version: 66.11
glider: 108
mission: 25
dive: 339
start: 11 24 113 11 43 19
data:
$ID,108
$MISSION,25
$DIVE,339
$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,4
$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,-194534.86
$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,78
$R_STBD_OVSHOOT,58
$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,3
$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
$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,48
$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
$GPS1,241113,113604,4747.840,-12519.752,34,0.8,34,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-74.1
$GPS2,241113,114253,4747.875,-12519.731,19,0.9,19,17.2
$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,38.5,13950,-15.8,-8.049,-22.04,2046
$D_GRID,648
$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,23,-1.11,-107.1,336,2309,1542,1383,0.0,0.0,0,69,0.00,0.00,-39.03,0.000,16386,0.000,0.000,335,2309,2482,2536,2429,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-1.11,-107.1,335,2310,2538,2433,3.0,-1.5,7,130,9.98,0.00,-35.55,0.000,18438,0.236,0.000,2838,2310,3449,3496,3402,0,0,0,0,0,0,25.44,28.83,26.36
$GC,435,-1.11,-107.1,2837,2310,3504,3408,61.1,-15.9,53,446,0.00,2.15,0.00,0.000,516,0.000,0.031,2838,906,3456,3504,3408,0,0,0,0,0,0,28.83,26.17,28.83
$GC,465,-1.11,-107.1,2838,906,3504,3408,65.9,-16.0,54,476,0.00,2.15,0.00,0.000,1030,0.000,0.031,2831,2308,3456,3504,3409,0,0,0,0,0,0,28.83,26.20,28.83
$GC,794,-1.11,-107.1,2831,2308,3505,3410,115.0,-13.8,70,805,0.00,1.92,0.00,0.000,260,0.000,0.043,2821,3596,3457,3505,3410,0,0,0,0,0,0,28.83,26.22,28.83
$GC,834,-1.11,-107.1,2821,3596,3505,3410,119.3,-14.3,71,845,0.00,1.85,0.00,0.000,1030,0.000,0.025,2821,2283,3457,3505,3410,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1154,-1.11,-107.1,2821,2283,3505,3410,163.0,-12.6,87,1165,0.00,2.05,0.00,0.000,516,0.000,0.031,2822,915,3457,3505,3410,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1250,-1.11,-107.1,1808,915,3494,3407,174.2,-12.4,91,1261,0.00,2.12,0.00,0.000,1030,0.000,0.031,2816,2312,3457,3505,3410,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1575,-1.11,-107.1,2815,2312,3505,3410,218.3,-14.0,107,1586,0.00,1.90,0.00,0.000,260,0.000,0.042,2806,3595,3457,3505,3410,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1735,-1.11,-107.1,2806,3595,3505,3410,240.5,-14.9,114,1746,0.15,1.83,0.00,0.000,3078,0.173,0.025,2843,2290,3459,3506,3412,0,0,0,0,0,0,26.02,26.52,28.83
$GC,2055,-1.11,-107.1,2843,2289,3505,3410,279.8,-11.5,130,2066,0.00,2.05,0.00,0.000,516,0.000,0.030,2852,915,3457,3505,3410,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2114,-1.11,-107.1,2852,915,3505,3410,285.6,-11.4,132,2125,0.00,2.10,0.00,0.000,1030,0.000,0.031,2846,2304,3458,3505,3411,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2433,-1.11,-107.1,2845,2303,3505,3410,323.2,-11.6,148,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2303,3456,3503,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2734,-1.11,-107.1,2846,2303,3504,3410,358.5,-11.7,163,2745,0.00,1.90,0.00,0.000,260,0.000,0.043,2835,3589,3457,3504,3411,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2784,-1.11,-107.1,2835,3588,3504,3410,364.7,-12.0,165,2795,0.00,1.80,0.00,0.000,1030,0.000,0.026,2836,2304,3457,3504,3410,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3113,-1.11,-107.1,2836,2304,3504,3410,402.5,-11.0,181,3124,0.00,2.08,0.00,0.000,516,0.000,0.031,2839,913,3457,3504,3411,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3214,-1.11,-107.1,2838,912,3503,3410,412.6,-11.4,185,3225,0.00,2.12,0.00,0.000,1030,0.000,0.031,2831,2309,3456,3503,3410,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3533,