version: 66.11
glider: 108
mission: 25
dive: 17
start: 9 24 113 23 10 8
data:
$ID,108
$MISSION,25
$DIVE,17
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1030
$D_NO_BLEED,20
$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,170
$T_MISSION,190
$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,150
$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,500
$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,-193522.86
$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,2250
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,45
$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,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,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,1
$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
$GPS1,240913,230328,4745.949,-12514.219,39,0.8,39,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-71.7
$GPS2,240913,230941,4745.879,-12514.254,17,0.9,17,17.2
$SPEED_LIMITS,0.170,0.244
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,217.9,158300,-16.2,-9.804,-21.91,2290
$D_GRID,693
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.72,-146.0,337,2224,1025,888,0.0,0.0,0,92,0.00,0.00,-68.70,0.000,16386,0.000,0.000,338,2225,2863,2869,2857,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-0.72,-146.0,337,2225,2872,2859,3.3,-4.4,12,129,10.60,2.20,-16.30,0.000,18692,0.245,0.066,2987,3596,3609,3604,3614,0,0,0,0,0,0,25.77,25.99,26.29
$GC,359,-0.75,-146.0,1984,3594,3597,3628,38.7,-9.8,49,367,0.00,2.00,0.00,0.000,1030,0.000,0.033,2987,2244,3617,3604,3630,0,0,0,0,0,0,28.83,26.24,28.83
$GC,676,-0.80,-146.0,2987,2243,3604,3641,67.8,-8.7,71,681,0.00,2.08,0.00,0.000,260,0.000,0.050,2977,3588,3623,3604,3642,0,0,0,0,0,0,28.83,26.33,28.83
$GC,909,-0.84,-146.0,2977,3588,3604,3644,88.8,-9.7,82,915,0.00,1.98,0.00,0.000,1030,0.000,0.033,2977,2236,3624,3604,3644,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1225,-0.90,-146.0,2977,2236,3603,3644,117.2,-8.6,98,1231,0.12,2.08,0.00,0.000,4356,0.091,0.048,2901,3588,3624,3604,3645,0,0,0,0,0,0,26.52,26.48,28.83
$GC,1321,-0.86,-146.0,2901,3588,3604,3645,126.9,-11.2,102,1327,0.17,1.95,0.00,0.000,3078,0.142,0.034,2951,2248,3625,3605,3645,0,0,0,0,0,0,26.41,26.55,28.83
$GC,1636,-0.89,-146.0,2951,2248,3604,3643,156.6,-8.6,118,1642,0.00,2.08,0.00,0.000,516,0.000,0.040,2954,856,3623,3604,3643,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1681,-0.92,-146.0,2953,858,3604,3643,160.5,-8.4,120,1687,0.00,2.12,0.00,0.000,1030,0.000,0.038,2947,2255,3623,3604,3643,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2006,-0.92,-146.0,2947,2255,3603,3642,189.4,-8.8,136,2011,0.00,2.03,0.00,0.000,260,0.000,0.051,2937,3598,3622,3604,3641,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2053,-0.92,-146.0,1952,3597,3597,3639,193.4,-8.9,138,2059,0.00,1.98,0.00,0.000,1030,0.000,0.034,2937,2241,3622,3604,3641,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2373,-0.92,-146.0,2936,2240,3604,3639,222.5,-8.9,154,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2241,3621,3604,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2675,-0.92,-146.0,2936,2240,3603,3638,249.2,-9.1,169,2680,0.00,2.08,0.00,0.000,260,0.000,0.052,2927,3597,3620,3603,3638,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2728,-0.92,-146.0,2926,3596,3603,3637,253.7,-9.4,171,2733,0.00,1.98,0.00,0.000,1030,0.000,0.035,2927,2244,3620,3603,3637,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3042,-0.92,-146.0,2926,2242,3603,3637,285.4,-9.8,187,3047,0.00,2.05,0.00,0.000,260,0.000,0.051,2917,3585,3619,3602,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3076,-