version: 66.11
glider: 108
mission: 25
dive: 133
start: 10 16 113 4 47 32
data:
$ID,108
$MISSION,25
$DIVE,133
$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,-193673
$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,64
$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
$GPS1,161013,044151,4749.003,-12517.628,27,1.6,34,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-72.1
$GPS2,161013,044705,4749.015,-12517.619,14,1.2,14,17.2
$SPEED_LIMITS,0.139,0.199
$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,221.4,157994,-15.8,-8.049,-22.04,2046
$D_GRID,553
$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,-107.1,333,2312,1545,1385,0.0,0.0,0,75,0.00,0.00,-46.22,0.000,16386,0.000,0.000,334,2312,2695,2729,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.11,-107.1,333,2312,2735,2663,3.0,-1.3,8,124,9.80,2.03,-22.00,0.000,18692,0.236,0.062,2848,3594,3449,3495,3403,0,0,0,0,0,0,25.82,26.10,26.39
$GC,218,-1.11,-107.1,2848,3596,3500,3410,24.4,-19.7,32,230,0.00,1.90,0.00,0.000,1030,0.000,0.027,2851,2275,3455,3500,3410,0,0,0,0,0,0,28.83,26.25,28.83
$GC,538,-1.11,-107.1,2851,2272,3507,3414,71.7,-14.3,57,549,0.00,2.00,0.00,0.000,260,0.000,0.044,2844,3590,3460,3507,3414,0,0,0,0,0,0,28.83,26.35,28.83
$GC,608,-1.11,-107.1,2843,3590,3507,3414,81.3,-13.9,60,619,0.00,1.83,0.00,0.000,1030,0.000,0.026,2844,2294,3460,3506,3414,0,0,0,0,0,0,28.83,26.45,28.83
$GC,938,-1.11,-107.1,2843,2294,3509,3415,118.1,-12.2,76,948,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2294,3461,3509,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-1.11,-107.1,2843,2294,3509,3415,154.9,-11.9,91,1248,0.00,2.05,0.00,0.000,516,0.000,0.031,2845,911,3462,3510,3415,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1271,-1.11,-107.1,2845,911,3510,3415,158.4,-11.8,92,1282,0.00,2.10,0.00,0.000,1030,0.000,0.031,2838,2319,3462,3510,3415,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1595,-1.11,-107.1,2838,2319,3509,3416,196.8,-11.4,108,1606,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2319,3462,3509,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1895,-1.11,-107.1,2837,2319,3509,3416,232.4,-12.5,123,1906,0.00,2.08,0.00,0.000,516,0.000,0.031,2838,916,3462,3509,3415,0,0,0,0,0,0,28.83,26.64,28.83
$GC,1933,-1.11,-107.1,2837,916,3509,3415,236.2,-12.9,124,1944,0.00,2.08,0.00,0.000,1030,0.000,0.032,2830,2308,3462,3509,3415,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2253,-1.11,-107.1,2829,2307,3508,3415,277.8,-11.3,140,2263,0.00,1.88,0.00,0.000,260,0.000,0.044,2820,3582,3461,3507,3415,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2362,-1.11,-107.1,2819,3582,3507,3415,291.2,-12.4,145,2374,0.08,1.83,0.00,0.000,3078,0.137,0.027,2856,2306,3461,3507,3415,0,0,0,0,0,0,26.48,26.72,28.83
$GC,2692,-1.11,-107.1,2856,2305,3507,3415,326.0,-10.1,161,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2305,3461,3507,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2993,-1.11,-107.1,2856,2305,3506,3415,356.8,-10.5,176,3004,0.00,2.05,0.00,0.000,516,0.000,0.032,2859,906,3460,3506,3415,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3096,-1.11,-107.1,2859,906,3507,3414,366.5,-10.6,180,3109,0.00,2.08,0.00,0.000,1030,0.000,0.032,2852,2301,3460,3506,3415,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3403,-1.11,-107.1,2852,2301,3506,3414,398.5,-9.8,196,3414,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2301,3460,3507,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3703,-1.11,-107.1,2852,2301,3505,3414,429.7,-11.0,211,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2301,3459,3505,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4003,-1.11,-107.1,2852,2301,3504,3414,463.2,-11.2,226,4014,0.00,2.05,0.00,0.000,516,0.000,0.031,2852,913,3459,3505,3414,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4104,-1.11,-107.1,2852,913,3505,3413,473.1,-11.1,230,4115,0.00,2.08,0.00,0.000,1030,0.000,0.033,2843,2306,3458,3504,3413,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4424,-1.11,-107.1,2843,2305,3504,3413,507.4,-10.0,246,4435,0.00,1.88,0.00,0.000,260,0.000,0.046,2833,3580,3458,3503,3413,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4474,-1.11,-107.1,2833,3580,3504,3413,512.6,-10.1,248,4484,0.00,1.80,0.00,0.000,1030,0.000,0.027,2833,2289,3458,3503,3413,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4803,-1.11,-107.1,2832,2290,3503,3412,544.7,-10.0,264,4814,0.00,2.03,0.00,0.000,516,0.000,0.031,2835,903,3457,3503,3411,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4856,-1.11,-107.1,2835,903,3503,3411,549.8,-10.3,266,4867,0.00,2.10,0.00,0.000,1030,0.000,0.034,2828,2307,3457,3503,3411,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,4898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4898,begin apogee
