version: 66.11
glider: 108
mission: 25
dive: 340
start: 11 24 113 14 57 40
data:
$ID,108
$MISSION,25
$DIVE,340
$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,-194536.11
$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,59
$R_STBD_OVSHOOT,52
$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
$GPS1,241113,145023,4748.775,-12518.056,39,0.8,39,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.65
$_SM_ANGLEo,-74.5
$GPS2,241113,145714,4748.784,-12517.988,19,1.9,19,17.2
$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,47.3,11222,-15.8,-8.049,-22.04,2046
$D_GRID,514
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.11,-107.1,339,2281,1542,1383,0.0,0.0,0,72,0.00,0.00,-41.30,0.000,16386,0.000,0.000,339,2281,2543,2591,2495,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,339,2281,2595,2499,3.0,-1.6,7,132,9.98,2.15,-32.70,0.000,18948,0.236,0.047,2838,879,3449,3498,3401,0,0,0,0,0,0,25.44,26.03,26.39
$GC,203,-1.11,-107.1,2838,879,3502,3407,17.6,-21.3,28,215,0.00,2.20,0.00,0.000,1030,0.000,0.031,2831,2309,3454,3502,3407,0,0,0,0,0,0,28.83,26.08,28.83
$GC,525,-1.11,-107.1,2831,2308,3504,3408,78.5,-16.3,54,536,0.00,2.17,0.00,0.000,516,0.000,0.030,2831,885,3456,3504,3409,0,0,0,0,0,0,28.83,26.23,28.83
$GC,685,-1.11,-107.1,2831,885,3505,3410,101.9,-15.6,61,696,0.00,2.17,0.00,0.000,1030,0.000,0.032,2822,2313,3457,3504,3410,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1005,-1.11,-107.1,2822,2312,3505,3410,148.2,-14.0,77,1016,0.00,1.90,0.00,0.000,260,0.000,0.043,2813,3594,3457,3505,3410,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1106,-1.11,-107.1,2813,3594,3505,3410,161.3,-14.8,81,1117,0.00,1.85,0.00,0.000,1030,0.000,0.025,2813,2269,3457,3505,3410,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1426,-1.11,-107.1,2812,2270,3505,3410,207.4,-13.9,97,1437,0.12,2.03,0.00,0.000,2564,0.184,0.028,2852,918,3457,3505,3410,0,0,0,0,0,0,26.14,26.40,28.83
$GC,1621,-1.11,-107.1,1876,918,3496,3407,230.5,-11.7,106,1633,0.00,2.12,0.00,0.000,1030,0.000,0.031,2845,2314,3457,3505,3410,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1946,-1.11,-107.1,2845,2313,3505,3410,265.3,-10.4,122,1957,0.00,1.88,0.00,0.000,260,0.000,0.043,2836,3584,3457,3505,3410,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1999,-1.11,-107.1,1856,3583,3495,3407,270.8,-10.8,124,2010,0.00,1.83,0.00,0.000,1030,0.000,0.025,2835,2308,3457,3505,3410,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2324,-1.11,-107.1,2835,2308,3505,3410,306.7,-10.8,140,2335,0.00,2.08,0.00,0.000,516,0.000,0.030,2837,914,3457,3505,3410,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2449,-1.11,-107.1,2836,914,3505,3410,319.3,-11.2,145,2462,0.00,2.10,0.00,0.000,1030,0.000,0.031,2829,2302,3457,3505,3410,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2755,-1.11,-107.1,2829,2302,3504,3410,356.0,-11.1,161,2765,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2302,3457,3504,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3055,-1.11,-107.1,2829,2302,3504,3410,390.3,-12.2,176,3066,0.00,2.10,0.00,0.000,516,0.000,0.030,2830,913,3457,3504,3410,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3166,-1.11,-107.1,2829,914,3503,3410,404.2,-12.6,181,3176,0.00,2.12,0.00,0.000,1030,0.000,0.031,2821,2304,3456,3503,3410,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3495,-1.11,-107.1,2821,2304,3502,3410,445.5,-12.7,197,3506,0.00,2.12,0.00,0.000,516,0.000,0.031,2821,907,3456,3502,3410,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3630,-1.11,-107.1,1856,907,3492,3407,461.4,-12.1,203,3641,0.00,2.12,0.00,0.000,1030,0.000,0.031,2814,2304,3455,3501,3410,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3956,-1.11,-107.1,2813,2302,3500,3410,501.0,-11.6,219,3967,0.00,2.10,0.00,0.000,516,0.000,0.031,2814,914,3455,3500,3410,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4000,-1.11,-107.1,2814,914,3500,3409,504.7,-11.7,220,4013,0.12,2.12,0.00,0.000,3078,0.175,0.032,2837,2309,3454,3500,3409,0,0,0,0,0,0,26.13,26.49,28.83
$STATE,4083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4083,begin apogee
$GC,4091,-0.25,0.0,2838,2024,3500,3409,515.5,-10.6,225,4241,0.85,0.00,137.12,0.779,10246,0.135,0.000,3111,2017,3007,3099,2916,0,0,0,0,0,0,25.85,28.83,24.39
$STATE,4243,end apogee,CONTROL_FINISHED_OK
$STATE,4243,begin climb
$GC,4246,1.11,107.1,3110,2017,3096,2912,519.8,0.0,232,4397,1.27,2.28,135.30,0.759,10756,0.080,0.031,3562,633,2567,2669,2466,0,0,0,0,0,0,25.20,24.82,24.10
