version: 66.11
glider: 108
mission: 25
dive: 120
start: 10 15 113 4 59 13
data:
$ID,108
$MISSION,25
$DIVE,120
$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,-193656.75
$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,39
$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
$GPS1,151013,045258,4749.769,-12516.271,37,0.9,37,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-72.9
$GPS2,151013,045847,4749.754,-12516.334,18,0.9,18,17.2
$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,47.5,8545,-15.8,-8.049,-22.04,2046
$D_GRID,451
$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,-107.1,335,2273,1545,1384,0.0,0.0,0,71,0.00,0.00,-42.20,0.000,16386,0.000,0.000,336,2274,2593,2638,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.11,-107.1,335,2273,2639,2552,3.2,-2.0,7,125,9.70,2.20,-27.05,0.000,18948,0.235,0.047,2853,863,3449,3497,3402,0,0,0,0,0,0,25.84,26.11,26.38
$GC,329,-1.11,-107.1,1872,862,3494,3405,39.5,-14.1,44,341,0.00,2.17,0.00,0.000,1030,0.000,0.032,2846,2299,3457,3505,3409,0,0,0,0,0,0,28.83,26.27,28.83
$GC,639,-1.11,-107.1,2845,2299,3509,3413,84.3,-13.9,63,650,0.00,1.92,0.00,0.000,260,0.000,0.043,2836,3587,3461,3509,3413,0,0,0,0,0,0,28.83,26.39,28.83
$GC,697,-1.11,-107.1,2835,3587,3509,3414,91.5,-14.2,65,708,0.00,1.90,0.00,0.000,1030,0.000,0.025,2836,2240,3461,3509,3414,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1016,-1.11,-107.1,2836,2237,3510,3414,135.0,-12.5,81,1027,0.00,2.03,0.00,0.000,516,0.000,0.032,2835,871,3462,3510,3414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1049,-1.11,-107.1,1856,871,3500,3411,138.6,-12.4,82,1060,0.00,2.15,0.00,0.000,1030,0.000,0.032,2828,2306,3462,3510,3414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1373,-1.11,-107.1,2827,2306,3510,3414,179.2,-12.1,98,1384,0.12,0.00,0.00,0.000,2054,0.188,0.000,2858,2305,3462,3509,3416,0,0,0,0,0,0,26.41,28.83,28.83
$GC,1674,-1.11,-107.1,2858,2305,3509,3414,210.5,-10.1,113,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2305,3462,3509,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1973,-1.11,-107.1,2858,2305,3509,3414,239.9,-10.0,128,1984,0.00,1.90,0.00,0.000,260,0.000,0.044,2851,3584,3461,3509,3414,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2003,-1.11,-107.1,2850,3584,3509,3414,242.9,-10.2,129,2014,0.00,1.88,0.00,0.000,1030,0.000,0.026,2850,2249,3461,3509,3414,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2332,-1.11,-107.1,2850,2247,3508,3414,278.7,-11.5,145,2343,0.00,2.00,0.00,0.000,260,0.000,0.044,2840,3583,3461,3508,3415,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2411,-1.11,-107.1,2840,3583,3507,3414,287.4,-12.4,148,2422,0.00,1.88,0.00,0.000,1030,0.000,0.026,2840,2249,3460,3507,3414,0,0,0,0,0,0,28.83,26.72,28.83
$GC,2730,-1.11,-107.1,2840,2247,3507,3414,327.7,-11.9,164,2741,0.00,2.03,0.00,0.000,516,0.000,0.031,2840,868,3460,3507,3414,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2794,-1.11,-107.1,2840,868,3507,3413,334.0,-12.3,166,2806,0.00,2.15,0.00,0.000,1030,0.000,0.034,2831,2300,3460,3507,3413,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3100,-1.11,-107.1,2831,2300,3505,3413,372.9,-11.9,182,3111,0.00,2.12,0.00,0.000,516,0.000,0.032,2831,861,3459,3506,3413,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3143,-1.11,-107.1,2831,861,3506,3413,376.5,-11.9,183,3156,0.12,2.15,0.00,0.000,3078,0.174,0.033,2853,2304,3459,3506,3413,0,0,0,0,0,0,26.54,26.71,28.83
$GC,3450,-1.11,-107.1,2852,2305,3505,3412,411.9,-10.6,199,3461,0.00,2.12,0.00,0.000,516,0.000,0.031,2853,869,3458,3505,3412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3534,-1.11,-107.1,2854,870,3505,3412,419.7,-11.1,202,3545,0.00,2.15,0.00,0.000,1030,0.000,0.033,2846,2311,3458,3505,3411,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,3817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3817,begin apogee
