version: 66.11
glider: 108
mission: 25
dive: 123
start: 10 15 113 10 58 42
data:
$ID,108
$MISSION,25
$DIVE,123
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$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,410
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,110
$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,375
$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,-193660.5
$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,3215
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2025
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,84
$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,0.003
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,2
$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,108
$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,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,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,14.0
$GPS1,151013,105305,4750.644,-12512.961,23,1.0,23,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-73.2
$GPS2,151013,105816,4750.637,-12512.953,24,0.8,24,17.2
$SPEED_LIMITS,0.139,0.199
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,7.2,4105,-15.8,-8.049,-22.04,2046
$D_GRID,280
$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,19,begin dive
$GC,21,-1.11,-107.1,329,2281,1547,1385,0.0,0.0,0,69,0.00,0.00,-40.20,0.000,16386,0.000,0.000,330,2281,2538,2586,2490,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.11,-107.1,330,2281,2591,2494,3.1,-1.9,7,129,9.77,2.15,-30.98,0.000,18948,0.236,0.048,2859,904,3451,3498,3405,0,0,0,0,0,0,25.81,26.11,26.38
$GC,184,-1.11,-107.1,1856,904,3493,3405,14.6,-19.2,25,196,0.00,2.15,0.00,0.000,1030,0.000,0.033,2852,2309,3456,3504,3408,0,0,0,0,0,0,28.83,26.18,28.83
$GC,505,-1.11,-107.1,2851,2309,3507,3412,64.2,-14.1,56,516,0.00,2.12,0.00,0.000,516,0.000,0.031,2852,901,3459,3507,3412,0,0,0,0,0,0,28.83,26.36,28.83
$GC,596,-1.11,-107.1,2851,901,3509,3413,76.9,-14.2,60,607,0.00,2.15,0.00,0.000,1030,0.000,0.032,2845,2309,3461,3509,3413,0,0,0,0,0,0,28.83,26.39,28.83
$GC,925,-1.11,-107.1,2844,2309,3510,3414,118.4,-12.4,76,936,0.00,1.90,0.00,0.000,260,0.000,0.044,2835,3584,3462,3510,3414,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1139,-1.11,-107.1,2834,3584,3509,3414,144.2,-12.0,86,1150,0.00,1.83,0.00,0.000,1030,0.000,0.026,2835,2283,3461,3509,3414,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1463,-1.11,-107.1,2835,2283,3510,3414,181.6,-11.4,102,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2283,3462,3510,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1763,-1.11,-107.1,2834,2282,3509,3414,217.2,-12.1,117,1774,0.00,2.03,0.00,0.000,516,0.000,0.031,2834,909,3462,3509,3415,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1877,-1.11,-107.1,2834,909,3509,3414,230.6,-12.3,122,1888,0.00,2.10,0.00,0.000,1030,0.000,0.032,2828,2318,3461,3509,3414,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2201,-1.11,-107.1,2827,2318,3508,3414,271.5,-12.3,138,2212,0.12,0.00,0.00,0.000,2054,0.187,0.000,2857,2318,3461,3508,3414,0,0,0,0,0,0,26.51,28.83,28.83
$STATE,2279,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2279,begin apogee
$GC,2286,-0.25,0.0,2858,2029,3508,3414,280.4,-11.1,142,2430,0.82,0.00,130.45,0.650,10246,0.134,0.000,3131,2028,3003,3098,2909,0,0,0,0,0,0,26.50,28.83,24.71
$STATE,2432,end apogee,CONTROL_FINISHED_OK
$STATE,2432,begin climb
$GC,2435,1.11,107.1,3130,2028,3095,2906,284.4,0.0,149,2574,1.25,0.00,127.43,0.593,10758,0.076,0.000,3572,2028,2572,2675,2469,0,0,0,0,0,0,25.39,28.83,24.51
$GC,2863,1.11,107.1,3572,2028,2651,2453,237.8,12.5,171,2874,0.00,2.12,0.00,0.000,516,0.000,0.034,3581,647,2552,2651,2453,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2922,1.11,107.1,3581,647,2650,2453,231.6,12.4,173,2933,0.00,2.12,0.00,0.000,1030,0.000,0.031,3580,2026,2551,2649,2453,0,0,0,0,0,0,28.83,26.07,28.83
$GC,3241,1.11,107.1,3580,2025,2648,2450,190.0,12.6,189,3251,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2025,2549,2648,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3541,1.11,107.1,3580,2025,2646,2449,152.1,11.8,204,3552,0.00,2.12,0.00,0.000,516,0.000,0.035,3587,640,2547,2646,2449,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3592,1.11,107.1,3587,640,2645,2449,146.1,12.0,206,3603,0.00,2.10,0.00,0.000,1030,0.000,0.031,3587,2028,2547,2645,2449,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3921,1.11,107.1,3587,2027,2644,2448,105.2,12.9,222,3932,0.00,2.10,0.00,0.000,260,0.000,0.043,3587,3429,2546,2644,2448,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4012,1.11,107.1,3587,3429,2644,2447,93.4,13.1,226,4023,0.00,2.03,0.00,0.000,1030,0.000,0.026,3596,2026,2545,2644,2447,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4341,1.11,107.1,3596,2026,2643,2447,55.2,10.4,242,4352,0.00,2.12,0.00,0.000,260,0.000,0.041,3595,3423,2544,2643,2446,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4433,1.11,107.1,3594,3423,2643,2446,46.1,10.0,247,4444,0.00,2.03,0.00,0.000,1030,0.000,0.026,3602,2023,2544,2643,2446,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4748,1.38,196.9,2816,2022,2587,2436,22.6,3.5,283,4868,0.12,2.17,104.78,0.547,10756,0.100,0.033,3669,633,2198,2304,2092,0,0,0,0,0,0,26.60,25.59,25.01
$STATE,4941,end climb,SURFACE_DEPTH_REACHED
$STATE,4941,begin surface coast
$FINISH,1.6,1.022910
$STATE,4967,end surface coast,CONTROL_FINISHED_OK
$STATE,4967,begin surface
$SM_CCo,4991,76.93,0.057,0,0,1480,375.06
$SM_GC,2.59,8.95,2.62,76.93,0.047,0.031,0.057,338,2306,1480,-8.93,-1.44,375.06,0,0,1,0,0,0,25.92,25.94,25.93
$IRIDIUM_FIX,4732.49,-12444.55,151013,090937
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.94
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3898656
$PM_FREEKB,4661456
$24V_AH,24.5,14.599
$10V_AH,9.9,21.315
$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,21.050,38.350,362.650,76.925,0.000,0.000,0.000,156.800,0.000,0.000,25.187,926.329,2768.937,473.840,1039.516,179.701,0.000,1194.268,0.000,702.866,0.000,0.535,0.000
$DEVICE_MAMPS,235.620,48.195,650.250,57.375,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4961.000,116.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.261,9.653,0.000,0.000
$MEM,258724
$DATA_FILE_SIZE,10142,321
$CAP_FILE_SIZE,76291,0
$CFSIZE,260034560,232292352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.102,160.8,1
$GPS,151013,122434,4750.814,-12512.454,36,0.9,36,17.2