE,1.65,14.852,-1.462,0,1,0
$FREEZE,1.36,15.001,-1.452,0,1,0
$FREEZE,0.97,15.390,-1.434,0,1,0
$FREEZE,0.75,15.458,-1.430,0,1,0
$FREEZE,0.53,15.475,-1.430,0,1,0
$FREEZE,0.34,15.493,-0.849,0,1,0
$FREEZE,0.34,15.455,-0.740,0,1,0
$FINISH,0.3,1.009509
$STATE,3049,end surface coast,CONTROL_FINISHED_OK
$STATE,3049,begin surface
$SM_CCo,3073,199.45,0.054,0,0,488,714.31
$SM_GC,1.25,8.55,0.30,199.45,0.044,0.059,0.054,339,2170,488,-9.35,-0.96,714.31,0,0,0,0,0,0,26.53,26.57,26.41
$RAFOS_CLK,92
$RAFOS,1,1372793042,19.416666,19.400555,45,44,43,0,0,0,2164,692,2258,0,0,0
$RAFOS,0,1372791841,19.083334,19.066944,43,40,39,0,0,0,1277,1,1588,0,0,0
$RAFOS,1,1372789447,18.416666,18.401945,44,42,40,0,0,0,2434,1060,993,0,0,0
$RAFOS_FIX,4830.801758,-12125.968750,020713,171736,2,114,0.00
$IRIDIUM_FIX,4726.11,-12230.48,020713,181820
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,19.4
$SC_FREEKB,3937248
$PM_FREEKB,7834664
$24V_AH,24.6,0.419
$10V_AH,10.3,3.922
$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,21.675,30.675,288.675,199.450,0.000,0.000,0.000,0.000,0.250,0.000,17.418,778.326,1259.144,539.914,703.808,90.054,0.000,963.664,0.000,637.163,780.000,2.631,0.000
$DEVICE_MAMPS,243.270,58.905,820.845,54.315,0.000,0.000,0.000,0.000,420.000,0.000,29.960,11.750,2.310,11.750,38.710,49.200,0.000,15.970,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3011.000,3017.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.891,1000.000,0.000,0.000
$MEM,280284
$DATA_FILE_SIZE,6823,234
$CAP_FILE_SIZE,72625,0
$CFSIZE,260034560,242315264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$GPS,020713,194629,4742.312,-12225.014,24,1.5,24,16.6