version: 66.11
glider: 108
mission: 23
dive: 4
start: 7 2 113 19 52 58
data:
$ID,108
$MISSION,23
$DIVE,4
$N_DIVES,4
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,50
$T_MISSION,66
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51502
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,714.12561
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-192734.98
$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,3350
$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,47
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3400
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.391403
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$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,16
$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
$GPS1,020713,194629,4742.312,-12225.014,24,1.5,24,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.8
$GPS2,020713,195223,4742.212,-12225.046,17,1.5,17,16.6
$SPEED_LIMITS,0.173,0.259
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,344.8,2385,-18.3,-10.000,-21.08,2246
$D_GRID,148
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-0.79,-146.6,337,2174,524,403,0.0,0.0,0,128,0.00,0.00,-99.97,0.000,16386,0.000,0.000,336,2177,3389,3413,3365,0,0,0,0,0,0,28.83,28.83,28.83
$GC,134,-0.79,-146.6,336,2177,3413,3369,3.7,-7.4,18,166,10.57,2.22,-10.75,0.000,18948,0.239,0.056,3099,747,4003,4051,3956,0,0,0,0,0,0,26.15,26.41,26.70
$GC,182,-0.46,-146.6,3099,747,4057,3953,17.1,-21.8,25,191,0.35,2.15,0.00,0.000,3078,0.144,0.040,3197,2148,4005,4058,3953,0,0,0,0,0,0,26.29,26.44,28.83
$GC,381,-0.62,-146.6,3197,2147,4066,3954,36.1,-9.2,51,388,0.12,2.10,0.00,0.000,4356,0.084,0.049,3118,3558,4009,4066,3953,0,0,0,0,0,0,26.60,26.52,28.83
$GC,511,-0.65,-146.6,2112,3556,4066,3953,52.8,-13.1,62,518,0.00,2.05,0.00,0.000,1030,0.000,0.034,3118,2143,4010,4066,3954,0,0,0,0,0,0,28.83,26.63,28.83
$GC,773,-0.71,-146.6,3117,2137,4067,3954,80.6,-10.2,75,780,0.00,2.12,0.00,0.000,260,0.000,0.050,3107,3554,4010,4067,3954,0,0,0,0,0,0,28.83,26.64,28.83
$GC,924,-0.75,-146.6,3107,3554,4067,3954,96.1,-10.8,82,930,0.00,2.03,0.00,0.000,1030,0.000,0.034,3107,2148,4010,4067,3954,0,0,0,0,0,0,28.83,26.72,28.83
$GC,1184,-0.78,-146.6,3107,2143,4068,3954,126.5,-11.9,95,1191,0.00,2.15,0.00,0.000,260,0.000,0.050,3096,3568,4011,4068,3954,0,0,0,0,0,0,28.83,26.70,28.83
$GC,1419,-1.41,-146.6,3096,3569,4069,3954,142.2,-0.0,106,1427,0.57,2.08,0.00,0.000,5126,0.083,0.034,2891,2139,4011,4069,3954,0,0,0,0,0,0,26.70,26.79,28.83
$STATE,1513,end dive,NO_VERTICAL_VELOCITY
$STATE,1513,begin apogee
$GC,1520,-0.17,0.0,2890,1939,4069,3954,142.3,0.0,111,1638,1.02,0.00,109.12,0.835,10246,0.037,0.000,3328,1938,3400,3504,3296,0,0,0,0,0,0,26.80,28.83,24.68
$STATE,1641,end apogee,CONTROL_FINISHED_OK
$STATE,1641,begin climb
$GC,1643,0.79,146.6,3328,1938,3503,3294,142.3,0.0,117,1770,0.73,2.28,111.45,0.811,11012,0.037,0.047,3627,3349,2802,2918,2687,0,0,0,0,0,0,25.51,25.10,24.48