-1.11,-107.1,2831,2309,3502,3410,451.7,-12.1,201,3544,0.00,1.90,0.00,0.000,260,0.000,0.044,2820,3593,3456,3502,3410,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3573,-1.11,-107.1,2821,3593,3501,3410,455.5,-12.3,202,3584,0.00,1.85,0.00,0.000,1030,0.000,0.025,2821,2266,3456,3502,3410,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3893,-1.11,-107.1,2821,2267,3501,3410,498.8,-12.8,218,3903,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2267,3455,3501,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4193,-1.11,-107.1,2821,2267,3500,3410,533.9,-12.0,233,4204,0.00,2.03,0.00,0.000,516,0.000,0.031,2823,906,3455,3500,3410,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4252,-1.11,-107.1,2822,906,3500,3410,539.8,-11.8,235,4263,0.00,2.12,0.00,0.000,1030,0.000,0.030,2816,2308,3454,3499,3409,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4571,-1.11,-107.1,2815,2308,3499,3409,581.2,-12.2,251,4583,0.00,2.10,0.00,0.000,516,0.000,0.030,2819,916,3454,3499,3409,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4678,-1.11,-107.1,2818,914,3499,3408,591.8,-11.8,255,4691,0.12,2.10,0.00,0.000,3078,0.167,0.031,2843,2300,3453,3499,3408,0,0,0,0,0,0,26.15,26.49,28.83
$GC,4981,-1.11,-107.1,2841,2300,3498,3408,625.9,-10.2,267,4992,0.00,2.10,0.00,0.000,516,0.000,0.031,2845,907,3453,3498,3408,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5094,-1.11,-107.1,2844,907,3498,3408,635.5,-9.6,270,5105,0.00,2.12,0.00,0.000,1030,0.000,0.031,2838,2310,3453,3498,3408,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,5240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5240,begin apogee
$GC,5247,-0.25,0.0,2837,2023,3498,3408,650.5,-8.9,275,5399,0.88,0.00,138.77,0.838,10246,0.138,0.000,3114,2016,3007,3099,2916,0,0,0,0,0,0,25.81,28.83,24.30
$STATE,5402,end apogee,CONTROL_FINISHED_OK
$STATE,5402,begin climb
$GC,5405,1.11,107.1,3113,2016,3095,2912,652.0,0.0,280,5553,1.30,0.00,138.73,0.797,10246,0.075,0.000,3564,2016,2571,2673,2469,0,0,0,0,0,0,25.15,28.83,24.01
$GC,5843,1.11,107.1,3563,2016,2651,2458,597.3,14.3,295,5854,0.00,2.17,0.00,0.000,516,0.000,0.034,3572,629,2554,2651,2458,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5998,1.11,107.1,3572,629,2649,2458,576.0,14.5,302,6009,0.00,2.20,0.00,0.000,1030,0.000,0.030,3570,2031,2553,2648,2458,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6322,1.11,107.1,3570,2031,2646,2455,531.1,13.2,318,6333,0.00,2.17,0.00,0.000,516,0.000,0.033,3577,639,2550,2646,2455,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6357,1.11,107.1,3577,639,2646,2455,527.1,13.3,319,6368,0.00,2.15,0.00,0.000,1030,0.000,0.028,3576,2035,2550,2646,2455,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6681,1.11,107.1,3576,2035,2644,2454,483.1,13.5,335,6692,0.00,2.17,0.00,0.000,516,0.000,0.034,3586,638,2549,2645,2453,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6715,1.11,107.1,3586,637,2645,2454,479.2,13.5,336,6726,0.00,2.15,0.00,0.000,1030,0.000,0.028,3582,2036,2549,2645,2454,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7040,1.11,107.1,3582,2036,2644,2453,436.3,12.8,352,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2036,2548,2643,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7340,1.11,107.1,3582,2036,2641,2453,398.2,12.8,367,7351,0.00,2.17,0.00,0.000,516,0.000,0.034,3589,641,2547,2642,2453,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7446,1.11,107.1,3590,641,2643,2453,386.1,13.5,371,7459,0.12,2.12,0.00,0.000,5126,0.168,0.029,3558,2031,2547,2642,2453,0,0,0,0,0,0,26.08,26.42,28.83