0.92,-146.0,2916,3585,3602,3637,287.7,-9.7,188,3081,0.00,1.95,0.00,0.000,1030,0.000,0.035,2917,2250,3619,3602,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3389,-0.92,-146.0,2916,2249,3601,3636,321.8,-10.7,204,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2249,3619,3602,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3692,-0.92,-146.0,2916,2249,3601,3635,351.3,-9.2,219,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2249,3618,3601,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3992,-0.92,-146.0,2916,2249,3600,3635,377.6,-8.6,234,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2917,2249,3617,3600,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4292,-0.92,-146.0,2916,2248,3599,3633,403.1,-8.8,249,4298,0.00,2.03,0.00,0.000,260,0.000,0.053,2906,3585,3616,3599,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4377,-0.92,-146.0,2906,3585,3599,3633,411.4,-9.5,253,4383,0.00,1.98,0.00,0.000,1030,0.000,0.037,2906,2243,3615,3597,3633,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4701,-0.92,-146.0,2906,2242,3598,3631,443.4,-10.0,269,4706,0.00,2.08,0.00,0.000,516,0.000,0.042,2907,851,3614,3598,3631,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4769,-0.92,-146.0,2906,851,3598,3632,450.1,-10.4,272,4776,0.12,2.12,0.00,0.000,3078,0.161,0.041,2930,2247,3614,3598,3631,0,0,0,0,0,0,26.64,26.76,28.83
$GC,5090,-0.95,-146.0,2930,2247,3597,3630,481.2,-9.4,288,5095,0.00,2.03,0.00,0.000,260,0.000,0.054,2922,3587,3614,3598,3630,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5149,-0.98,-146.0,2922,3587,3596,3630,485.4,-9.4,290,5156,0.00,1.98,0.00,0.000,1030,0.000,0.037,2922,2235,3613,3597,3630,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,5311,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5311,begin apogee
$GC,5318,-0.17,0.0,2922,1969,3597,3629,501.7,-8.7,299,5507,0.75,0.00,182.70,0.737,10246,0.126,0.000,3174,1969,3005,3093,2918,0,0,0,0,0,0,26.65,28.83,24.33
$STATE,5509,end apogee,CONTROL_FINISHED_OK
$STATE,5509,begin climb
$GC,5511,0.72,146.0,3173,1969,3090,2914,506.5,0.0,308,5717,0.80,2.33,192.38,0.692,11012,0.060,0.049,3467,3373,2402,2497,2307,0,0,0,0,0,0,24.97,24.72,24.18
$GC,5750,0.65,146.0,3467,3374,2491,2300,490.9,9.9,320,5756,0.15,2.22,0.00,0.000,5126,0.154,0.034,3439,1978,2395,2491,2299,0,0,0,0,0,0,25.03,25.15,28.83
$GC,6065,0.66,149.8,3438,1979,2484,2293,459.4,9.6,336,6066,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1979,2388,2484,2293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6366,0.68,163.3,3438,1979,2482,2292,431.3,9.2,351,6387,0.00,2.28,15.05,0.754,8708,0.000,0.046,3447,574,2340,2440,2240,0,0,0,0,0,0,28.83,25.90,25.35
$GC,6512,0.68,163.3,3446,574,2436,2238,417.0,9.8,358,6517,0.00,2.22,0.00,0.000,1030,0.000,0.039,3447,1989,2336,2434,2239,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6836,0.68,163.3,3447,1987,2434,2237,384.5,10.0,374,6841,0.00,2.15,0.00,0.000,260,0.000,0.051,3447,3382,2335,2434,2236,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6914,0.65,163.3,3447,3381,2433,2236,377.6,10.5,377,6921,0.00,2.15,0.00,0.000,1030,0.000,0.037,3457,1967,2334,2433,2235,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7219,0.65,163.3,3457,1967,2432,2235,344.9,9.9,393,7221,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1967,2333,2432,2235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7520,0.65,163.3,3457,1968,2431,2233,315.7,10.0,408,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1967,2332,2431,2233,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7821,0.66,171.6,3457,1967,2430,2232,285.6,9.4,423,7836,0.00,2.25,7.93,0.761,8452,0.000,0.050,3457,3374,2306,2409,2204,0,0,0,0,0,0,28.83,26.36,25.74