$GC,3823,-0.25,0.0,2845,1995,3504,3411,452.2,-11.0,217,3972,0.88,0.00,133.95,0.720,10246,0.138,0.000,3132,1995,3003,3098,2908,0,0,0,0,0,0,26.56,28.83,24.60
$STATE,3974,end apogee,CONTROL_FINISHED_OK
$STATE,3974,begin climb
$GC,3977,1.11,107.1,3131,1995,3095,2905,456.7,0.0,224,4125,1.25,2.22,128.52,0.672,10756,0.073,0.035,3584,640,2563,2664,2463,0,0,0,0,0,0,25.34,25.02,24.38
$GC,4172,1.11,107.1,2816,639,2603,2451,439.9,12.3,234,4183,0.00,2.20,0.00,0.000,1030,0.000,0.030,3582,2019,2557,2655,2460,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4497,1.11,107.1,3582,2019,2648,2456,397.1,13.0,250,4507,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2019,2552,2649,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4797,1.11,107.1,3582,2019,2646,2453,357.0,13.5,265,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2019,2549,2646,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5097,1.11,107.1,3582,2019,2644,2452,315.7,13.8,280,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2019,2548,2644,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5397,1.11,107.1,3582,2019,2643,2451,273.0,14.7,295,5407,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2019,2547,2643,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5697,1.11,107.1,3582,2019,2641,2450,231.6,13.6,310,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2019,2545,2641,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5997,1.11,107.1,3582,2019,2640,2449,190.7,13.5,325,6008,0.00,2.12,0.00,0.000,260,0.000,0.044,3582,3429,2544,2640,2449,0,0,0,0,0,0,28.83,26.55,28.83
$GC,6093,1.11,107.1,3582,3429,2640,2448,177.5,14.7,329,6104,0.00,2.03,0.00,0.000,1030,0.000,0.027,3590,2020,2544,2640,2448,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6418,1.11,107.1,3590,2020,2640,2448,132.5,13.6,345,6429,0.00,2.08,0.00,0.000,516,0.000,0.036,3600,637,2544,2640,2448,0,0,0,0,0,0,28.83,26.61,28.83
$GC,6502,1.11,107.1,3600,637,2640,2448,122.6,14.1,348,6514,0.00,2.10,0.00,0.000,1030,0.000,0.031,3600,2032,2544,2640,2448,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6808,1.11,107.1,3600,2031,2640,2448,79.9,12.0,364,6819,0.00,2.10,0.00,0.000,260,0.000,0.043,3600,3440,2544,2640,2448,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6998,1.11,107.1,3599,3440,2640,2446,58.5,10.7,373,7010,0.15,2.03,0.00,0.000,5126,0.176,0.027,3570,2024,2543,2640,2446,0,0,0,0,0,0,26.49,26.70,28.83
$GC,7319,1.27,161.3,3570,2024,2640,2446,32.0,5.3,399,7398,0.12,2.22,63.15,0.567,10500,0.097,0.043,3626,3435,2347,2445,2250,0,0,0,0,0,0,26.67,25.93,25.35
$GC,7631,1.27,161.3,3625,3434,2437,2240,5.1,9.4,449,7643,0.00,2.08,0.00,0.000,1030,0.000,0.026,3633,2013,2338,2437,2240,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,7648,end climb,SURFACE_DEPTH_REACHED
$STATE,7648,begin surface coast
$FINISH,1.8,1.012645
$STATE,7687,end surface coast,CONTROL_FINISHED_OK
$STATE,7687,begin surface
$SM_CCo,7709,93.20,0.060,0,0,1479,375.06
$SM_GC,2.80,8.73,0.45,93.20,0.046,0.047,0.060,335,2307,1479,-8.93,-1.27,375.06,0,0,0,0,0,0,26.25,26.28,26.16
$IRIDIUM_FIX,4732.49,-12521.83,151013,020218
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.26
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3899616
$PM_FREEKB,4661456
$24V_AH,24.4,14.397
$10V_AH,9.7,21.197
$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,21.075,54.800,325.625,93.200,0.000,0.000,0.000,193.300,0.000,0.000,19.772,1333.957,4686.953,469.489,1421.045,245.095,0.000,1447.834,0.000,993.932,0.000,0.535,0.000
$DEVICE_MAMPS,234.855,47.430,719.865,60.435,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7688.000,180.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.948,9.900,0.000,0.000
$MEM,258756
$DATA_FILE_SIZE,16773,458
$CAP_FILE_SIZE,106651,0
$CFSIZE,260034560,232407040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046, 92.6,1
$GPS,151013,071033,4750.163,-12514.967,23,1.0,30,17.2