version: 66.11
glider: 108
mission: 24
dive: 4
start: 8 30 113 19 26 30
data:
$ID,108
$MISSION,24
$DIVE,4
$N_DIVES,5
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$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,51643
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,714.86151
$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,-193129.72
$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,3230
$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,60
$R_STBD_OVSHOOT,51
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3250
$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,-22.327888
$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,15
$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,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$GPS1,300813,192004,4743.284,-12225.107,19,2.3,40,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.7
$GPS2,300813,192606,4743.343,-12225.124,20,1.3,20,16.6
$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,11.5,329,-27.8,-10.000,-30.00,983
$D_GRID,179
$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,-1.01,-64.2,338,2134,524,401,0.0,0.0,0,137,0.00,0.00,-104.50,0.000,16390,0.000,0.000,339,2134,3514,3504,3525,0,0,0,0,0,0,28.83,28.83,26.75
$GC,141,-1.06,-111.7,338,2135,3503,3530,2.9,-5.1,20,162,9.75,2.22,-3.80,0.000,18692,0.238,0.062,2870,3559,3711,3670,3752,0,0,0,0,0,0,26.16,26.40,26.68
$GC,391,-1.10,-111.7,2870,3559,3672,3764,51.3,-18.0,51,399,0.00,2.05,0.00,0.000,1030,0.000,0.030,2878,2126,3718,3672,3764,0,0,0,0,0,0,28.83,26.60,28.83
$GC,639,-1.17,-111.7,2878,2121,3673,3766,90.5,-13.8,64,646,0.00,2.15,0.00,0.000,260,0.000,0.047,2870,3560,3719,3673,3765,0,0,0,0,0,0,28.83,26.63,28.83
$GC,875,-1.22,-111.7,2869,3560,3673,3766,131.0,-17.5,75,881,0.00,2.03,0.00,0.000,1030,0.000,0.030,2869,2145,3719,3673,3766,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,1007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1007,begin apogee
$GC,1014,-0.17,0.0,2869,1947,3673,3766,150.6,-12.6,82,1119,0.93,0.00,92.70,0.755,10246,0.146,0.000,3168,1947,3252,3297,3207,0,0,0,0,1,0,26.55,28.83,24.84
$STATE,1123,end apogee,CONTROL_FINISHED_OK
$STATE,1123,begin climb
$GC,1126,1.06,111.7,3168,1947,3300,3207,153.0,0.0,87,1238,1.10,2.20,91.45,0.780,10756,0.068,0.036,3580,563,2794,2895,2693,0,0,0,0,1,0,25.59,25.18,24.52
$GC,1468,1.13,111.7,3579,563,2889,2688,122.6,12.9,104,1474,0.00,2.15,0.00,0.000,1030,0.000,0.034,3579,1962,2788,2889,2688,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1724,1.17,111.7,3579,1961,2889,2685,96.6,10.5,117,1731,0.00,2.15,0.00,0.000,516,0.000,0.037,3592,563,2787,2889,2685,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1826,1.22,111.7,3589,563,2889,2685,86.6,11.5,121,1835,0.12,2.08,0.00,0.000,3078,0.099,0.034,3633,1950,2787,2889,2685,0,0,0,0,0,0,26.45,26.48,28.83
$GC,2069,1.22,111.7,3632,1948,2888,2685,54.3,12.1,134,2072,0.00,0.00,0.00,0.000,6,0.000,0.000,3633,1950,2788,2891,2685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2309,1.22,111.7,3633,1950,2888,2685,26.0,11.3,156,2316,0.00,2.12,0.00,0.000,516,0.000,0.038,3642,562,2786,2887,2686,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2522,1.26,138.6,3642,562,2887,2685,7.4,7.2,196,2542,0.00,2.08,11.10,0.068,9222,0.000,0.034,3636,1956,2684,2788,2580,0,0,0,0,0,0,28.83,26.70,26.62
$STATE,2568,end climb,SURFACE_DEPTH_REACHED
$STATE,2568,begin surface coast
$FINISH,0.5,1.021794
$STATE,2615,end surface coast,CONTROL_FINISHED_OK
$STATE,2615,begin surface
$SM_CCo,2639,227.00,0.054,0,0,447,687.33
$SM_CCo,2869,-0.38,0.000,0,0,449,687.33
$SM_CCo,2873,0.35,0.068,0,0,448,687.33
$SM_GC,1.24,8.52,0.25,0.35,0.044,0.063,0.068,335,2151,448,-8.97,-1.58,687.33,0,0,0,0,0,0,26.67,26.70,26.48
$IRIDIUM_FIX,4726.11,-12227.78,300813,181814
$TT8_MAMPS,0.025466,0.025466
$HUMID,54.56
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.00
$XPDR_PINGS,0
$SC_FREEKB,3936736
$PM_FREEKB,7812956
$24V_AH,24.5,0.846
$10V_AH,9.8,7.875
$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,20.425,21.700,195.250,227.350,0.000,0.000,0.000,195.475,0.000,0.000,21.096,638.525,1157.433,493.140,805.614,153.033,0.000,1044.595,0.000,533.838,0.000,0.539,0.000
$DEVICE_MAMPS,237.915,62.730,780.300,68.085,0.000,0.000,0.000,36.190,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2610.000,2607.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.941,1000.000,0.000,0.000
$MEM,281896
$DATA_FILE_SIZE,6805,213
$CAP_FILE_SIZE,55658,0
$CFSIZE,260034560,242286592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0
$GPS,300813,201527,4743.028,-12225.012,16,2.0,16,16.6