version: 66.11
glider: 108
mission: 24
dive: 6
start: 8 30 113 21 23 24
data:
$ID,108
$MISSION,24
$DIVE,6
$N_DIVES,6
$D_SURF,4
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,0
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$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,51643
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,600
$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,-193132.22
$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,3230
$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,56
$R_STBD_OVSHOOT,54
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3250
$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,-22.327888
$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,15
$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,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$GPS1,300813,211642,4743.035,-12224.787,29,1.1,29,16.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.7
$GPS2,300813,212259,4743.041,-12224.737,43,1.1,43,16.6
$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,322.4,912,-18.3,-10.000,-21.08,2246
$D_GRID,178
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-0.79,-146.6,337,2160,875,731,0.0,0.0,0,132,0.00,0.00,-103.10,0.000,16390,0.000,0.000,338,2160,3849,3755,3943,0,0,0,0,0,0,28.83,28.83,26.69
$GC,136,-0.79,-146.6,337,2160,3755,3948,3.8,-7.9,19,157,10.73,2.15,0.00,0.000,2820,0.259,0.034,2975,729,3855,3761,3949,0,0,0,0,0,0,26.09,26.36,28.83
$GC,385,-0.79,-146.6,2975,729,3769,3947,44.4,-10.6,50,393,0.00,2.15,0.00,0.000,1030,0.000,0.035,2969,2148,3859,3769,3949,0,0,0,0,0,0,28.83,26.51,28.83
$GC,583,-0.79,-146.6,2968,2148,3770,3950,66.6,-11.2,63,590,0.00,2.12,0.00,0.000,516,0.000,0.036,2969,740,3860,3770,3950,0,0,0,0,0,0,28.83,26.58,28.83
$GC,682,-0.79,-146.6,2968,743,3770,3950,76.8,-11.9,67,690,0.00,2.12,0.00,0.000,1030,0.000,0.036,2960,2152,3862,3774,3950,0,0,0,0,0,0,28.83,26.60,28.83
$GC,930,-0.79,-146.6,2959,2151,3771,3950,106.4,-11.0,80,937,0.00,2.08,0.00,0.000,260,0.000,0.047,2949,3563,3860,3770,3950,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1015,-0.79,-146.6,2949,3564,3770,3950,116.8,-12.0,84,1022,0.00,2.05,0.00,0.000,1030,0.000,0.031,2949,2119,3860,3771,3950,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,1277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1278,begin apogee
$GC,1284,-0.17,0.0,2948,1932,3771,3949,150.7,-12.9,97,1443,0.68,0.00,147.62,0.588,10246,0.131,0.000,3172,1932,3242,3288,3197,0,0,0,0,0,0,26.58,28.83,24.91
$STATE,1446,end apogee,CONTROL_FINISHED_OK
$STATE,1446,begin climb
$GC,1448,0.79,146.6,3172,1931,3284,3190,158.0,0.0,105,1615,0.88,2.20,146.48,0.554,10756,0.076,0.039,3494,559,2653,2761,2545,0,0,0,0,1,0,25.48,25.25,24.63
$GC,1829,0.80,151.7,2624,559,2702,2536,131.4,9.8,124,1846,0.00,2.15,6.85,0.604,9222,0.000,0.034,3494,1957,2628,2736,2521,0,0,0,0,0,0,28.83,26.09,25.44
$GC,2083,0.80,151.7,3494,1956,2736,2518,104.3,11.1,137,2090,0.00,2.12,0.00,0.000,516,0.000,0.038,3504,569,2627,2736,2518,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2169,0.80,151.7,3504,569,2734,2518,95.0,11.0,141,2175,0.00,2.12,0.00,0.000,1030,0.000,0.034,3503,1964,2626,2735,2518,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2433,0.80,151.7,3503,1962,2734,2518,67.0,10.4,154,2436,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1961,2626,2734,2518,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2676,0.81,165.3,3503,1961,2732,2521,43.9,9.4,169,2698,0.00,2.22,14.77,0.593,8708,0.000,0.039,3512,560,2572,2680,2464,0,0,0,0,0,0,28.83,26.37,25.86
$GC,2754,0.81,165.3,3511,559,2678,2464,35.0,11.8,176,2761,0.00,2.10,0.00,0.000,1030,0.000,0.034,3512,1949,2572,2680,2464,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2946,0.85,196.7,3511,1949,2677,2461,16.7,8.6,204,2966,0.00,2.20,13.60,0.092,8708,0.000,0.038,3521,554,2448,2549,2347,0,0,0,0,0,0,28.83,26.49,26.41
$STATE,3073,end climb,SURFACE_DEPTH_REACHED
$STATE,3074,begin surface coast
$FINISH,3.6,1.022141
$STATE,3079,end surface coast,CONTROL_FINISHED_OK
$STATE,3079,begin surface
$SM_CCo,3121,166.65,0.054,0,0,803,600.00
$SM_GC,1.34,8.30,2.47,166.65,0.046,0.034,0.054,340,2157,803,-8.97,-1.39,600.00,0,0,0,0,0,0,26.52,26.56,26.41
$IRIDIUM_FIX,4722.92,-12227.78,300813,202009
$TT8_MAMPS,0.025466,0.025466
$HUMID,55.78
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,3936096
$PM_FREEKB,7754668
$24V_AH,24.6,0.961
$10V_AH,10.0,9.648
$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,20.575,30.475,329.325,166.650,0.000,0.000,0.000,179.500,0.000,0.000,43.301,658.842,1460.349,525.287,870.973,161.094,0.000,1120.212,0.000,578.193,0.000,0.538,0.000
$DEVICE_MAMPS,259.335,58.905,603.585,54.315,0.000,0.000,0.000,36.190,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3073.000,3062.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.799,1000.000,0.000,0.000
$MEM,281896
$DATA_FILE_SIZE,6845,229
$CAP_FILE_SIZE,59030,0
$CFSIZE,260034560,242180096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$GPS,300813,221912,4743.261,-12224.876,14,1.3,14,16.6