$GC,1860,0.90,289.9,3627,3349,2915,2681,139.5,3.5,127,1985,0.00,2.12,110.75,0.800,9222,0.000,0.035,3637,1951,2217,2341,2093,0,0,0,0,0,0,28.83,25.84,24.48
$GC,2223,0.90,289.9,3637,1951,2341,2081,92.3,14.3,146,2230,0.00,2.17,0.00,0.000,516,0.000,0.044,3648,546,2211,2341,2081,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2390,0.96,289.9,3647,547,2341,2080,71.7,11.7,154,2396,0.00,2.15,0.00,0.000,1030,0.000,0.037,3647,1950,2210,2341,2080,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2645,1.01,289.9,3647,1950,2340,2078,45.3,10.6,168,2652,0.00,2.17,0.00,0.000,516,0.000,0.044,3659,544,2210,2341,2079,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2714,1.07,289.9,2944,544,2280,2069,38.0,11.4,174,2723,0.12,2.15,0.00,0.000,3078,0.091,0.037,3713,1954,2210,2341,2079,0,0,0,0,0,0,26.51,26.53,28.83
$FREEZE,8.54,12.883,-1.569,0,1,0
$GC,2907,1.01,289.9,2976,1952,2273,2068,8.5,12.5,203,2915,0.12,0.00,0.00,0.000,4102,0.175,0.000,3679,1955,2209,2341,2078,0,0,0,0,0,0,26.46,28.83,28.83
$FREEZE,6.08,13.581,-1.539,0,1,0
$FREEZE,5.68,13.567,-1.538,0,1,0
$FREEZE,5.20,13.557,-1.536,0,1,0
$FREEZE,4.70,13.566,-1.533,0,1,0
$FREEZE,4.11,13.743,-1.525,0,1,0
$FREEZE,3.66,13.873,-1.516,0,1,0
$STATE,2946,end climb,SURFACE_DEPTH_REACHED
$STATE,2946,begin surface coast
$FREEZE,3.15,14.079,-1.505,0,1,0
$FREEZE,2.54,14.552,-1.477,0,1,0
$FREEZE,1.79,14.779,-1.465,0,1,0
$FREEZE,1.22,14.931,-1.461,0,1,0
$FREEZE,0.74,15.152,-1.455,0,1,0
$FREEZE,0.43,14.701,-1.472,0,1,0
$FREEZE,0.35,15.188,-0.880,0,1,0
$FINISH,0.4,1.011549
$STATE,2984,end surface coast,CONTROL_FINISHED_OK
$STATE,2985,begin surface
$SM_CCo,3009,180.77,0.055,0,0,487,714.31
$SM_GC,1.25,8.65,0.28,180.77,0.044,0.061,0.055,343,2160,487,-9.34,-1.22,714.31,0,0,0,0,0,0,26.58,26.63,26.44
$RAFOS_CLK,89
$RAFOS,1,1372796644,20.416666,20.401112,49,46,44,0,0,0,61,879,1989,0,0,0
$RAFOS,0,1372795447,20.083334,20.068611,45,43,41,0,0,0,241,1270,763,0,0,0
$RAFOS_FIX,4830.801758,-12125.968750,020713,171736,2,114,0.00
$IRIDIUM_FIX,4722.92,-12207.44,020713,181813
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.46
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.3
$SC_FREEKB,3936992
$PM_FREEKB,7806224
$24V_AH,24.5,0.498
$10V_AH,10.3,4.782
$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,22.275,30.475,331.325,180.775,0.000,0.000,0.000,176.700,0.250,0.000,18.310,716.089,1273.442,548.757,864.446,163.561,0.000,1151.067,0.000,597.207,780.000,2.628,0.000
$DEVICE_MAMPS,238.680,61.200,835.380,55.080,0.000,0.000,0.000,37.688,420.000,0.000,29.960,11.750,2.310,11.750,38.710,49.200,0.000,15.970,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2972.000,2973.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.769,1000.000,0.000,0.000
$MEM,280336
$DATA_FILE_SIZE,6840,217
$CAP_FILE_SIZE,63003,0
$CFSIZE,260034560,242274304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$GPS,020713,204721,4742.292,-12224.839,17,1.7,17,16.6