$GC,4905,-0.25,0.0,2827,2022,3503,3412,554.9,-10.5,268,5057,0.93,0.00,136.80,0.754,10246,0.140,0.000,3128,2020,3002,3096,2908,0,0,0,0,0,0,26.55,28.83,24.54
$STATE,5059,end apogee,CONTROL_FINISHED_OK
$STATE,5059,begin climb
$GC,5062,1.11,107.1,3128,2020,3094,2905,558.4,0.0,275,5210,1.25,2.28,132.45,0.711,10756,0.075,0.034,3578,644,2567,2668,2466,0,0,0,0,0,0,25.31,24.98,24.32
$GC,5243,1.11,107.1,3578,644,2656,2460,541.7,12.7,284,5254,0.00,2.20,0.00,0.000,1030,0.000,0.031,3578,2025,2558,2656,2460,0,0,0,0,0,0,28.83,25.34,28.83
$GC,5562,1.11,107.1,3578,2024,2648,2455,497.0,13.1,300,5572,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2024,2551,2648,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5862,1.11,107.1,3578,2024,2645,2453,457.3,13.6,315,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2025,2549,2645,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6162,1.11,107.1,3578,2024,2643,2452,416.0,14.3,330,6173,0.00,2.15,0.00,0.000,516,0.000,0.035,3587,635,2547,2643,2452,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6301,1.11,107.1,3587,635,2641,2452,396.4,15.5,336,6312,0.00,2.15,0.00,0.000,1030,0.000,0.031,3587,2038,2546,2641,2452,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6621,1.11,107.1,3587,2038,2640,2450,342.9,16.9,352,6631,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,2038,2544,2640,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6921,1.11,107.1,3587,2038,2640,2449,295.7,14.4,367,6932,0.00,2.08,0.00,0.000,260,0.000,0.043,3587,3427,2545,2640,2451,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6984,1.11,107.1,3587,3427,2640,2448,288.2,14.6,369,6996,0.00,2.03,0.00,0.000,1030,0.000,0.027,3597,2026,2544,2640,2448,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7290,1.11,107.1,3596,2026,2640,2447,245.6,12.4,385,7301,0.00,2.08,0.00,0.000,516,0.000,0.036,3607,639,2544,2640,2448,0,0,0,0,0,0,28.83,26.58,28.83
$GC,7391,1.11,107.1,3606,639,2639,2447,234.5,12.3,389,7402,0.00,2.10,0.00,0.000,1030,0.000,0.031,3600,2030,2543,2640,2447,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7710,1.11,107.1,3600,2030,2638,2448,192.3,13.3,405,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2030,2543,2638,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8011,1.11,107.1,3600,2030,2638,2447,150.9,13.9,420,8021,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2029,2542,2638,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8310,1.11,107.1,3600,2030,2638,2447,111.3,13.4,435,8321,0.00,2.08,0.00,0.000,260,0.000,0.043,3593,3426,2542,2638,2447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8373,1.11,107.1,3593,3426,2637,2446,104.2,14.1,437,8385,0.00,2.03,0.00,0.000,1030,0.000,0.027,3601,2018,2542,2638,2446,0,0,0,0,0,0,28.83,26.71,28.83
$GC,8680,1.11,107.1,3601,2018,2638,2446,64.4,11.0,453,8691,0.00,2.08,0.00,0.000,516,0.000,0.035,3612,629,2542,2638,2446,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8813,1.11,107.1,2880,629,2585,2438,52.0,9.4,459,8825,0.15,2.10,0.00,0.000,5126,0.165,0.031,3570,2032,2542,2638,2446,0,0,0,0,0,0,26.51,26.70,28.83
$GC,9130,1.11,107.1,3569,2031,2636,2446,29.0,8.3,489,9141,0.00,2.08,0.00,0.000,260,0.000,0.042,3569,3430,2541,2637,2446,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9371,1.52,242.4,2752,3428,2582,2434,19.9,1.3,529,9448,0.35,2.03,62.03,0.101,11270,0.066,0.026,3715,2017,2019,2128,1910,0,0,0,0,0,0,26.67,26.75,26.46
$STATE,9513,end climb,SURFACE_DEPTH_REACHED
$STATE,9514,begin surface coast
$FINISH,1.7,1.024168
$STATE,9536,end surface coast,CONTROL_FINISHED_OK
$STATE,9536,begin surface
$SM_CCo,9558,56.53,0.059,0,0,1479,375.06
$SM_GC,2.62,8.77,0.43,56.53,0.044,0.046,0.059,335,2312,1479,-8.91,-1.53,375.06,0,0,0,0,0,0,26.59,26.60,26.48
$IRIDIUM_FIX,4732.49,-12514.75,161013,020257
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.79
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3895456
$PM_FREEKB,4640392
$24V_AH,24.3,15.263
$10V_AH,9.9,21.750
$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,21.325,66.025,331.275,56.525,0.000,0.000,0.000,160.150,0.000,0.000,15.547,1634.377,5920.405,449.774,1659.371,269.863,0.000,1551.882,0.000,1185.811,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,61.965,754.290,58.905,0.000,0.000,0.000,126.225,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9541.000,230.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.559,9.865,0.000,0.000
$MEM,258752
$DATA_FILE_SIZE,20089,557
$CAP_FILE_SIZE,128325,0
$CFSIZE,260034560,231735296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.010,289.4,1
$GPS,161013,072904,4748.510,-12519.058,29,0.9,29,17.2