version: 66.11
glider: 108
mission: 23
dive: 5
start: 7 2 113 20 53 48
data:
$ID,108
$MISSION,23
$DIVE,5
$N_DIVES,5
$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,-192736.23
$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,47
$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
$GPS1,020713,204721,4742.292,-12224.839,17,1.7,17,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-75.0
$GPS2,020713,205317,4742.223,-12224.857,17,1.6,17,16.6
$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,339.1,2371,-18.3,-10.000,-21.08,2246
$D_GRID,60
$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,-146.6,343,2163,502,393,0.0,0.0,0,135,0.00,0.00,-105.05,0.000,16386,0.000,0.000,343,2161,3505,3509,3501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,139,-0.79,-146.6,343,2161,3503,3510,3.7,-8.2,19,167,10.82,2.25,-8.45,0.000,18948,0.249,0.056,3100,738,4003,4049,3957,0,0,0,0,0,0,26.15,26.39,26.67
$GC,192,-0.66,-146.6,3100,738,4058,3955,19.1,-19.8,27,201,0.15,2.15,0.00,0.000,3078,0.155,0.041,3134,2143,4007,4059,3955,0,0,0,0,0,0,26.30,26.44,28.83
$GC,390,-0.71,-146.6,3133,2143,4065,3954,43.0,-12.1,50,397,0.00,2.12,0.00,0.000,260,0.000,0.050,3125,3563,4009,4065,3954,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,533,begin apogee
$GC,541,-0.17,0.0,3125,1941,4065,3954,61.4,-12.5,60,658,0.50,0.00,107.72,0.775,10246,0.126,0.000,3290,1927,3399,3504,3295,0,0,0,0,0,0,26.46,28.83,24.68
$STATE,660,end apogee,CONTROL_FINISHED_OK
$STATE,660,begin climb
$GC,662,0.79,146.6,3290,1926,3503,3294,67.6,0.0,66,792,0.88,2.30,110.78,0.757,10756,0.083,0.044,3610,549,2801,2919,2684,0,0,0,0,0,0,25.39,25.08,24.48
$GC,902,0.85,196.3,3610,549,2915,2680,57.6,7.7,78,949,0.00,2.20,38.80,0.736,9222,0.000,0.037,3610,1947,2598,2713,2484,0,0,0,0,0,0,28.83,25.86,24.82
$GC,1193,0.93,224.1,3610,1947,2707,2477,32.5,8.7,102,1223,0.12,0.00,21.90,0.718,10246,0.087,0.000,3670,1947,2485,2598,2372,0,0,0,0,0,0,26.20,28.83,25.25
$FREEZE,8.56,11.740,-1.599,0,1,0
$FREEZE,7.84,11.882,-1.594,0,1,0
$FREEZE,7.25,12.060,-1.589,0,1,0
$FREEZE,6.72,12.271,-1.583,0,1,0
$GC,1406,0.89,224.1,3669,1947,2593,2368,6.7,11.1,137,1414,0.12,0.00,0.00,0.000,4102,0.155,0.000,3632,1947,2480,2593,2368,0,0,0,0,0,0,26.11,28.83,28.83
$FREEZE,5.06,13.155,-1.557,0,1,0
$FREEZE,4.65,13.496,-1.539,0,1,0
$FREEZE,4.29,13.559,-1.533,0,1,0
$FREEZE,4.00,13.693,-1.529,0,1,0
$STATE,1435,end climb,SURFACE_DEPTH_REACHED
$STATE,1435,begin surface coast
$FREEZE,3.64,13.727,-1.526,0,1,0
$FREEZE,3.33,13.928,-1.515,0,1,0
$FREEZE,2.95,14.042,-1.509,0,1,0
$FREEZE,2.74,14.150,-1.502,0,1,0
$FREEZE,2.35,14.215,-1.498,0,1,0
$FREEZE,2.04,14.395,-1.488,0,1,0
$FREEZE,1.76,14.557,-1.482,0,1,0
$FREEZE,1.50,14.635,-1.479,0,1,0
$FREEZE,1.19,14.692,-1.477,0,1,0
$FREEZE,1.08,14.784,-1.474,0,1,0
$FREEZE,0.88,14.834,-1.473,0,1,0
$FINISH,0.9,1.019884
$STATE,1493,end surface coast,CONTROL_FINISHED_OK
$STATE,1493,begin surface
$SM_CCo,1517,206.85,0.054,0,0,487,714.31
$SM_GC,1.29,8.62,0.30,206.85,0.044,0.060,0.054,344,2164,487,-9.33,-0.99,714.31,0,0,0,0,0,0,26.29,26.32,26.25
$RAFOS_CLK,49
$RAFOS,0,1372799041,21.083334,21.066944,46,42,38,0,0,0,849,1,1501,0,0,0
$RAFOS_FIX,4830.801758,-12125.968750,020713,171736,2,114,0.00
$IRIDIUM_FIX,4726.11,-12225.08,020713,191913
$TT8_MAMPS,0.027713,0.027713
$HUMID,42.71
$INTERNAL_PRESSURE,9.18981
$TCM_TEMP,20.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$SC_FREEKB,3936736
$PM_FREEKB,7792252
$24V_AH,24.5,0.561
$10V_AH,10.3,5.219
$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,21.225,13.775,279.200,206.850,0.000,0.000,0.000,176.850,0.250,0.000,18.451,437.481,395.794,522.097,608.423,132.452,0.000,982.480,0.000,359.976,300.000,2.629,0.000
$DEVICE_MAMPS,248.625,60.435,774.945,54.315,0.000,0.000,0.000,38.437,420.000,0.000,29.960,11.750,2.310,11.750,38.710,49.200,0.000,15.970,0.000,7.490,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1478.000,1481.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.907,1000.000,0.000,0.000
$MEM,280284
$DATA_FILE_SIZE,3510,153
$CAP_FILE_SIZE,42941,0
$CFSIZE,260034560,242257920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.0
$GPS,020713,212347,4742.276,-12224.880,19,1.3,19,16.6