version: 66.11
glider: 108
mission: 25
dive: 119
start: 10 15 113 2 25 7
data:
$ID,108
$MISSION,25
$DIVE,119
$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,-193655.5
$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,72
$R_STBD_OVSHOOT,55
$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,14.0
$GPS1,151013,021852,4749.115,-12517.565,40,0.8,40,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-72.5
$GPS2,151013,022441,4749.081,-12517.587,18,1.0,18,17.2
$SPEED_LIMITS,0.139,0.199
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,39.3,10512,-15.8,-8.049,-22.04,2046
$D_GRID,501
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.11,-107.1,333,2313,1542,1381,0.0,0.0,0,70,0.00,0.00,-40.83,0.000,16386,0.000,0.000,334,2314,2551,2603,2500,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.11,-107.1,333,2313,2606,2506,3.2,-1.8,7,124,9.80,2.22,-28.70,0.000,18948,0.239,0.047,2861,892,3450,3496,3404,0,0,0,0,0,0,25.86,26.15,26.42
$GC,350,-1.11,-107.1,2861,892,3505,3409,45.0,-14.2,47,361,0.00,2.12,0.00,0.000,1030,0.000,0.032,2854,2297,3458,3507,3409,0,0,0,0,0,0,28.83,26.32,28.83
$GC,679,-1.11,-107.1,2854,2297,3509,3413,84.7,-11.3,65,690,0.00,1.95,0.00,0.000,260,0.000,0.044,2844,3598,3461,3509,3413,0,0,0,0,0,0,28.83,26.41,28.83
$GC,757,-1.11,-107.1,2844,3598,3509,3414,93.1,-12.1,68,768,0.00,1.85,0.00,0.000,1030,0.000,0.026,2844,2284,3461,3509,3414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1076,-1.11,-107.1,2844,2283,3510,3414,133.5,-12.2,84,1087,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2283,3462,3510,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1376,-1.11,-107.1,2846,2282,3509,3414,169.4,-11.9,99,1387,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2282,3462,3510,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1677,-1.11,-107.1,2844,2283,3509,3414,202.3,-10.6,114,1688,0.00,2.03,0.00,0.000,516,0.000,0.032,2844,916,3461,3509,3414,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1721,-1.11,-107.1,2844,916,3509,3414,205.4,-10.6,115,1733,0.00,2.08,0.00,0.000,1030,0.000,0.033,2836,2301,3461,3509,3414,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2026,-1.11,-107.1,2835,2301,3509,3414,241.3,-11.6,131,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2301,3461,3509,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2326,-1.11,-107.1,2835,2301,3507,3414,275.4,-11.7,146,2337,0.00,2.05,0.00,0.000,516,0.000,0.031,2836,918,3460,3507,3414,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2360,-1.11,-107.1,2834,918,3507,3414,279.1,-12.0,147,2371,0.12,2.08,0.00,0.000,3078,0.177,0.033,2858,2308,3460,3507,3414,0,0,0,0,0,0,26.51,26.67,28.83
$GC,2685,-1.11,-107.1,2857,2307,3507,3413,315.2,-10.9,163,2696,0.00,2.08,0.00,0.000,516,0.000,0.031,2858,909,3460,3507,3413,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2723,-1.11,-107.1,2857,909,3507,3413,318.3,-10.9,164,2734,0.00,2.08,0.00,0.000,1030,0.000,0.033,2851,2299,3460,3507,3413,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3042,-1.11,-107.1,2850,2298,3506,3413,353.6,-10.9,180,3053,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2298,3459,3506,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3342,-1.11,-107.1,2850,2299,3505,3413,386.0,-10.5,195,3353,0.00,2.05,0.00,0.000,516,0.000,0.031,2851,916,3459,3506,3412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3422,-1.11,-107.1,2851,916,3504,3412,393.5,-10.7,198,3433,0.00,2.08,0.00,0.000,1030,0.000,0.034,2842,2308,3459,3506,3412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3742,-1.11,-107.1,2841,2307,3505,3412,427.6,-10.2,214,3753,0.00,1.88,0.00,0.000,260,0.000,0.045,2832,3579,3458,3504,3412,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3822,-1.11,-107.1,2831,3579,3504,3412,435.4,-11.1,217,3833,0.00,1.80,0.00,0.000,1030,0.000,0.027,2832,2291,3457,3504,3411,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4141,-1.11,-107.1,2832,2291,3504,3412,471.9,-10.5,233,4152,0.00,2.03,0.00,0.000,516,0.000,0.031,2832,913,3457,3504,3411,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4211,-1.11,-107.1,2832,913,3504,3411,479.4,-10.6,236,4222,0.12,2.08,0.00,0.000,3078,0.177,0.034,2854,2306,3457,3504,3410,0,0,0,0,0,0,26.58,26.74,28.83
$STATE,4438,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4438,begin apogee
