version: 66.11
glider: 108
mission: 25
dive: 229
start: 11 4 113 12 12 50
data:
$ID,108
$MISSION,25
$DIVE,229
$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,-193793.44
$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,75
$R_STBD_OVSHOOT,54
$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
$GPS1,041113,120700,4749.004,-12517.502,16,1.3,16,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-73.6
$GPS2,041113,121223,4749.035,-12517.480,16,1.0,17,17.2
$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,66.3,10441,-15.8,-8.049,-22.04,2046
$D_GRID,490
$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,-107.1,333,2319,1552,1380,0.0,0.0,0,70,0.00,0.00,-40.85,0.000,16386,0.000,0.000,333,2321,2539,2593,2486,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.11,-107.1,333,2321,2595,2491,3.1,-1.9,7,125,9.70,2.00,-30.15,0.000,18692,0.232,0.060,2835,3580,3450,3495,3405,0,0,0,0,0,0,25.71,26.06,26.38
$GC,238,-1.11,-107.1,2833,3580,3500,3411,27.4,-22.7,34,250,0.00,1.85,0.00,0.000,1030,0.000,0.026,2838,2293,3456,3501,3411,0,0,0,0,0,0,28.83,26.25,28.83
$GC,558,-1.11,-107.1,2838,2291,3505,3411,85.0,-14.2,55,569,0.00,1.98,0.00,0.000,260,0.000,0.042,2831,3594,3458,3505,3411,0,0,0,0,0,0,28.83,26.33,28.83
$GC,798,-1.11,-107.1,2830,3594,3505,3413,119.4,-15.1,66,809,0.00,1.85,0.00,0.000,1030,0.000,0.026,2832,2288,3459,3505,3413,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1117,-1.11,-107.1,2831,2287,3506,3413,165.6,-13.5,82,1128,0.00,1.98,0.00,0.000,260,0.000,0.042,2824,3598,3459,3506,3413,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1298,-1.11,-107.1,2824,3598,3506,3413,189.6,-14.2,90,1309,0.00,1.83,0.00,0.000,1030,0.000,0.025,2824,2293,3459,3506,3413,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1617,-1.11,-107.1,2824,2293,3506,3413,236.8,-14.9,106,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2293,3459,3506,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1918,-1.11,-107.1,2824,2293,3506,3413,279.1,-14.0,121,1929,0.00,1.92,0.00,0.000,260,0.000,0.042,2818,3584,3459,3506,3413,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1961,-1.11,-107.1,2817,3584,3506,3413,283.3,-14.0,122,1974,0.00,1.80,0.00,0.000,1030,0.000,0.026,2818,2296,3459,3506,3413,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2268,-1.11,-107.1,2817,2296,3506,3413,326.5,-13.6,138,2279,0.00,1.92,0.00,0.000,260,0.000,0.041,2810,3592,3460,3506,3414,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2318,-1.11,-107.1,2810,3592,3506,3413,333.6,-14.0,140,2329,0.12,1.80,0.00,0.000,3078,0.181,0.026,2841,2301,3459,3506,3413,0,0,0,0,0,0,26.39,26.68,28.83
$GC,2648,-1.11,-107.1,2840,2301,3506,3413,374.9,-12.6,156,2658,0.00,1.92,0.00,0.000,260,0.000,0.044,2833,3596,3459,3506,3413,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2758,-1.11,-107.1,2833,3596,3506,3413,389.3,-13.2,161,2769,0.00,1.85,0.00,0.000,1030,0.000,0.025,2838,2268,3460,3506,3415,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3088,-1.11,-107.1,2838,2268,3506,3413,429.4,-11.9,177,3099,0.00,2.00,0.00,0.000,516,0.000,0.031,2838,907,3459,3506,3412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3158,-1.11,-107.1,2838,907,3505,3413,437.7,-11.8,180,3169,0.00,2.08,0.00,0.000,1030,0.000,0.031,2831,2307,3459,3505,3413,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3487,-1.11,-107.1,2830,2307,3505,3412,478.5,-11.8,196,3498,0.00,1.88,0.00,0.000,260,0.000,0.044,2821,3583,3458,3505,3412,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3558,-1.11,-107.1,2821,3582,3504,3412,487.3,-12.3,199,3569,0.00,1.80,0.00,0.000,1030,0.000,0.026,2824,2290,3458,3505,3412,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,3585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3585,begin apogee
$GC,3592,-0.25,0.0,2825,2034,3504,3412,491.0,-12.5,200,3771,0.90,0.00,167.52,0.689,10246,0.141,0.000,3116,2028,3007,3099,2916,0,0,0,0,0,0,26.40,28.83,24.62
$STATE,3773,end apogee,CONTROL_FINISHED_OK
$STATE,3773,begin climb
$GC,3776,1.11,107.1,3116,2028,3095,2911,497.0,0.0,209,3932,1.25,2.25,137.95,0.672,10756,0.076,0.033,3565,640,2562,2665,2459,0,0,0,0,0,0,25.27,24.98,24.38
$GC,3997,1.11,107.1,3564,640,2654,2454,480.5,11.5,220,4008,0.00,2.20,0.00,0.000,1030,0.000,0.029,3565,2029,2553,2652,2454,0,0,0,0,0,0,28.83,25.48,28.83
