version: 66.11
glider: 108
mission: 25
dive: 134
start: 10 16 113 7 35 21
data:
$ID,108
$MISSION,25
$DIVE,134
$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,-193674.25
$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,78
$R_STBD_OVSHOOT,61
$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
$GPS1,161013,072904,4748.510,-12519.058,29,0.9,29,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-72.9
$GPS2,161013,073454,4748.514,-12519.054,18,1.3,18,17.2
$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,215.2,155978,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.11,-107.1,332,2323,1545,1383,0.0,0.0,0,69,0.00,0.00,-40.15,0.000,16386,0.000,0.000,332,2323,2523,2573,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.11,-107.1,332,2323,2577,2476,3.0,-1.5,7,128,9.68,1.90,-31.75,0.000,18692,0.235,0.060,2845,3575,3449,3494,3405,0,0,0,0,0,0,25.96,26.22,26.52
$GC,359,-1.11,-107.1,2845,3574,3502,3412,49.9,-17.1,47,370,0.00,1.83,0.00,0.000,1030,0.000,0.026,2851,2289,3457,3503,3412,0,0,0,0,0,0,28.83,26.43,28.83
$GC,678,-1.11,-107.1,2851,2286,3508,3415,91.0,-12.8,63,689,0.00,1.95,0.00,0.000,260,0.000,0.045,2844,3575,3461,3508,3415,0,0,0,0,0,0,28.83,26.46,28.83
$GC,918,-1.11,-107.1,2843,3575,3508,3416,120.9,-12.2,74,929,0.00,1.80,0.00,0.000,1030,0.000,0.025,2850,2290,3462,3509,3416,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1237,-1.11,-107.1,2850,2290,3509,3416,159.4,-12.0,90,1248,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2290,3462,3509,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1537,-1.11,-107.1,2850,2290,3509,3416,192.4,-11.1,105,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2290,3462,3509,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1837,-1.11,-107.1,2850,2290,3509,3416,225.6,-11.1,120,1848,0.00,1.95,0.00,0.000,260,0.000,0.045,2843,3593,3462,3508,3416,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1901,-1.11,-107.1,2842,3592,3507,3416,231.5,-11.6,122,1912,0.00,1.80,0.00,0.000,1030,0.000,0.026,2842,2300,3461,3507,3416,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2207,-1.11,-107.1,2842,2300,3507,3416,270.0,-12.1,138,2218,0.00,2.03,0.00,0.000,516,0.000,0.031,2842,918,3461,3507,3416,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2276,-1.11,-107.1,2842,918,3507,3416,278.4,-12.1,141,2287,0.00,2.08,0.00,0.000,1030,0.000,0.032,2834,2305,3461,3507,3416,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2606,-1.11,-107.1,2833,2306,3506,3416,315.2,-10.7,157,2617,0.00,1.92,0.00,0.000,260,0.000,0.045,2823,3610,3461,3506,3416,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2656,-1.11,-107.1,2823,3610,3505,3416,320.7,-10.9,159,2667,0.12,1.85,0.00,0.000,3078,0.176,0.026,2855,2293,3460,3505,3416,0,0,0,0,0,0,26.53,26.74,28.83
$GC,2986,-1.11,-107.1,2854,2293,3505,3416,351.9,-9.4,175,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2294,3459,3505,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3286,-1.11,-107.1,2855,2293,3503,3415,381.8,-9.9,190,3297,0.00,1.95,0.00,0.000,260,0.000,0.044,2847,3590,3459,3504,3415,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3344,-1.11,-107.1,2847,3590,3504,3415,386.8,-10.0,192,3355,0.00,1.80,0.00,0.000,1030,0.000,0.027,2850,2298,3459,3504,3415,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3664,-1.11,-107.1,2850,2298,3504,3415,416.9,-8.9,208,3674,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2297,3459,3504,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3964,-1.11,-107.1,2850,2298,3503,3414,446.0,-10.1,223,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2297,3459,3504,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4264,-1.11,-107.1,2850,2297,3503,3414,479.2,-11.9,238,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2297,3458,3503,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4564,-1.11,-107.1,2850,2297,3503,3413,512.4,-10.3,253,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2297,3458,3503,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4864,-1.11,-107.1,2850,2297,3502,3412,542.9,-9.9,268,4875,0.00,1.95,0.00,0.000,260,0.000,0.047,2842,3593,3457,3502,3412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4897,-1.11,-107.1,2842,3593,3501,3412,545.8,-9.9,269,4908,0.00,1.85,0.00,0.000,1030,0.000,0.028,2842,2275,3456,3501,3412,0,0,0,0,0,0,28.83,26.80,28.83
$GC,5222,-1.11,-107.1,2842,2275,3501,3411,577.4,-9.5,285,5232,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2274,3456,3501,3411,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5239,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5239,begin apogee
