version: 66.11
glider: 108
mission: 25
dive: 117
start: 10 14 113 20 20 8
data:
$ID,108
$MISSION,25
$DIVE,117
$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,375
$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,-193653
$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,3215
$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,66
$R_STBD_OVSHOOT,51
$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,5
$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,9.5
$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,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,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,4.0
$GPS1,141013,201328,4748.231,-12520.272,35,1.2,35,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-74.3
$GPS2,141013,201940,4748.205,-12520.275,24,1.1,24,17.2
$SPEED_LIMITS,0.139,0.199
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,49.3,34090,-15.8,-8.049,-22.04,2046
$D_GRID,579
$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,-1.11,-107.1,341,2323,1544,1387,0.0,0.0,0,67,0.00,0.00,-38.08,0.000,16386,0.000,0.000,341,2323,2485,2538,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.11,-107.1,341,2323,2544,2435,3.1,-1.7,7,125,9.75,2.17,-32.58,0.000,18948,0.236,0.046,2852,891,3448,3495,3401,0,0,0,0,0,0,25.83,26.10,26.38
$GC,214,-1.11,-107.1,2851,891,3503,3408,22.8,-22.2,32,227,0.00,2.17,0.00,0.000,1030,0.000,0.033,2845,2306,3455,3503,3408,0,0,0,0,0,0,28.83,26.19,28.83
$GC,536,-1.11,-107.1,2844,2306,3506,3410,70.3,-11.8,56,547,0.00,2.12,0.00,0.000,516,0.000,0.031,2845,898,3458,3506,3410,0,0,0,0,0,0,28.83,26.36,28.83
$GC,716,-1.11,-107.1,2844,898,3508,3411,95.8,-15.1,64,726,0.00,2.12,0.00,0.000,1030,0.000,0.033,2836,2307,3459,3508,3411,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1035,-1.11,-107.1,2836,2307,3509,3412,135.6,-12.2,80,1046,0.00,1.92,0.00,0.000,260,0.000,0.045,2826,3592,3460,3509,3412,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1140,-1.11,-107.1,2825,3591,3509,3412,146.8,-12.7,84,1153,0.12,1.85,0.00,0.000,3078,0.179,0.026,2856,2277,3460,3509,3412,0,0,0,0,0,0,26.35,26.56,28.83
$GC,1444,-1.11,-107.1,2855,2277,3509,3411,181.1,-10.0,100,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2277,3460,3509,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1745,-1.11,-107.1,2855,2277,3509,3412,213.1,-11.2,115,1756,0.00,2.00,0.00,0.000,516,0.000,0.031,2859,916,3460,3509,3412,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1795,-1.11,-107.1,2858,916,3509,3412,218.6,-11.3,117,1806,0.00,2.08,0.00,0.000,1030,0.000,0.032,2852,2306,3460,3509,3411,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2124,-1.11,-107.1,2851,2306,3508,3412,255.3,-11.0,133,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2306,3459,3508,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2424,-1.11,-107.1,2851,2306,3507,3412,288.0,-10.5,148,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2306,3459,3506,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2724,-1.11,-107.1,2851,2306,3506,3411,320.8,-11.4,163,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2306,3458,3505,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3025,-1.11,-107.1,2852,2306,3505,3411,354.2,-10.8,178,3036,0.00,2.08,0.00,0.000,516,0.000,0.031,2852,909,3458,3505,3411,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3078,-1.11,-107.1,2851,909,3505,3410,359.6,-10.8,180,3089,0.00,2.08,0.00,0.000,1030,0.000,0.033,2843,2300,3457,3505,3410,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3402,-1.11,-107.1,2842,2300,3505,3410,394.6,-10.5,196,3413,0.00,1.90,0.00,0.000,260,0.000,0.044,2833,3591,3456,3503,3410,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3440,-1.11,-107.1,2832,3591,3504,3410,397.8,-10.5,197,3451,0.00,1.80,0.00,0.000,1030,0.000,0.027,2833,2302,3457,3504,3410,0,0,0,0,0,0,28.83,26.76,28.83
$GC,3759,-1.11,-107.1,2832,2301,3504,3410,434.2,-11.6,213,3770,0.00,1.92,0.00,0.000,260,0.000,0.045,2823,3593,3456,3503,3410,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3851,-1.11,-107.1,2822,3593,3502,3410,444.9,-11.9,217,3862,0.12,1.83,0.00,0.000,3078,0.177,0.027,2853,2290,3456,3503,3410,0,0,0,0,0,0,26.56,26.77,28.83
$GC,4181,-1.11,-107.1,2853,2290,3503,3409,479.2,-9.9,233,4192,0.00,2.03,0.00,0.000,516,0.000,0.031,2858,913,3455,3503,3408,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4300,-1.11,-107.1,2858,913,3503,3408,489.8,-9.7,238,4311,0.00,2.08,0.00,0.000,1030,0.000,0.033,2851,2304,3455,3503,3408,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4620,-1.11,-107.1,2850,2304,3502,3408,521.3,-9.9,254,4631,0.00,2.08,0.00,0.000,516,0.000,0.031,2852,909,3454,3502,3407,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4784,-1.11,-107.1,2851,909,3502,3407,536.3,-10.0,261,4796,0.00,2.08,0.00,0.000,1030,0.000,0.034,2845,2299,3454,3502,3407,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5090,-1.11,-107.1,2845,2299,3501,3407,569.5,-10.8,277,5101,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2299,3453,3500,3407,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5188,begin apogee
