version: 66.11
glider: 108
mission: 25
dive: 228
start: 11 4 113 9 21 51
data:
$ID,108
$MISSION,25
$DIVE,228
$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,-193792.19
$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,3200
$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,63
$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
$GPS1,041113,091534,4748.557,-12518.573,34,0.8,34,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-72.7
$GPS2,041113,092124,4748.607,-12518.600,21,0.8,21,17.2
$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,69.8,12041,-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,-107.1,333,2286,1552,1380,0.0,0.0,0,69,0.00,0.00,-40.78,0.000,16386,0.000,0.000,333,2285,2543,2593,2494,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.11,-107.1,333,2285,2597,2498,3.0,-0.8,7,124,9.77,2.17,-27.70,0.000,18948,0.237,0.047,2838,889,3449,3495,3403,0,0,0,0,0,0,25.74,26.16,26.46
$GC,354,-1.11,-107.1,2838,889,3503,3408,53.6,-18.6,45,365,0.00,2.12,0.00,0.000,1030,0.000,0.031,2831,2299,3456,3504,3408,0,0,0,0,0,0,28.83,26.32,28.83
$GC,685,-1.11,-107.1,2831,2299,3505,3409,104.5,-14.0,61,695,0.00,1.92,0.00,0.000,260,0.000,0.043,2821,3592,3457,3505,3409,0,0,0,0,0,0,28.83,26.39,28.83
$GC,909,-1.11,-107.1,2821,3592,3505,3410,134.7,-14.2,71,921,0.00,1.88,0.00,0.000,1030,0.000,0.026,2823,2264,3457,3505,3410,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1214,-1.11,-107.1,2823,2264,3506,3410,177.8,-13.3,87,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2264,3458,3506,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1514,-1.11,-107.1,2823,2263,3506,3410,218.3,-13.3,102,1524,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2264,3458,3506,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1814,-1.11,-107.1,2823,2264,3506,3410,257.8,-13.0,117,1825,0.00,2.00,0.00,0.000,516,0.000,0.031,2825,911,3458,3507,3410,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1853,-1.11,-107.1,2824,910,3506,3410,261.6,-12.9,118,1864,0.00,2.08,0.00,0.000,1030,0.000,0.030,2818,2304,3458,3506,3411,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2173,-1.11,-107.1,2818,2303,3506,3410,303.9,-12.8,134,2184,0.00,1.90,0.00,0.000,260,0.000,0.043,2808,3594,3458,3506,3410,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2211,-1.11,-107.1,2808,3593,3506,3410,307.9,-12.9,135,2223,0.12,1.83,0.00,0.000,3078,0.180,0.026,2838,2291,3458,3506,3411,0,0,0,0,0,0,26.38,26.68,28.83
$GC,2531,-1.11,-107.1,2838,2291,3506,3410,348.2,-11.7,151,2542,0.00,1.92,0.00,0.000,260,0.000,0.042,2830,3582,3458,3506,3410,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2581,-1.11,-107.1,2830,3582,3506,3410,354.5,-12.1,153,2592,0.00,1.80,0.00,0.000,1030,0.000,0.026,2834,2297,3458,3506,3410,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2910,-1.11,-107.1,2834,2297,3506,3410,394.1,-11.9,169,2921,0.00,2.03,0.00,0.000,516,0.000,0.031,2838,919,3458,3506,3410,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2963,-1.11,-107.1,1864,918,3496,3407,400.2,-12.2,171,2974,0.00,2.08,0.00,0.000,1030,0.000,0.031,2830,2307,3458,3506,3410,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3287,-1.11,-107.1,2830,2307,3505,3410,441.8,-12.5,187,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2307,3457,3505,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3589,-1.11,-107.1,2830,2306,3505,3409,478.7,-12.4,202,3599,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2307,3457,3505,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3887,-1.11,-107.1,2830,2307,3505,3409,514.9,-12.0,217,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2306,3456,3504,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4187,-1.11,-107.1,2830,2307,3504,3408,550.2,-11.6,232,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2306,3456,3505,3407,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4226,begin apogee
$GC,4232,-0.25,0.0,2830,2039,3504,3408,554.8,-11.6,234,4394,0.88,0.00,145.25,0.763,10246,0.136,0.000,3116,2033,3004,3097,2911,0,0,0,0,0,0,26.41,28.83,24.60
$STATE,4396,end apogee,CONTROL_FINISHED_OK
$STATE,4396,begin climb
$GC,4398,1.11,107.1,3116,2032,3095,2910,559.7,0.0,242,4557,1.25,2.30,140.40,0.698,10756,0.076,0.033,3567,651,2562,2664,2460,0,0,0,0,0,0,25.29,24.96,24.34