$GC,5246,-0.25,0.0,2842,2023,3501,3411,579.3,-9.3,286,5394,0.88,0.00,136.05,0.764,10246,0.136,0.000,3131,2022,3009,3103,2915,0,0,0,0,0,0,26.57,28.83,24.53
$STATE,5396,end apogee,CONTROL_FINISHED_OK
$STATE,5396,begin climb
$GC,5399,1.11,107.1,3131,2022,3095,2907,582.2,0.0,293,5546,1.25,0.00,132.60,0.721,10758,0.073,0.000,3574,2021,2567,2668,2467,0,0,0,0,0,0,25.29,28.83,24.32
$GC,5844,1.11,107.1,3575,2022,2650,2455,525.8,14.6,316,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2022,2552,2650,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6143,1.11,107.1,3573,2022,2647,2453,483.1,14.2,331,6153,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2022,2550,2647,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6443,1.11,107.1,3574,2022,2645,2453,441.4,13.9,346,6454,0.00,2.15,0.00,0.000,260,0.000,0.042,3571,3422,2549,2645,2453,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6534,1.11,107.1,3570,3422,2644,2451,427.9,15.1,350,6546,0.00,2.08,0.00,0.000,1030,0.000,0.027,3578,2019,2547,2644,2451,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6864,1.11,107.1,3578,2019,2643,2450,379.4,15.9,366,6875,0.00,2.10,0.00,0.000,516,0.000,0.036,3589,629,2546,2643,2450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6978,1.11,107.1,3589,629,2641,2450,361.8,15.8,371,6989,0.00,2.12,0.00,0.000,1030,0.000,0.031,3589,2033,2545,2641,2449,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7302,1.11,107.1,3589,2033,2640,2450,315.1,13.0,387,7313,0.00,2.08,0.00,0.000,260,0.000,0.042,3589,3423,2544,2640,2449,0,0,0,0,0,0,28.83,26.52,28.83
$GC,7336,1.11,107.1,3588,3423,2640,2449,311.2,12.9,388,7346,0.00,2.03,0.00,0.000,1030,0.000,0.027,3598,2021,2544,2640,2449,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7661,1.11,107.1,3598,2021,2640,2448,270.2,12.4,404,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2021,2544,2640,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7960,1.11,107.1,3598,2020,2640,2447,230.1,13.7,419,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3599,2021,2543,2640,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8260,1.11,107.1,3598,2021,2640,2446,189.0,13.6,434,8270,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2020,2543,2640,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8560,1.11,107.1,3598,2020,2640,2447,147.4,14.3,449,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,3598,2021,2543,2640,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8860,1.11,107.1,3598,2020,2640,2447,107.5,12.0,464,8871,0.00,2.08,0.00,0.000,516,0.000,0.035,3609,630,2543,2640,2446,0,0,0,0,0,0,28.83,26.67,28.83
$GC,8933,1.11,107.1,2880,630,2586,2438,99.2,11.8,467,8945,0.12,2.12,0.00,0.000,5126,0.168,0.031,3573,2042,2543,2639,2447,0,0,0,0,0,0,26.51,26.70,28.83
$GC,9258,1.11,107.1,3573,2042,2639,2446,65.4,10.9,483,9270,0.00,2.08,0.00,0.000,260,0.000,0.042,3562,3431,2542,2639,2446,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9398,1.11,107.1,3562,3431,2639,2446,51.4,10.6,489,9409,0.00,2.03,0.00,0.000,1030,0.000,0.027,3571,2021,2542,2639,2446,0,0,0,0,0,0,28.83,26.74,28.83
$GC,9720,1.25,152.4,3570,2021,2639,2446,26.8,5.8,520,9781,0.12,2.17,47.40,0.565,10500,0.098,0.040,3625,3433,2379,2478,2281,0,0,0,0,0,0,26.70,26.13,25.52
$STATE,10006,end climb,SURFACE_DEPTH_REACHED
$STATE,10006,begin surface coast
$FINISH,1.7,1.021920
$STATE,10063,end surface coast,CONTROL_FINISHED_OK
$STATE,10063,begin surface
$SM_CCo,10086,96.07,0.060,0,0,1479,375.06
$SM_GC,2.66,8.68,1.70,96.07,0.046,0.026,0.060,339,2322,1479,-8.91,1.98,375.06,0,0,0,0,0,0,26.34,26.40,26.22
$IRIDIUM_FIX,4729.30,-12517.37,161013,040417
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.97
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3895136
$PM_FREEKB,4640392
$24V_AH,24.3,15.336
$10V_AH,9.8,21.807
$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,20.850,51.675,316.050,96.075,0.000,0.000,0.000,190.825,0.000,0.000,20.062,1687.553,6398.410,465.947,1720.811,263.934,0.000,1596.849,0.000,1218.803,0.000,0.535,0.000
$DEVICE_MAMPS,234.855,59.670,764.235,59.670,0.000,0.000,0.000,126.225,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10064.000,238.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.397,9.850,0.000,0.000
$MEM,258724
$DATA_FILE_SIZE,20023,582
$CAP_FILE_SIZE,127502,0
$CFSIZE,260034560,231673856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,200.8,1
$GPS,161013,102628,4747.730,-12520.478,37,0.9,37,17.2