$GC,5195,-0.25,0.0,2844,2027,3500,3405,580.2,-10.8,282,5347,0.88,0.00,138.00,0.766,10246,0.138,0.000,3131,2026,3005,3099,2911,0,0,0,0,0,0,26.59,28.83,24.56
$STATE,5349,end apogee,CONTROL_FINISHED_OK
$STATE,5349,begin climb
$GC,5352,1.11,107.1,3131,2026,3097,2907,584.6,0.0,289,5494,1.25,0.00,132.82,0.731,10246,0.073,0.000,3574,2026,2571,2674,2469,0,0,0,0,0,0,25.29,28.83,24.27
$GC,5790,1.11,107.1,3574,2027,2649,2456,532.3,14.4,312,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2026,2552,2649,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6091,1.11,107.1,3574,2026,2646,2454,490.7,13.5,327,6101,0.00,2.15,0.00,0.000,516,0.000,0.035,3584,634,2550,2646,2454,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6235,1.11,107.1,3583,634,2645,2454,472.5,13.9,333,6248,0.00,2.15,0.00,0.000,1030,0.000,0.031,3582,2031,2549,2645,2454,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6540,1.11,107.1,3582,2030,2644,2453,429.2,13.3,349,6551,0.00,2.15,0.00,0.000,516,0.000,0.034,3589,640,2548,2644,2453,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6575,1.11,107.1,3589,640,2643,2453,425.4,13.0,350,6585,0.00,2.12,0.00,0.000,1030,0.000,0.032,3589,2030,2548,2644,2453,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6899,1.11,107.1,3589,2030,2642,2452,383.6,12.5,366,6910,0.00,2.10,0.00,0.000,260,0.000,0.044,3589,3425,2547,2642,2452,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6958,1.11,107.1,3588,3425,2641,2451,377.2,12.9,368,6969,0.00,2.05,0.00,0.000,1030,0.000,0.027,3599,2018,2546,2641,2451,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7277,1.11,107.1,3598,2018,2640,2450,334.7,13.0,384,7288,0.00,2.10,0.00,0.000,516,0.000,0.036,3608,628,2545,2640,2450,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7321,1.11,107.1,3608,628,2640,2450,331.0,12.7,385,7333,0.00,2.12,0.00,0.000,1030,0.000,0.031,3601,2028,2545,2640,2450,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7627,1.11,107.1,3601,2028,2640,2450,288.7,13.7,401,7638,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,2028,2544,2640,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7926,1.11,107.1,3601,2028,2640,2450,247.2,14.1,416,7937,0.00,2.15,0.00,0.000,516,0.000,0.036,3609,629,2544,2640,2449,0,0,0,0,0,0,28.83,26.61,28.83
$GC,7961,1.11,107.1,3609,629,2639,2449,243.0,14.0,417,7972,0.00,2.12,0.00,0.000,1030,0.000,0.032,3602,2031,2544,2640,2449,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8285,1.11,107.1,3602,2030,2640,2449,196.2,13.9,433,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2030,2544,2640,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8585,1.11,107.1,3602,2031,2640,2449,155.9,13.0,448,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2030,2544,2640,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8886,1.11,107.1,3602,2030,2640,2449,118.1,12.0,463,8897,0.00,2.15,0.00,0.000,516,0.000,0.036,3609,626,2544,2640,2449,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8970,1.11,107.1,3609,626,2639,2449,109.4,12.3,466,8982,0.00,2.12,0.00,0.000,1030,0.000,0.032,3602,2035,2544,2640,2449,0,0,0,0,0,0,28.83,26.69,28.83
$GC,9275,1.11,107.1,3602,2034,2639,2447,71.8,9.9,482,9287,0.00,2.10,0.00,0.000,260,0.000,0.043,3601,3437,2544,2640,2448,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9305,1.11,107.1,3600,3437,2640,2448,68.9,9.7,483,9317,0.15,2.05,0.00,0.000,5126,0.175,0.027,3571,2011,2543,2639,2448,0,0,0,0,0,0,26.52,26.74,28.83
$GC,9626,1.24,149.1,3570,2011,2639,2448,41.3,5.9,504,9688,0.12,2.17,49.53,0.579,11012,0.097,0.035,3637,633,2398,2493,2303,0,0,0,0,0,0,26.70,26.10,25.51
$GC,9886,1.29,168.1,3636,632,2484,2298,21.6,7.1,532,9916,0.00,2.15,16.38,0.570,9222,0.000,0.031,3635,2030,2320,2416,2224,0,0,0,0,0,0,28.83,26.29,25.48
$STATE,10115,end climb,SURFACE_DEPTH_REACHED
$STATE,10115,begin surface coast
$FINISH,1.9,1.023938
$STATE,10177,end surface coast,CONTROL_FINISHED_OK
$STATE,10177,begin surface
$SM_CCo,10199,90.32,0.060,0,0,1479,375.06
$SM_GC,2.76,8.73,0.38,90.32,0.047,0.050,0.060,337,2312,1479,-8.93,-1.36,375.06,0,0,0,0,0,0,26.29,26.31,26.18
$IRIDIUM_FIX,4729.30,-12519.98,141013,161632
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.41
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3900576
$PM_FREEKB,4661456
$24V_AH,24.3,14.177
$10V_AH,10.2,21.036
$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,21.125,71.000,336.725,90.325,0.000,0.000,0.000,185.725,0.000,0.000,27.076,1741.396,6332.755,525.768,1775.041,289.776,0.000,1673.396,0.000,1255.799,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,50.490,765.765,60.435,0.000,0.000,0.000,128.520,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10185.000,249.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.354,9.714,0.000,0.000
$MEM,258764
$DATA_FILE_SIZE,20096,587
$CAP_FILE_SIZE,135085,0
$CFSIZE,260034560,232579072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.039,196.7,1
$GPS,141013,231304,4748.387,-12518.913,39,0.9,39,17.2