version: 66.11
glider: 108
mission: 25
dive: 672
start: 1 25 114 12 4 31
data:
$ID,108
$MISSION,25
$DIVE,672
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-195049.72
$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,3200
$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,77
$R_STBD_OVSHOOT,55
$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,3
$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
$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,48
$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
$GPS1,250114,115642,4751.268,-12512.753,28,0.9,29,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-74.3
$GPS2,250114,120404,4751.306,-12512.763,35,1.1,35,17.2
$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,66.7,3307,-15.8,-8.049,-22.04,2046
$D_GRID,210
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-1.11,-107.1,333,2331,1618,1513,0.0,0.0,0,65,0.00,0.00,-35.03,0.000,16386,0.000,0.000,333,2331,2491,2527,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-1.11,-107.1,335,2331,2532,2459,3.0,-2.2,6,123,10.20,1.95,-29.80,0.000,18692,0.233,0.061,2831,3576,3450,3471,3430,0,0,0,0,0,0,25.06,25.98,26.54
$GC,325,-1.11,-107.1,2831,3576,3477,3436,44.3,-17.1,42,332,0.00,1.83,0.00,0.000,1030,0.000,0.026,2837,2285,3456,3477,3436,0,0,0,0,0,0,28.83,26.30,28.83
$GC,653,-1.11,-107.1,2836,2284,3478,3436,87.9,-13.3,60,659,0.00,2.08,0.00,0.000,516,0.000,0.031,2836,904,3457,3478,3436,0,0,0,0,0,0,28.83,26.27,28.83
$GC,790,-1.11,-107.1,2836,904,3480,3436,103.8,-12.3,66,798,0.00,2.15,0.00,0.000,1030,0.000,0.032,2829,2306,3457,3479,3436,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1109,-1.11,-107.1,2829,2305,3479,3436,142.4,-11.2,82,1115,0.00,1.90,0.00,0.000,260,0.000,0.042,2819,3596,3457,3479,3436,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1164,-1.11,-107.1,2819,3596,3479,3435,147.9,-11.3,84,1171,0.00,1.83,0.00,0.000,1030,0.000,0.025,2819,2288,3457,3479,3436,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1480,-1.11,-107.1,2819,2287,3479,3435,186.9,-12.2,100,1488,0.00,2.08,0.00,0.000,516,0.000,0.031,2819,910,3457,3479,3436,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1508,-1.11,-107.1,2819,910,3479,3436,190.3,-12.4,101,1516,0.12,2.12,0.00,0.000,3078,0.177,0.031,2841,2302,3457,3478,3436,0,0,0,0,0,0,25.95,26.35,28.83
$STATE,1696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1696,begin apogee
$GC,1705,-0.25,0.0,2840,2023,3480,3436,212.1,-11.2,110,1844,0.85,0.00,129.07,0.627,10246,0.135,0.000,3111,2022,3009,3081,2938,0,0,0,0,0,0,25.50,28.83,24.34
$STATE,1846,end apogee,CONTROL_FINISHED_OK
$STATE,1847,begin climb
$GC,1850,1.11,107.1,3111,2022,3074,2930,216.8,0.0,117,1995,1.25,2.28,128.15,0.568,10756,0.081,0.032,3562,650,2564,2647,2482,0,0,0,0,0,0,25.37,25.30,24.26
$GC,2077,1.11,107.1,3561,650,2634,2478,201.6,10.5,127,2089,0.00,2.17,0.00,0.000,1030,0.000,0.029,3562,2031,2556,2634,2478,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2380,1.11,107.1,3561,2031,2631,2474,164.6,11.7,143,2391,0.00,2.10,0.00,0.000,260,0.000,0.041,3561,3436,2552,2630,2475,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2479,1.11,107.1,3561,3436,2631,2474,153.7,12.0,147,2490,0.00,2.03,0.00,0.000,1030,0.000,0.024,3572,2032,2551,2630,2473,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2805,1.11,107.1,3571,2032,2629,2472,114.6,11.4,163,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2032,2551,2630,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3105,1.11,107.1,3571,2032,2629,2472,82.6,10.7,178,3116,0.00,2.12,0.00,0.000,516,0.000,0.034,3581,639,2550,2629,2472,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3144,1.11,107.1,3581,640,2629,2472,79.4,10.6,179,3156,0.00,2.12,0.00,0.000,1030,0.000,0.029,3581,2023,2550,2629,2472,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3465,1.11,107.1,3581,2023,2628,2472,47.1,8.2,196,3476,0.00,2.15,0.00,0.000,516,0.000,0.033,3590,635,2550,2628,2473,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3663,1.24,148.8,3590,635,2628,2472,30.9,6.0,214,3720,0.00,2.15,46.97,0.584,9222,0.000,0.029,3590,2030,2402,2482,2323,0,0,0,0,0,0,28.83,26.39,24.72
$GC,4032,1.55,253.6,2816,2028,2413,2307,10.8,2.8,276,4093,0.28,2.17,49.03,0.070,10500,0.068,0.041,3708,3433,1972,2053,1891,0,0,0,0,0,0,26.20,26.03,25.86
$STATE,4117,end climb,SURFACE_DEPTH_REACHED
$STATE,4117,begin surface coast
$FINISH,1.6,1.013692
$STATE,4149,end surface coast,CONTROL_FINISHED_OK
$STATE,4149,begin surface
$SM_CCo,4178,42.22,0.056,0,0,1581,350.04
$SM_GC,2.73,9.05,1.67,42.22,0.050,0.025,0.056,344,2314,1581,-8.86,2.26,350.04,0,0,0,0,0,0,25.98,26.30,25.96
$IRIDIUM_FIX,4732.49,-12519.22,250114,101017
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.63
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3723200
$PM_FREEKB,1563508
$24V_AH,24.3,68.581
$10V_AH,9.7,66.626
$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,21.750,37.250,353.225,42.225,0.000,0.000,0.000,186.825,0.000,0.000,36.355,859.687,2082.763,400.787,982.977,337.020,0.000,1080.758,0.000,687.498,0.000,0.536,0.000
$DEVICE_MAMPS,233.325,61.200,627.300,55.845,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4155.000,1878.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.919,9.264,0.000,0.000
$MEM,258764
$DATA_FILE_SIZE,10140,295
$CAP_FILE_SIZE,68871,0
$CFSIZE,260034560,186650624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.119,  8.3,1
$GPS,250114,131559,4751.625,-12512.151,13,1.7,14,17.2