$GC,7859,0.67,178.8,3457,3374,2409,2203,283.2,9.5,424,7875,0.00,2.12,8.68,0.735,9222,0.000,0.037,3466,1973,2279,2386,2173,0,0,0,0,0,0,28.83,26.41,25.70
$GC,8188,0.67,178.8,3466,1973,2382,2168,248.7,10.2,441,8193,0.00,2.17,0.00,0.000,260,0.000,0.050,3466,3376,2275,2382,2168,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8241,0.63,178.8,3466,3376,2384,2166,243.9,10.4,443,8248,0.15,2.12,0.00,0.000,5126,0.148,0.037,3437,1973,2275,2382,2168,0,0,0,0,0,0,26.30,26.43,28.83
$GC,8558,0.69,197.7,3434,1973,2381,2166,214.9,9.0,459,8591,0.00,2.22,25.70,0.643,8452,0.000,0.050,3434,3380,2200,2313,2088,0,0,0,0,0,0,28.83,26.11,25.62
$GC,8619,0.71,208.4,3434,3380,2312,2086,209.0,9.3,462,8640,0.00,2.15,13.85,0.612,9222,0.000,0.036,3441,1977,2157,2271,2043,0,0,0,0,0,0,28.83,26.19,25.47
$GC,8940,0.75,211.5,3441,1977,2265,2038,179.1,9.7,478,8946,0.00,2.20,0.00,0.000,516,0.000,0.045,3453,562,2151,2264,2038,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8968,0.80,211.5,2600,562,2208,2032,176.6,9.9,479,8974,0.10,2.22,0.00,0.000,3078,0.106,0.039,3498,1989,2151,2265,2037,0,0,0,0,0,0,26.24,26.27,28.83
$GC,9287,0.77,211.5,3498,1989,2263,2038,136.4,11.8,495,9293,0.00,2.12,0.00,0.000,260,0.000,0.050,3498,3374,2150,2263,2038,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9356,0.72,211.5,2656,3372,2204,2028,128.6,12.1,498,9362,0.17,2.12,0.00,0.000,5126,0.151,0.036,3459,1975,2150,2263,2037,0,0,0,0,0,0,26.29,26.43,28.83
$GC,9676,0.79,225.8,3458,1975,2263,2036,99.8,9.2,514,9705,0.00,2.20,22.38,0.633,8452,0.000,0.047,3458,3380,2086,2203,1969,0,0,0,0,0,0,28.83,26.15,25.65
$GC,9781,0.82,225.8,3458,3380,2199,1966,89.0,10.7,519,9786,0.00,2.15,0.00,0.000,1030,0.000,0.035,3466,1966,2082,2199,1966,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10105,0.94,273.5,3466,1966,2196,1965,59.1,7.7,535,10174,0.20,2.20,58.03,0.575,10756,0.074,0.044,3562,575,1892,2006,1778,0,0,0,0,1,0,26.39,25.71,25.13
$GC,10223,0.90,273.5,3562,575,2001,1778,46.7,11.5,541,10231,0.15,2.20,0.00,0.000,5126,0.147,0.038,3522,1976,1889,2000,1778,0,0,0,0,0,0,25.72,25.84,28.83
$GC,10530,1.04,328.8,3521,1976,1993,1771,21.5,7.3,576,10598,0.12,2.25,53.83,0.540,10756,0.091,0.043,3595,576,1666,1784,1549,0,0,0,0,1,0,26.18,25.60,25.06
$GC,10648,1.04,328.8,2816,576,1736,1543,10.0,10.9,596,10656,0.12,2.20,0.00,0.000,5126,0.145,0.037,3564,1974,1663,1779,1547,0,0,0,0,0,0,25.65,25.77,28.83
$STATE,10713,end climb,SURFACE_DEPTH_REACHED
$STATE,10713,begin surface coast
$FINISH,1.4,1.003880
$STATE,10749,end surface coast,CONTROL_FINISHED_OK
$STATE,10749,begin surface
$SM_CCo,10769,74.15,0.060,0,0,969,500.17
$SM_GC,2.33,8.60,0.40,74.15,0.043,0.055,0.060,344,2248,969,-8.96,-1.30,500.17,0,0,0,0,0,0,25.91,25.93,25.89
$IRIDIUM_FIX,4729.30,-12511.06,240913,202000
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.45
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,3932576
$24V_AH,24.2,2.852
$10V_AH,9.8,11.466
$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,22.350,89.750,580.500,74.150,0.000,0.000,0.000,223.000,0.000,0.000,18.507,1853.101,6722.787,716.595,1644.511,283.333,0.000,1742.802,0.000,1371.170,0.000,0.536,0.000
$DEVICE_MAMPS,244.800,65.790,761.175,59.670,0.000,0.000,0.000,126.990,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10762.000,2.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.354,99.973,0.000,0.000
$MEM,258844
$DATA_FILE_SIZE,20097,615
$CAP_FILE_SIZE,138957,0
$CFSIZE,260034560,241766400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.033,204.3,1
$GPS,250913,021204,4745.103,-12515.861,31,1.0,31,17.2