$GC,4444,-0.25,0.0,2854,2034,3504,3410,501.6,-9.7,247,4593,0.82,0.00,133.82,0.741,10246,0.135,0.000,3127,2033,3004,3098,2910,0,0,0,0,0,0,26.58,28.83,24.56
$STATE,4595,end apogee,CONTROL_FINISHED_OK
$STATE,4595,begin climb
$GC,4598,1.11,107.1,3126,2034,3097,2908,505.0,0.0,254,4743,1.25,0.00,132.30,0.691,10246,0.074,0.000,3569,2033,2567,2668,2466,0,0,0,0,0,0,25.33,28.83,24.35
$GC,5041,1.11,107.1,3569,2033,2652,2456,452.1,13.7,277,5051,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2033,2554,2652,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5341,1.11,107.1,3569,2033,2649,2453,413.2,13.2,292,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2033,2550,2647,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5640,1.11,107.1,3569,2033,2647,2453,373.2,13.4,307,5652,0.00,2.15,0.00,0.000,260,0.000,0.043,3569,3424,2549,2646,2453,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5732,1.11,107.1,3569,3423,2646,2452,360.1,14.6,311,5744,0.00,2.05,0.00,0.000,1030,0.000,0.027,3578,2023,2549,2646,2452,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6062,1.11,107.1,3578,2023,2644,2450,315.1,13.2,327,6073,0.00,2.10,0.00,0.000,516,0.000,0.036,3589,631,2547,2644,2450,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6159,1.11,107.1,3589,630,2645,2450,303.4,13.1,331,6170,0.00,2.12,0.00,0.000,1030,0.000,0.031,3589,2032,2547,2644,2450,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6483,1.11,107.1,3589,2032,2642,2450,259.1,13.2,347,6494,0.00,2.10,0.00,0.000,260,0.000,0.043,3589,3437,2545,2642,2449,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6552,1.11,107.1,3588,3436,2642,2449,248.8,14.4,350,6563,0.00,2.08,0.00,0.000,1030,0.000,0.027,3597,2018,2545,2642,2448,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6882,1.11,107.1,3598,2018,2641,2448,201.9,14.8,366,6893,0.00,2.10,0.00,0.000,516,0.000,0.036,3608,626,2544,2641,2448,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6984,1.11,107.1,3608,626,2640,2448,188.1,15.4,370,6995,0.00,2.12,0.00,0.000,1030,0.000,0.031,3601,2033,2544,2640,2448,0,0,0,0,0,0,28.83,26.62,28.83
$GC,7303,1.11,107.1,3601,2032,2640,2448,137.4,15.3,386,7314,0.00,0.00,0.00,0.000,6,0.000,0.000,3601,2033,2544,2640,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7603,1.11,107.1,3601,2032,2640,2448,95.4,13.4,401,7614,0.00,2.10,0.00,0.000,260,0.000,0.043,3601,3441,2544,2640,2448,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7682,1.11,107.1,3601,3441,2640,2447,86.5,12.7,404,7693,0.15,2.05,0.00,0.000,5126,0.178,0.027,3571,2017,2543,2640,2447,0,0,0,0,0,0,26.48,26.70,28.83
$GC,8002,1.11,107.1,3571,2016,2640,2447,59.1,8.2,420,8012,0.00,2.08,0.00,0.000,516,0.000,0.035,3579,629,2543,2640,2447,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8086,1.11,107.1,3579,629,2640,2447,52.8,9.0,423,8097,0.00,2.10,0.00,0.000,1030,0.000,0.031,3577,2030,2543,2640,2447,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8393,1.32,176.2,3577,2029,2640,2447,28.3,4.6,453,8488,0.15,2.15,79.72,0.556,10500,0.090,0.041,3641,3428,2284,2385,2184,0,0,0,0,0,0,26.68,25.80,25.23
$STATE,8645,end climb,SURFACE_DEPTH_REACHED
$STATE,8645,begin surface coast
$FINISH,1.7,1.013368
$STATE,8677,end surface coast,CONTROL_FINISHED_OK
$STATE,8677,begin surface
$SM_CCo,8700,86.20,0.060,0,0,1480,375.06
$SM_GC,2.85,8.75,1.73,86.20,0.044,0.026,0.060,338,2321,1480,-8.91,1.84,375.06,0,0,0,0,0,0,26.13,26.18,26.06
$IRIDIUM_FIX,4729.30,-12519.98,141013,232330
$TT8_MAMPS,0.031458,0.031458
$HUMID,56.49
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3899936
$PM_FREEKB,4661456
$24V_AH,24.4,14.326
$10V_AH,10.2,21.149
$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,21.175,61.800,345.850,86.200,0.000,0.000,0.000,189.125,0.000,0.000,19.696,1465.524,5399.231,509.616,1504.638,258.288,0.000,1524.498,0.000,1050.596,0.000,0.535,0.000
$DEVICE_MAMPS,238.680,47.430,740.520,59.670,0.000,0.000,0.000,128.520,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8678.000,200.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.710,9.838,0.000,0.000
$MEM,258872
$DATA_FILE_SIZE,16749,501
$CAP_FILE_SIZE,115897,0
$CFSIZE,260034560,232460288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.041, 48.5,1
$GPS,151013,045258,4749.769,-12516.271,37,0.9,37,17.2