$GC,4599,1.11,107.1,3566,651,2654,2455,544.8,11.3,252,4610,0.00,2.20,0.00,0.000,1030,0.000,0.028,3567,2025,2554,2654,2455,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4925,1.11,107.1,3566,2024,2646,2452,503.2,12.6,268,4935,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2024,2549,2646,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5223,1.11,107.1,3567,2024,2644,2450,465.5,12.5,283,5234,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2024,2547,2644,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5524,1.11,107.1,3566,2024,2642,2449,428.2,12.0,298,5535,0.00,2.12,0.00,0.000,260,0.000,0.041,3567,3432,2545,2642,2449,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5604,1.11,107.1,3566,3432,2641,2449,419.3,12.6,301,5615,0.00,2.05,0.00,0.000,1030,0.000,0.026,3576,2024,2545,2641,2449,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5924,1.11,107.1,3576,2024,2640,2448,379.0,12.0,317,5935,0.00,2.10,0.00,0.000,516,0.000,0.034,3586,640,2544,2640,2448,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6004,1.11,107.1,3586,640,2640,2447,370.5,12.3,320,6015,0.00,2.10,0.00,0.000,1030,0.000,0.029,3586,2029,2544,2640,2448,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6324,1.11,107.1,3586,2029,2640,2447,330.9,11.6,336,6335,0.00,2.10,0.00,0.000,260,0.000,0.041,3586,3423,2543,2640,2447,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6394,1.11,107.1,3586,3422,2640,2447,322.2,12.3,339,6406,0.15,2.03,0.00,0.000,5126,0.174,0.026,3558,2020,2543,2640,2447,0,0,0,0,0,0,26.29,26.59,28.83
$GC,6725,1.11,107.1,3558,2011,2640,2446,287.3,10.3,355,6735,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2011,2543,2640,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7024,1.11,107.1,3558,2011,2640,2446,255.7,10.5,370,7035,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2011,2543,2640,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7324,1.11,107.1,3558,2011,2640,2446,224.4,10.2,385,7335,0.00,2.15,0.00,0.000,260,0.000,0.040,3551,3431,2543,2640,2446,0,0,0,0,0,0,28.83,26.59,28.83
$GC,7357,1.11,107.1,2752,3430,2587,2437,221.3,10.2,386,7367,0.00,2.05,0.00,0.000,1030,0.000,0.026,3559,2018,2543,2640,2446,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7681,1.11,107.1,3559,2019,2640,2446,188.9,9.8,402,7692,0.00,2.08,0.00,0.000,516,0.000,0.034,3569,640,2543,2640,2446,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7754,1.11,107.1,3569,640,2639,2446,181.9,10.0,405,7765,0.00,2.08,0.00,0.000,1030,0.000,0.029,3569,2025,2542,2639,2446,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8078,1.11,107.1,3569,2025,2639,2446,148.8,9.9,421,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2025,2542,2638,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8378,1.11,107.1,3569,2025,2639,2446,119.5,9.7,436,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2025,2542,2639,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8678,1.11,107.1,3568,2025,2638,2446,90.0,10.0,451,8689,0.00,2.12,0.00,0.000,516,0.000,0.034,3576,631,2542,2638,2447,0,0,0,0,0,0,28.83,26.66,28.83
$GC,8722,1.11,107.1,3576,631,2638,2446,87.5,9.3,452,8734,0.00,2.10,0.00,0.000,1030,0.000,0.030,3576,2030,2542,2638,2446,0,0,0,0,0,0,28.83,26.68,28.83
$GC,9028,1.15,119.4,3576,2029,2638,2446,63.2,7.4,468,9047,0.00,2.20,6.53,0.604,8708,0.000,0.034,3585,630,2520,2618,2423,0,0,0,0,0,0,28.83,26.60,25.84
$GC,9065,1.21,139.8,3585,630,2616,2422,61.4,7.0,469,9104,0.00,2.10,27.52,0.590,9222,0.000,0.029,3585,2027,2437,2533,2341,0,0,0,0,0,0,28.83,26.62,25.63
$GC,9415,1.48,229.6,3585,2026,2525,2337,42.3,3.5,495,9560,0.22,2.22,130.80,0.549,11012,0.078,0.034,3689,647,2068,2179,1958,0,0,1,0,0,0,26.38,25.37,24.81
$STATE,9729,end climb,SURFACE_DEPTH_REACHED
$STATE,9729,begin surface coast
$FINISH,1.9,1.013996
$STATE,9757,end surface coast,CONTROL_FINISHED_OK
$STATE,9757,begin surface
$SM_CCo,9782,62.97,0.057,0,0,1479,375.06
$SM_GC,2.70,9.00,2.62,62.97,0.047,0.029,0.057,336,2308,1479,-8.88,-1.44,375.06,0,0,0,0,0,0,25.96,25.99,25.94
$IRIDIUM_FIX,4729.30,-12519.98,041113,050540
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.14
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3865152
$PM_FREEKB,4035476
$24V_AH,24.3,25.408
$10V_AH,10.0,29.865
$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,21.400,62.800,450.500,62.975,0.000,0.000,0.000,174.800,0.000,0.000,21.731,1561.174,6157.637,530.292,1669.600,274.992,0.000,1664.013,0.000,1181.295,0.000,0.535,0.000
$DEVICE_MAMPS,237.150,46.665,763.470,56.610,0.000,0.000,0.000,128.520,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9756.000,238.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.324,9.912,0.000,0.000
$MEM,258760
$DATA_FILE_SIZE,20057,543
$CAP_FILE_SIZE,125716,0
$CFSIZE,260034560,223342592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.083,334.0,1
$GPS,041113,120700,4749.004,-12517.502,16,1.3,16,17.2