version: 66.11
glider: 108
mission: 25
dive: 125
start: 10 15 113 13 47 37
data:
$ID,108
$MISSION,25
$DIVE,125
$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,-193663
$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,73
$R_STBD_OVSHOOT,60
$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
$GPS1,151013,134152,4751.050,-12512.132,16,1.1,16,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-73.5
$GPS2,151013,134711,4751.028,-12512.075,17,1.2,17,17.2
$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,14.2,2797,-15.8,-8.049,-22.04,2046
$D_GRID,220
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,21,-1.11,-107.1,336,2314,1550,1386,0.0,0.0,0,73,0.00,0.00,-44.30,0.000,16386,0.000,0.000,336,2314,2657,2693,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.11,-107.1,336,2314,2696,2627,3.1,-1.9,8,122,9.88,2.22,-23.15,0.000,18948,0.241,0.047,2852,896,3450,3496,3404,0,0,0,0,0,0,25.83,26.12,26.38
$GC,351,-1.11,-107.1,1888,895,3496,3408,45.1,-13.8,46,363,0.00,2.12,0.00,0.000,1030,0.000,0.032,2845,2300,3458,3506,3410,0,0,0,0,0,0,28.83,26.30,28.83
$GC,671,-1.11,-107.1,2845,2300,3509,3414,84.5,-11.2,64,682,0.00,2.10,0.00,0.000,516,0.000,0.030,2845,890,3461,3509,3414,0,0,0,0,0,0,28.83,26.44,28.83
$GC,729,-1.11,-107.1,2844,890,3509,3414,89.7,-10.2,66,740,0.00,2.12,0.00,0.000,1030,0.000,0.031,2837,2305,3462,3509,3415,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1048,-1.11,-107.1,2837,2304,3510,3415,127.0,-12.0,82,1059,0.00,2.10,0.00,0.000,516,0.000,0.031,2837,895,3462,3510,3415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1092,-1.11,-107.1,2836,896,3510,3415,130.5,-11.8,83,1103,0.00,2.10,0.00,0.000,1030,0.000,0.032,2828,2299,3462,3510,3415,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1398,-1.11,-107.1,2828,2299,3510,3415,166.5,-10.3,99,1409,0.00,1.92,0.00,0.000,260,0.000,0.044,2818,3596,3462,3510,3414,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1456,-1.11,-107.1,2818,3596,3509,3414,172.0,-10.6,101,1468,0.15,1.85,0.00,0.000,3078,0.173,0.025,2856,2272,3462,3509,3415,0,0,0,0,0,0,26.41,26.64,28.83
$GC,1777,-1.11,-107.1,2855,2271,3509,3414,201.9,-9.0,117,1787,0.00,1.98,0.00,0.000,260,0.000,0.044,2849,3597,3461,3509,3414,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1846,-1.11,-107.1,2848,3597,3508,3414,208.6,-9.4,120,1857,0.00,1.85,0.00,0.000,1030,0.000,0.026,2849,2300,3461,3508,3414,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,1973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1973,begin apogee
$GC,1980,-0.25,0.0,2848,2026,3507,3414,220.8,-9.4,126,2120,0.88,0.00,127.90,0.620,10246,0.138,0.000,3133,2024,3007,3103,2912,0,0,0,0,0,0,26.48,28.83,24.77
$STATE,2122,end apogee,CONTROL_FINISHED_OK
$STATE,2122,begin climb
$GC,2125,1.11,107.1,3133,2024,3095,2905,223.2,0.0,133,2264,1.25,2.25,122.90,0.566,10756,0.076,0.034,3584,652,2564,2668,2461,0,0,0,0,0,0,25.41,25.16,24.57
$GC,2302,1.11,107.1,3583,651,2657,2458,207.9,12.5,141,2314,0.00,2.17,0.00,0.000,1030,0.000,0.030,3582,2030,2557,2657,2458,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2607,1.11,107.1,3582,2030,2651,2453,162.2,13.8,157,2619,0.00,2.12,0.00,0.000,260,0.000,0.041,3582,3427,2551,2650,2453,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2699,1.11,107.1,3582,3428,2649,2451,149.3,14.5,161,2711,0.00,2.05,0.00,0.000,1030,0.000,0.025,3590,2027,2550,2649,2452,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3029,1.11,107.1,3590,2027,2648,2450,103.1,13.9,177,3040,0.00,2.12,0.00,0.000,516,0.000,0.035,3600,634,2549,2648,2450,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3078,1.11,107.1,3600,634,2648,2450,97.2,12.4,179,3089,0.00,2.12,0.00,0.000,1030,0.000,0.030,3596,2031,2548,2647,2449,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3407,1.11,107.1,3596,2030,2646,2449,58.5,11.3,195,3418,0.00,2.10,0.00,0.000,260,0.000,0.041,3596,3436,2547,2646,2448,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3481,1.11,107.1,2816,3434,2591,2439,50.0,12.0,198,3494,0.12,2.05,0.00,0.000,5126,0.175,0.026,3573,2020,2546,2645,2448,0,0,0,0,0,0,26.33,26.53,28.83
$GC,3794,1.55,253.8,3573,2020,2644,2446,28.9,0.7,229,3982,0.32,2.17,173.07,0.526,10756,0.067,0.034,3715,637,1968,2076,1860,0,0,0,0,0,0,26.53,25.33,24.79
$STATE,4025,end climb,SURFACE_DEPTH_REACHED
$STATE,4025,begin surface coast
$FINISH,1.6,1.024217
$STATE,4046,end surface coast,CONTROL_FINISHED_OK
$STATE,4046,begin surface
$SM_CCo,4071,52.72,0.057,0,0,1479,375.06
$SM_GC,2.60,9.12,2.62,52.72,0.046,0.029,0.057,339,2302,1479,-8.91,-1.70,375.06,0,0,1,0,0,0,25.72,25.72,25.76
$IRIDIUM_FIX,4735.69,-12509.51,151013,121251
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.67
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3898016
$PM_FREEKB,4661456
$24V_AH,24.6,14.736
$10V_AH,9.7,21.383
$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,21.725,42.500,423.875,52.725,0.000,0.000,0.000,173.525,0.000,0.000,18.485,750.546,2126.468,475.062,938.253,164.025,0.000,1175.524,0.000,613.772,0.000,0.535,0.000
$DEVICE_MAMPS,240.975,47.430,620.415,57.375,0.000,0.000,0.000,120.870,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4038.000,97.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.206,9.466,0.000,0.000
$MEM,258732
$DATA_FILE_SIZE,10156,266
$CAP_FILE_SIZE,68892,0
$CFSIZE,260034560,232218624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.035, 91.9,1
$GPS,151013,145729,4751.381,-12511.668,21,1.1,21,17.2