version: 66.11
glider: 108
mission: 25
dive: 8
start: 9 24 113 8 21 57
data:
$ID,108
$MISSION,25
$DIVE,8
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,180
$D_ABORT,1040
$D_NO_BLEED,50
$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,60
$T_MISSION,80
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-7
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$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,500
$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,-193511.61
$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,58
$R_STBD_OVSHOOT,50
$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,0.0012300001
$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,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,1
$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
$GPS1,240913,081634,4748.306,-12506.751,38,1.6,38,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-70.0
$GPS2,240913,082130,4748.241,-12506.756,18,1.6,18,17.2
$SPEED_LIMITS,0.173,0.245
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,227.5,168644,-16.6,-10.000,-22.18,2246
$D_GRID,1000
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.73,-146.0,337,2117,1045,878,0.0,0.0,0,92,0.00,0.00,-68.82,0.000,16386,0.000,0.000,337,2117,2916,2926,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.73,-146.0,337,2117,2926,2909,3.5,-7.5,12,128,10.35,2.22,-12.90,0.000,19204,0.241,0.065,2978,3551,3611,3609,3613,0,0,0,0,0,0,25.94,26.16,26.46
$GC,153,-0.68,-146.0,2978,3551,3609,3619,17.3,-18.4,21,161,0.12,2.10,0.00,0.000,3078,0.156,0.033,3013,2129,3614,3609,3619,0,0,0,0,0,0,26.09,26.24,28.83
$GC,466,-0.77,-146.0,3013,2129,3609,3634,47.8,-8.5,56,472,0.00,2.17,0.00,0.000,260,0.000,0.049,3005,3559,3621,3609,3634,0,0,0,0,0,0,28.83,26.38,28.83
$GC,700,-0.88,-146.0,3004,3559,3609,3637,69.6,-9.2,68,707,0.17,2.08,0.00,0.000,5126,0.069,0.032,2923,2137,3623,3608,3638,0,0,0,0,0,0,26.50,26.51,28.83
$GC,1016,-0.88,-146.0,2924,2136,3609,3639,107.3,-11.7,84,1022,0.00,2.15,0.00,0.000,260,0.000,0.048,2913,3557,3623,3608,3639,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1136,-0.88,-146.0,2912,3558,3609,3639,119.9,-12.1,89,1144,0.12,2.05,0.00,0.000,3078,0.147,0.033,2946,2146,3624,3609,3639,0,0,0,0,0,0,26.48,26.62,28.83
$GC,1441,-0.93,-146.0,2946,2146,3609,3639,151.6,-9.2,105,1447,0.00,2.12,0.00,0.000,260,0.000,0.050,2938,3549,3624,3609,3639,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1557,-0.99,-146.0,2938,3549,3609,3639,162.2,-10.1,110,1562,0.00,2.03,0.00,0.000,1030,0.000,0.034,2938,2158,3623,3609,3638,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,1728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1728,begin apogee
$GC,1734,-0.17,0.0,2938,1931,3609,3638,180.7,-9.8,119,1881,0.70,0.00,135.38,0.691,10246,0.124,0.000,3172,1931,3010,3104,2916,0,0,0,0,1,0,26.54,28.83,24.55
$STATE,1883,end apogee,CONTROL_FINISHED_OK
$STATE,1883,begin climb
$GC,1885,0.73,146.0,3172,1931,3102,2916,186.3,0.0,126,2023,0.80,2.28,121.28,0.713,10756,0.054,0.042,3486,562,2411,2515,2308,0,0,0,0,1,0,25.24,24.89,24.27
$GC,2091,0.77,225.7,3485,562,2508,2307,183.3,6.4,136,2177,0.00,2.22,70.88,0.683,9222,0.000,0.036,3485,1955,2086,2213,1960,0,0,0,0,1,0,28.83,25.49,24.39
$GC,2477,0.77,225.7,3485,1955,2205,1953,142.2,10.5,156,2483,0.00,2.15,0.00,0.000,260,0.000,0.047,3486,3347,2079,2206,1952,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2521,0.77,225.7,3485,3347,2205,1951,137.1,11.0,158,2527,0.00,2.10,0.00,0.000,1030,0.000,0.034,3495,1968,2078,2205,1951,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2846,0.77,225.7,3495,1968,2204,1950,103.2,10.1,174,2851,0.00,2.12,0.00,0.000,260,0.000,0.047,3495,3341,2077,2204,1950,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2904,0.73,225.7,3495,3341,2204,1949,98.5,10.5,176,2911,0.15,2.12,0.00,0.000,5126,0.158,0.034,3464,1933,2076,2204,1949,0,0,0,0,0,0,26.20,26.34,28.83
$GC,3210,0.83,267.9,3463,1932,2203,1949,68.3,8.1,192,3258,0.00,2.22,36.88,0.721,8452,0.000,0.045,3464,3351,1914,2041,1787,0,0,0,0,1,0,28.83,25.87,25.25
$GC,3297,0.93,320.7,2560,3349,1979,1779,62.0,7.6,196,3356,0.17,2.15,46.33,0.646,11270,0.080,0.034,3546,1944,1701,1832,1570,0,0,0,0,1,0,25.97,26.00,24.90
$GC,3662,1.06,379.3,2688,1941,1776,1556,20.9,7.3,232,3715,0.00,2.22,40.33,0.574,8452,0.000,0.047,3546,3342,1462,1596,1328,0,0,0,0,1,0,28.83,25.67,25.13
$GC,3764,1.09,379.3,2696,3340,1552,1320,11.5,10.8,250,3772,0.00,2.12,0.00,0.000,1030,0.000,0.034,3556,1948,1457,1590,1324,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,3846,end climb,SURFACE_DEPTH_REACHED
$STATE,3846,begin surface coast
$FINISH,1.0,1.014469
$STATE,3887,end surface coast,CONTROL_FINISHED_OK
$STATE,3887,begin surface
$SM_CCo,3906,51.58,0.058,0,0,969,500.17
$SM_GC,1.81,8.55,0.32,51.58,0.044,0.058,0.058,344,2156,969,-8.96,-1.33,500.17,0,0,0,0,0,0,26.03,26.03,26.00
$IRIDIUM_FIX,4729.30,-12458.73,240913,070728
$TT8_MAMPS,0.025466,0.025466
$HUMID,60.12
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3935456
$24V_AH,24.3,1.980
$10V_AH,9.7,11.016
$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,21.150,39.250,451.050,51.575,0.000,0.000,0.000,163.100,0.000,0.000,19.452,814.549,1895.819,522.956,886.297,146.697,0.000,1138.405,0.000,681.461,0.000,0.535,0.000
$DEVICE_MAMPS,240.975,65.025,720.630,58.140,0.000,0.000,0.000,122.400,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3888.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.173,0.000,0.000,0.000
$MEM,307808
$DATA_FILE_SIZE,10155,273
$CAP_FILE_SIZE,66780,0
$CFSIZE,260034560,242262016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$CURRENT,0.029,309.9,1
$GPS,240913,092853,4748.201,-12507.494,17,1.7,17,17.2