$GC,7750,1.11,107.1,3558,2030,2641,2452,345.6,12.3,387,7761,0.00,2.08,0.00,0.000,260,0.000,0.041,3558,3420,2546,2641,2452,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7814,1.11,107.1,3558,3420,2640,2452,338.9,13.2,389,7826,0.00,2.03,0.00,0.000,1030,0.000,0.025,3566,2017,2546,2641,2452,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8119,1.11,107.1,3566,2017,2640,2451,297.7,12.2,405,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2017,2546,2640,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8420,1.11,107.1,3566,2017,2640,2451,260.8,12.2,420,8431,0.00,2.10,0.00,0.000,516,0.000,0.035,3576,640,2545,2640,2451,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8505,1.11,107.1,3576,640,2640,2451,252.2,12.1,423,8517,0.00,2.12,0.00,0.000,1030,0.000,0.029,3570,2038,2546,2640,2452,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8810,1.11,107.1,3570,2038,2639,2451,214.7,11.6,439,8821,0.00,2.08,0.00,0.000,260,0.000,0.041,3570,3421,2546,2640,2452,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8865,1.11,107.1,2784,3420,2586,2442,208.5,11.7,441,8876,0.00,2.03,0.00,0.000,1030,0.000,0.025,3577,2013,2545,2640,2451,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9189,1.11,107.1,3577,2013,2640,2450,170.6,11.7,457,9200,0.00,2.08,0.00,0.000,516,0.000,0.034,3588,643,2545,2640,2450,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9320,1.11,107.1,3587,643,2640,2450,155.5,11.7,463,9331,0.00,2.10,0.00,0.000,1030,0.000,0.031,3582,2025,2545,2640,2451,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9650,1.11,107.1,3582,2024,2640,2451,118.1,10.4,479,9661,0.00,2.08,0.00,0.000,260,0.000,0.041,3582,3423,2545,2640,2451,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9734,1.11,107.1,3582,3422,2640,2450,110.3,11.2,482,9747,0.12,2.00,0.00,0.000,5126,0.172,0.025,3560,2020,2545,2640,2450,0,0,0,0,0,0,26.16,26.58,28.83
$GC,10040,1.11,107.1,3560,2021,2640,2450,82.5,8.1,498,10051,0.00,2.08,0.00,0.000,516,0.000,0.034,3568,648,2544,2639,2450,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10185,1.11,107.1,3568,648,2640,2450,70.3,9.3,504,10197,0.00,2.10,0.00,0.000,1030,0.000,0.031,3567,2025,2545,2640,2450,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10491,1.28,163.4,3567,2024,2640,2450,51.7,5.2,520,10578,0.12,2.25,69.93,0.581,10756,0.099,0.034,3632,642,2339,2439,2240,0,0,0,0,0,0,26.58,25.83,25.17
$GC,10662,1.28,163.4,3632,641,2433,2238,39.5,9.6,534,10673,0.00,2.17,0.00,0.000,1030,0.000,0.029,3626,2039,2335,2433,2238,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10979,1.28,163.4,3625,2039,2429,2235,7.5,10.6,581,10992,0.00,2.08,0.00,0.000,260,0.000,0.041,3623,3425,2331,2428,2235,0,0,0,0,0,0,28.83,26.10,28.83
$STATE,11008,end climb,SURFACE_DEPTH_REACHED
$STATE,11008,begin surface coast
$FINISH,3.5,1.024786
$STATE,11015,end surface coast,CONTROL_FINISHED_OK
$STATE,11015,begin surface
$SM_CCo,11041,93.72,0.057,0,0,1480,375.06
$SM_GC,2.77,8.65,1.67,93.72,0.040,0.025,0.057,339,2315,1480,-8.86,2.26,375.06,0,0,0,0,0,0,26.13,26.27,25.99
$IRIDIUM_FIX,4732.49,-12526.30,241113,070755
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.61
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3829600
$PM_FREEKB,3433712
$24V_AH,24.0,36.430
$10V_AH,9.8,39.045
$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,21.450,95.075,347.425,93.725,0.000,0.000,0.000,207.675,0.000,0.000,20.571,1868.402,6803.975,569.556,1915.208,381.505,0.000,1830.212,0.000,1367.140,0.000,0.535,0.000
$DEVICE_MAMPS,235.620,43.605,838.440,56.610,0.000,0.000,0.000,128.520,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11019.000,257.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.099,10.200,0.000,0.000
$MEM,258724
$DATA_FILE_SIZE,20042,586
$CAP_FILE_SIZE,148413,0
$CFSIZE,260034560,214253568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.039, 28.3,1
$GPS,241113,145023,4748.775,-12518.056,39,0.8,39,17.2