version: 66.11
glider: 108
mission: 22
dive: 2
start: 6 5 113 17 33 23
data:
$ID,108
$MISSION,22
$DIVE,2
$N_DIVES,2
$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,45
$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,-192239.12
$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,3280
$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,49
$R_STBD_OVSHOOT,41
$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,-22.16823
$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
$GPS1,050613,172842,4743.360,-12224.056,16,1.3,16,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-75.1
$GPS2,050613,173248,4743.332,-12224.057,15,1.3,15,16.6
$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,268.2,1215,-18.3,-10.000,-21.08,2246
$D_GRID,174
$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,-146.6,341,1950,536,405,0.0,0.0,0,141,0.00,0.00,-113.35,0.000,16386,0.000,0.000,340,1951,3787,3719,3855,0,0,0,0,0,0,28.83,28.83,28.83
$GC,145,-0.79,-146.6,341,1950,3719,3861,4.0,-9.7,20,167,10.18,2.15,-3.40,0.000,18692,0.237,0.063,3013,3351,4002,4028,3977,0,0,0,0,0,0,26.31,26.56,26.85
$GC,382,-0.53,-146.6,3012,3351,4051,3962,55.5,-16.5,47,390,0.30,2.08,0.00,0.000,3078,0.149,0.034,3111,1951,4006,4051,3962,0,0,0,0,0,0,26.51,26.69,28.83
$GC,647,-0.63,-146.6,3111,1951,4054,3962,82.6,-10.1,60,653,0.00,2.12,0.00,0.000,260,0.000,0.047,3104,3351,4007,4054,3960,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,730,end dive,TARGET_DEPTH_EXCEEDED
$STATE,730,begin apogee
$GC,738,-0.17,0.0,3103,1942,4054,3962,92.3,-10.8,64,853,0.35,0.00,107.18,0.803,10246,0.124,0.000,3220,1930,3399,3495,3304,0,0,0,0,0,0,26.61,28.83,24.79
$STATE,856,end apogee,CONTROL_FINISHED_OK
$STATE,856,begin climb
$GC,858,0.79,146.6,3219,1930,3496,3303,100.2,0.0,70,983,0.90,2.22,111.35,0.782,10756,0.096,0.041,3540,535,2801,2915,2687,0,0,0,0,0,0,25.53,25.27,24.64
$GC,1052,1.06,244.3,3543,535,2913,2682,94.7,5.6,79,1139,0.22,2.22,74.38,0.769,11270,0.063,0.037,3635,1950,2403,2512,2295,0,0,0,0,0,0,25.90,25.89,24.70
$GC,1387,1.06,244.3,3633,1951,2508,2284,54.4,12.5,96,1394,0.00,2.12,0.00,0.000,260,0.000,0.049,3635,3348,2395,2507,2284,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1478,0.93,244.3,2856,3346,2440,2272,41.1,16.4,102,1487,0.22,2.10,0.00,0.000,5126,0.146,0.036,3579,1932,2394,2505,2283,0,0,0,0,0,0,26.27,26.41,28.83
$GC,1666,1.14,260.4,3579,1933,2505,2282,21.1,9.3,125,1683,0.17,0.00,6.97,0.599,10246,0.073,0.000,3666,1919,2337,2450,2225,0,0,0,0,0,0,26.55,28.83,25.79
$FREEZE,8.73,11.065,-1.560,0,1,0
$FREEZE,8.14,11.125,-1.555,0,1,0
$FREEZE,7.51,11.227,-1.549,0,1,0
$FREEZE,7.03,11.306,-1.545,0,1,0
$FREEZE,6.46,11.595,-1.530,0,1,0
$FREEZE,5.89,12.025,-1.511,0,1,0
$FREEZE,5.38,12.276,-1.500,0,1,0
$FREEZE,4.99,12.302,-1.498,0,1,0
$FREEZE,4.68,12.315,-1.497,0,1,0
$FREEZE,4.27,12.318,-1.496,0,1,0
$FREEZE,3.91,12.325,-1.496,0,1,0
$STATE,1813,end climb,SURFACE_DEPTH_REACHED
$STATE,1813,begin surface coast
$FREEZE,3.39,12.319,-1.497,0,1,0
$FREEZE,3.06,12.316,-1.497,0,1,0
$FREEZE,2.75,12.321,-1.497,0,1,0
$FREEZE,2.44,12.463,-1.473,0,1,0
$FREEZE,2.04,12.600,-1.458,0,1,0
$FREEZE,1.68,12.759,-1.444,0,1,0
$FREEZE,1.33,12.788,-1.440,0,1,0
$FREEZE,0.99,12.837,-1.438,0,1,0
$FREEZE,0.78,12.898,-1.435,0,1,0
$FREEZE,0.49,12.874,-1.436,0,1,0
$FREEZE,0.33,12.846,-1.436,0,1,0
$FINISH,0.3,1.019770
$STATE,1872,end surface coast,CONTROL_FINISHED_OK
$STATE,1872,begin surface
$SM_CCo,1896,190.35,0.055,0,0,488,714.31
$SM_GC,1.18,8.62,0.00,190.35,0.044,0.000,0.055,341,1919,488,-9.12,-0.76,714.31,0,0,0,0,0,0,26.53,28.83,26.43
$RAFOS_CLK,56
$RAFOS,2,1370454244,17.750000,17.734444,77,57,48,0,0,0,620,385,1938,0,0,0
$RAFOS,0,1370451851,17.083334,17.069723,91,43,42,0,0,0,515,750,1116,0,0,0
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4729.30,-12312.98,050613,171726
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.77
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,999.0
$SC_FREEKB,3937696
$PM_FREEKB,7894704
$24V_AH,24.6,0.214
$10V_AH,10.4,1.869
$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,20.975,17.150,299.875,190.350,0.000,0.000,0.000,0.000,0.250,0.000,16.268,522.404,639.709,520.090,461.090,71.630,0.000,832.548,0.000,407.483,780.000,2.550,0.000
$DEVICE_MAMPS,237.150,63.495,803.250,55.080,0.000,0.000,0.000,0.000,420.000,0.000,29.960,11.750,2.310,11.750,38.710,49.200,0.000,15.970,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1833.000,1841.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.555,1000.000,0.000,0.000
$MEM,280180
$DATA_FILE_SIZE,3487,163
$CAP_FILE_SIZE,75926,0
$CFSIZE,260034560,243892224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$GPS,050613,180948,4743.198,-12224.400,16,1.1,16,16.6