version: 66.11
glider: 108
mission: 25
dive: 121
start: 10 15 113 7 16 45
data:
$ID,108
$MISSION,25
$DIVE,121
$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,-193658
$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,74
$R_STBD_OVSHOOT,48
$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
$GPS1,151013,071033,4750.163,-12514.967,23,1.0,30,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-73.3
$GPS2,151013,071619,4750.149,-12514.995,18,0.9,19,17.2
$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,36.4,6734,-15.8,-8.049,-22.04,2046
$D_GRID,381
$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,-40.88,0.000,16386,0.000,0.000,333,2314,2552,2600,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.11,-107.1,333,2314,2606,2509,3.1,-1.9,7,125,9.73,2.20,-29.88,0.000,18948,0.236,0.047,2854,905,3448,3495,3402,0,0,0,0,0,0,25.86,26.15,26.41
$GC,240,-1.11,-107.1,2853,905,3503,3408,26.2,-18.0,36,251,0.00,2.12,0.00,0.000,1030,0.000,0.033,2847,2307,3455,3503,3408,0,0,0,0,0,0,28.83,26.24,28.83
$GC,559,-1.11,-107.1,2846,2307,3507,3412,77.0,-13.8,58,570,0.00,1.95,0.00,0.000,260,0.000,0.044,2837,3599,3459,3507,3412,0,0,0,0,0,0,28.83,26.37,28.83
$GC,609,-1.11,-107.1,2837,3599,3507,3414,83.3,-13.4,60,620,0.00,1.85,0.00,0.000,1030,0.000,0.025,2837,2285,3460,3507,3413,0,0,0,0,0,0,28.83,26.46,28.83
$GC,939,-1.11,-107.1,2836,2284,3509,3414,124.1,-13.1,76,950,0.00,1.98,0.00,0.000,260,0.000,0.044,2828,3593,3461,3509,3414,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1053,-1.11,-107.1,2828,3593,3509,3414,139.4,-14.0,81,1064,0.00,1.83,0.00,0.000,1030,0.000,0.027,2829,2302,3462,3510,3414,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1377,-1.11,-107.1,2828,2302,3509,3414,183.8,-13.0,97,1388,0.00,2.05,0.00,0.000,516,0.000,0.031,2829,914,3461,3509,3414,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1407,-1.11,-107.1,2828,913,3510,3414,187.8,-13.1,98,1418,0.15,2.08,0.00,0.000,3078,0.171,0.033,2859,2304,3461,3509,3414,0,0,0,0,0,0,26.41,26.58,28.83
$GC,1737,-1.11,-107.1,2859,2304,3509,3414,225.3,-11.0,114,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2304,3461,3509,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2037,-1.11,-107.1,2859,2304,3508,3414,257.1,-10.5,129,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,2304,3461,3509,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2337,-1.11,-107.1,2858,2304,3508,3414,288.3,-10.6,144,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2304,3461,3508,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2637,-1.11,-107.1,2858,2304,3507,3414,319.7,-10.4,159,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2304,3460,3507,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2937,-1.11,-107.1,2859,2304,3507,3414,350.7,-10.4,174,2948,0.00,2.08,0.00,0.000,516,0.000,0.031,2859,898,3460,3506,3414,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2980,-1.11,-107.1,2859,899,3506,3413,353.7,-10.3,175,2992,0.00,2.10,0.00,0.000,1030,0.000,0.034,2852,2307,3459,3506,3413,0,0,0,0,0,0,28.83,26.71,28.83
$STATE,3244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3244,begin apogee
$GC,3250,-0.25,0.0,2852,2017,3505,3413,381.3,-9.4,189,3395,0.85,0.00,131.57,0.692,10246,0.135,0.000,3130,2017,3007,3102,2913,0,0,0,0,0,0,26.55,28.83,24.64
$STATE,3397,end apogee,CONTROL_FINISHED_OK
$STATE,3397,begin climb
$GC,3399,1.11,107.1,3131,2016,3098,2909,383.2,0.0,196,3539,1.25,0.00,130.55,0.640,10246,0.076,0.000,3572,2017,2572,2675,2469,0,0,0,0,0,0,25.35,28.83,24.44
$GC,3829,1.11,107.1,3572,2017,2654,2455,329.2,14.1,218,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2017,2554,2654,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4128,1.11,107.1,3572,2017,2650,2453,289.5,12.9,233,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2017,2551,2650,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4428,1.11,107.1,3571,2017,2648,2452,251.1,12.6,248,4439,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2017,2550,2649,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4728,1.11,107.1,3571,2017,2645,2450,212.3,12.9,263,4738,0.00,2.15,0.00,0.000,260,0.000,0.041,3572,3426,2548,2647,2450,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4757,1.11,107.1,3571,3426,2646,2450,208.4,12.9,264,4768,0.00,2.03,0.00,0.000,1030,0.000,0.026,3579,2031,2548,2646,2450,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5087,1.11,107.1,3578,2031,2645,2449,166.7,12.7,280,5098,0.00,2.12,0.00,0.000,516,0.000,0.035,3589,629,2547,2645,2449,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5178,1.11,107.1,3589,629,2645,2449,155.3,12.6,284,5189,0.00,2.12,0.00,0.000,1030,0.000,0.031,3589,2022,2546,2644,2449,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5508,1.11,107.1,3589,2022,2643,2449,112.2,13.3,300,5518,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2022,2546,2644,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5808,1.11,107.1,3589,2022,2643,2448,75.7,11.3,315,5819,0.00,2.10,0.00,0.000,260,0.000,0.043,3589,3430,2545,2643,2448,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5892,1.11,107.1,3589,3430,2643,2447,67.6,11.4,318,5903,0.00,2.03,0.00,0.000,1030,0.000,0.027,3598,2020,2545,2643,2447,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6198,1.20,135.7,3598,2020,2642,2447,40.0,6.6,341,6240,0.00,0.00,30.27,0.583,8198,0.000,0.000,3599,2020,2451,2547,2356,0,0,0,0,0,0,28.83,28.83,25.66
$GC,6540,1.36,188.3,3598,2020,2538,2351,18.0,5.4,385,6577,0.12,2.22,24.83,0.095,10500,0.100,0.041,3651,3432,2240,2344,2136,0,0,0,0,0,0,26.42,26.37,26.29
$STATE,6669,end climb,SURFACE_DEPTH_REACHED
$STATE,6670,begin surface coast
$FINISH,1.7,1.018571
$STATE,6702,end surface coast,CONTROL_FINISHED_OK
$STATE,6702,begin surface
$SM_CCo,6724,80.53,0.058,0,0,1480,375.06
$SM_GC,2.69,8.60,1.70,80.53,0.037,0.026,0.058,331,2313,1480,-8.93,1.87,375.06,0,0,0,0,0,0,26.43,26.49,26.32
$IRIDIUM_FIX,4732.49,-12519.22,151013,040422
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.69
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3899296
$PM_FREEKB,4661456
$24V_AH,24.4,14.460
$10V_AH,9.6,21.239
$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,20.700,37.075,317.225,80.525,0.000,0.000,0.000,190.450,0.000,0.000,20.832,1130.286,4166.080,455.565,1202.044,203.966,0.000,1278.911,0.000,790.298,0.000,0.535,0.000
$DEVICE_MAMPS,235.620,47.430,691.560,58.140,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6700.000,158.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.186,9.772,0.000,0.000
$MEM,258744
$DATA_FILE_SIZE,13471,414
$CAP_FILE_SIZE,90129,0
$CFSIZE,260034560,232366080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.092,122.3,1
$GPS,151013,091119,4750.401,-12513.761,22,1.1,22,17.2