version: 66.11
glider: 108
mission: 25
dive: 9
start: 9 24 113 9 34 26
data:
$ID,108
$MISSION,25
$DIVE,9
$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,-193512.86
$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,49
$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
$GPS1,240913,092853,4748.201,-12507.494,17,1.7,17,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-70.4
$GPS2,240913,093359,4748.154,-12507.523,19,1.2,19,17.2
$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,214.2,167737,-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,-146.0,341,2168,1046,875,0.0,0.0,0,99,0.00,0.00,-74.78,0.000,16386,0.000,0.000,341,2168,3079,3069,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.73,-146.0,341,2168,3094,3075,3.5,-5.2,13,130,10.45,2.20,-9.43,0.000,18692,0.243,0.064,2979,3550,3609,3602,3617,0,0,0,0,0,0,25.85,26.08,26.37
$GC,287,-0.82,-146.0,2979,3550,3602,3632,35.7,-9.8,38,295,0.00,2.10,0.00,0.000,1030,0.000,0.033,2979,2132,3617,3603,3631,0,0,0,0,0,0,28.83,26.27,28.83
$GC,604,-0.88,-146.0,2979,2130,3604,3639,68.0,-9.1,61,609,0.00,2.20,0.00,0.000,260,0.000,0.051,2969,3550,3622,3604,3640,0,0,0,0,0,0,28.83,26.37,28.83
$GC,692,-0.94,-146.0,1952,3549,3597,3639,76.1,-9.6,65,698,0.12,2.05,0.00,0.000,5126,0.090,0.032,2911,2146,3622,3604,3641,0,0,0,0,0,0,26.42,26.46,28.83
$GC,1012,-0.94,-146.0,2910,2144,3604,3642,113.8,-11.8,81,1017,0.00,2.15,0.00,0.000,260,0.000,0.049,2900,3553,3623,3604,3642,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1151,-0.94,-146.0,2900,3554,3604,3642,128.1,-11.4,87,1158,0.00,2.05,0.00,0.000,1030,0.000,0.033,2900,2142,3623,3604,3642,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1457,-0.94,-146.0,2900,2140,3607,3642,163.9,-11.5,103,1458,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2140,3623,3604,3642,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1615,begin apogee
$GC,1621,-0.17,0.0,2900,1934,3604,3641,181.9,-11.3,111,1767,0.82,0.00,131.73,0.710,10246,0.125,0.000,3175,1933,3009,3101,2917,0,0,0,0,1,0,26.49,28.83,24.49
$STATE,1769,end apogee,CONTROL_FINISHED_OK
$STATE,1769,begin climb
$GC,1771,0.73,146.0,3174,1933,3101,2916,187.8,0.0,118,1909,0.80,2.28,121.18,0.714,10756,0.054,0.044,3486,568,2412,2515,2309,0,0,0,0,1,0,25.21,24.86,24.25
$GC,1994,0.72,184.4,3486,567,2507,2308,181.2,8.2,129,2044,0.00,2.20,38.22,0.627,9222,0.000,0.036,3486,1947,2257,2372,2142,0,0,0,0,1,0,28.83,25.53,24.61
$GC,2343,0.69,184.4,3486,1947,2369,2133,143.4,10.5,147,2350,0.12,2.17,0.00,0.000,4356,0.161,0.046,3448,3350,2251,2369,2133,0,0,0,0,0,0,25.92,26.01,28.83
$GC,2430,0.70,188.7,3448,3351,2368,2131,135.0,9.8,151,2441,0.00,2.10,3.95,0.548,9222,0.000,0.034,3456,1959,2239,2359,2119,0,0,0,0,0,0,28.83,26.13,25.32
$GC,2755,0.73,214.4,3455,1959,2358,2119,106.9,8.8,167,2793,0.00,0.00,26.42,0.684,8710,0.000,0.000,3455,1958,2135,2261,2010,0,0,0,0,1,0,28.83,28.83,25.33
$GC,3095,0.85,274.2,3455,1958,2256,2006,78.4,7.3,184,3159,0.12,2.25,51.30,0.664,10500,0.091,0.047,3517,3349,1891,2015,1767,0,0,0,0,1,0,26.27,25.58,25.02
$GC,3242,0.81,274.2,3517,3349,2009,1766,62.7,11.9,191,3249,0.12,2.15,0.00,0.000,5126,0.160,0.034,3495,1954,1885,2008,1763,0,0,0,0,0,0,25.74,25.87,28.83
$GC,3553,0.90,306.2,3495,1954,2003,1759,33.6,8.5,215,3594,0.00,2.30,29.77,0.625,8708,0.000,0.044,3503,533,1760,1887,1633,0,0,0,0,1,0,28.83,25.82,25.26
$GC,3679,1.10,384.4,3503,534,1882,1632,24.5,6.4,227,3746,0.22,2.22,51.85,0.578,11270,0.067,0.037,3601,1950,1441,1568,1314,0,0,0,0,1,0,26.00,26.01,24.94
$STATE,3880,end climb,SURFACE_DEPTH_REACHED
$STATE,3880,begin surface coast
$FINISH,0.9,1.023376
$STATE,3912,end surface coast,CONTROL_FINISHED_OK
$STATE,3912,begin surface
$SM_CCo,3932,49.47,0.058,0,0,969,500.17
$SM_GC,1.63,8.60,0.28,49.47,0.037,0.058,0.058,340,2145,969,-8.96,-1.47,500.17,0,0,0,0,0,0,25.94,25.94,25.92
$IRIDIUM_FIX,4729.30,-12510.28,240913,080834
$TT8_MAMPS,0.024717,0.024717
$HUMID,60.19
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3935136
$24V_AH,24.2,2.073
$10V_AH,9.9,11.056
$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,21.400,30.950,454.425,49.475,0.000,0.000,0.000,171.225,0.000,0.000,21.031,782.095,1978.027,523.821,868.954,147.719,0.000,1130.403,0.000,652.016,0.000,0.536,0.000
$DEVICE_MAMPS,243.270,64.260,713.745,58.140,0.000,0.000,0.000,121.635,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3913.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.203,0.000,0.000,0.000
$MEM,307824
$DATA_FILE_SIZE,10163,270
$CAP_FILE_SIZE,63941,0
$CFSIZE,260034560,242225152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$CURRENT,0.026,355.6,1
$GPS,240913,104203,4747.958,-12508.077,32,1.9,34,17.2