$GC,4326,1.11,107.1,3564,2029,2646,2451,440.9,12.0,236,4337,0.00,2.12,0.00,0.000,260,0.000,0.041,3565,3433,2548,2646,2451,0,0,0,0,0,0,28.83,26.05,28.83
$GC,4376,1.11,107.1,3564,3432,2646,2450,434.4,12.8,238,4387,0.00,2.08,0.00,0.000,1030,0.000,0.024,3575,2018,2547,2646,2449,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4705,1.11,107.1,3574,2018,2644,2449,393.4,12.1,254,4716,0.00,2.10,0.00,0.000,516,0.000,0.034,3584,637,2547,2645,2449,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4800,1.11,107.1,2784,637,2588,2440,382.5,12.3,258,4811,0.00,2.12,0.00,0.000,1030,0.000,0.029,3584,2038,2546,2643,2449,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5125,1.11,107.1,3585,2038,2642,2448,341.9,12.6,274,5136,0.00,2.08,0.00,0.000,260,0.000,0.040,3575,3431,2545,2642,2448,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5199,1.11,107.1,3575,3431,2642,2447,332.4,13.2,277,5210,0.00,2.03,0.00,0.000,1030,0.000,0.026,3583,2024,2544,2641,2447,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5523,1.11,107.1,3583,2024,2641,2447,290.7,12.9,293,5534,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2024,2544,2641,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5823,1.11,107.1,3582,2024,2640,2446,253.2,12.4,308,5833,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2024,2543,2640,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6123,1.11,107.1,3583,2024,2640,2446,216.5,11.9,323,6134,0.00,2.08,0.00,0.000,516,0.000,0.035,3593,644,2543,2640,2446,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6156,1.11,107.1,3592,644,2640,2446,212.9,12.0,324,6168,0.15,2.10,0.00,0.000,5126,0.166,0.031,3555,2034,2543,2640,2446,0,0,0,0,0,0,26.36,26.60,28.83
$GC,6481,1.11,107.1,3554,2034,2640,2446,177.6,10.7,340,6491,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2034,2543,2640,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6782,1.11,107.1,3554,2034,2640,2446,148.3,9.5,355,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2034,2543,2640,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7081,1.11,107.1,3555,2034,2640,2445,120.2,9.4,370,7092,0.00,2.15,0.00,0.000,516,0.000,0.034,3562,635,2542,2640,2445,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7216,1.11,107.1,2784,635,2586,2437,106.8,10.0,376,7227,0.00,2.10,0.00,0.000,1030,0.000,0.030,3562,2034,2542,2640,2445,0,0,0,0,0,0,28.83,26.66,28.83
$GC,7541,1.16,121.4,3562,2034,2640,2445,79.4,7.3,392,7561,0.00,2.12,9.77,0.615,8708,0.000,0.031,3571,643,2511,2609,2413,0,0,0,0,0,0,28.83,26.54,25.82
$GC,7615,1.16,121.4,3570,643,2607,2412,73.2,8.7,395,7627,0.00,2.10,0.00,0.000,1030,0.000,0.030,3565,2028,2509,2607,2412,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7940,1.42,209.4,3565,2027,2605,2412,53.3,3.6,411,8077,0.25,2.25,121.93,0.560,10500,0.073,0.041,3661,3425,2150,2258,2043,0,0,0,0,0,0,26.56,25.46,24.91
$GC,8309,1.42,209.4,3660,3425,2247,2031,8.6,15.1,452,8321,0.00,2.08,0.00,0.000,1030,0.000,0.025,3669,2020,2138,2247,2030,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,8336,end climb,SURFACE_DEPTH_REACHED
$STATE,8336,begin surface coast
$FINISH,1.6,1.023374
$STATE,8365,end surface coast,CONTROL_FINISHED_OK
$STATE,8365,begin surface
$SM_CCo,8387,71.43,0.057,0,0,1479,375.06
$SM_GC,2.74,8.82,0.43,71.43,0.042,0.045,0.057,330,2297,1479,-8.89,-1.64,375.06,0,0,0,0,0,0,26.10,26.11,26.04
$IRIDIUM_FIX,4729.30,-12519.98,041113,090920
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.43
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3864832
$PM_FREEKB,4035476
$24V_AH,24.4,25.495
$10V_AH,9.6,29.919
$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,21.200,65.125,437.175,71.425,0.000,0.000,0.000,161.000,0.000,0.000,18.488,1457.892,4970.174,550.751,1547.895,258.721,0.000,1582.690,0.000,1119.805,0.000,0.535,0.000
$DEVICE_MAMPS,231.795,60.435,688.500,56.610,0.000,0.000,0.000,128.520,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8359.000,193.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.514,9.843,0.000,0.000
$MEM,258736
$DATA_FILE_SIZE,16766,461
$CAP_FILE_SIZE,115543,0
$CFSIZE,260034560,223289344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.058,302.1,1
$GPS,041113,143504,4749.147,-12516.524,28,1.8,28,17.2