$GC,4409,1.11,107.1,3562,632,2661,2464,509.8,9.6,240,4422,0.00,2.28,0.00,0.000,1030,0.000,0.029,3556,2031,2561,2660,2462,0,0,0,0,0,0,28.83,25.06,28.83
$GC,4716,1.11,107.1,3556,2031,2652,2458,464.3,13.7,256,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2031,2554,2651,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5015,1.11,107.1,3556,2030,2648,2455,425.7,12.2,271,5026,0.00,2.20,0.00,0.000,516,0.000,0.034,3563,636,2552,2649,2455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5125,1.11,107.1,3563,636,2648,2455,412.3,12.4,276,5136,0.00,2.17,0.00,0.000,1030,0.000,0.030,3559,2032,2552,2648,2456,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5456,1.11,107.1,3558,2032,2646,2454,372.6,12.2,292,5466,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2032,2549,2646,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5756,1.11,107.1,3558,2032,2645,2453,333.8,12.8,307,5767,0.00,2.10,0.00,0.000,260,0.000,0.042,3556,3429,2549,2645,2453,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5816,1.11,107.1,3555,3429,2644,2453,327.1,12.8,309,5827,0.00,2.05,0.00,0.000,1030,0.000,0.026,3563,2013,2548,2644,2453,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6135,1.11,107.1,3563,2012,2644,2453,287.2,11.7,325,6146,0.00,2.10,0.00,0.000,516,0.000,0.034,3573,630,2548,2644,2453,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6247,1.11,107.1,3573,631,2643,2453,274.1,12.0,330,6259,0.00,2.17,0.00,0.000,1030,0.000,0.030,3573,2030,2548,2644,2453,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6578,1.11,107.1,3573,2028,2643,2453,232.2,12.5,346,6589,0.00,2.10,0.00,0.000,260,0.000,0.041,3573,3429,2547,2642,2453,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6680,1.11,107.1,3573,3429,2641,2452,220.0,13.6,350,6691,0.00,2.03,0.00,0.000,1030,0.000,0.026,3583,2024,2546,2641,2452,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7000,1.11,107.1,3583,2024,2641,2451,181.5,11.1,366,7011,0.00,2.10,0.00,0.000,516,0.000,0.034,3593,639,2546,2641,2451,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7114,1.11,107.1,3593,639,2641,2451,168.7,11.8,371,7126,0.15,2.12,0.00,0.000,5126,0.252,0.030,3557,2032,2546,2641,2451,0,0,0,0,0,0,25.79,26.48,28.83
$GC,7440,1.11,107.1,3557,2031,2640,2451,133.2,11.1,387,7451,0.00,2.08,0.00,0.000,260,0.000,0.041,3556,3426,2545,2640,2450,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7519,1.11,107.1,3555,3426,2640,2450,125.2,11.3,390,7530,0.00,2.03,0.00,0.000,1030,0.000,0.026,3564,2014,2545,2640,2450,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7839,1.11,107.1,3564,2014,2640,2450,92.2,9.2,406,7850,0.00,2.08,0.00,0.000,516,0.000,0.034,3573,639,2545,2640,2450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7903,1.11,107.1,3573,639,2640,2450,87.5,9.5,408,7915,0.00,2.12,0.00,0.000,1030,0.000,0.029,3573,2026,2545,2640,2450,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8209,1.11,107.1,3573,2026,2640,2450,56.6,9.5,424,8220,0.00,2.12,0.00,0.000,516,0.000,0.034,3582,643,2545,2640,2450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8456,1.25,152.0,3582,643,2640,2450,38.3,5.8,443,8522,0.00,2.10,53.80,0.581,9222,0.000,0.031,3581,2020,2385,2485,2286,0,0,0,0,0,0,28.83,26.51,25.32
$GC,8826,1.28,163.1,3581,2020,2476,2280,12.3,7.5,495,8845,0.00,2.20,4.25,0.076,8708,0.000,0.034,3588,647,2343,2444,2243,0,0,0,0,0,0,28.83,26.16,25.96
$STATE,8924,end climb,SURFACE_DEPTH_REACHED
$STATE,8924,begin surface coast
$FINISH,3.5,1.024780
$STATE,8930,end surface coast,CONTROL_FINISHED_OK
$STATE,8930,begin surface
$SM_CCo,8955,94.68,0.057,0,0,1480,375.06
$SM_GC,2.76,8.68,2.60,94.68,0.052,0.030,0.057,340,2313,1480,-8.87,-1.33,375.06,0,0,1,0,0,0,26.15,26.22,26.03
$IRIDIUM_FIX,4729.30,-12524.44,241113,111109
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.90
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3829280
$PM_FREEKB,3433712
$24V_AH,24.1,36.507
$10V_AH,9.5,39.102
$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,21.175,80.575,330.475,94.675,0.000,0.000,0.000,214.025,0.000,0.000,20.074,1656.582,5203.940,520.049,1730.144,348.781,0.000,1657.687,0.000,1244.511,0.000,0.535,0.000
$DEVICE_MAMPS,251.685,46.665,778.770,57.375,0.000,0.000,0.000,125.460,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8937.000,198.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.497,10.129,0.000,0.000
$MEM,258748
$DATA_FILE_SIZE,16735,513
$CAP_FILE_SIZE,127619,0
$CFSIZE,260034560,214204416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.026,108.7,1
$GPS,241113,172957,4749.157,-12516.559,18,2.0,38,17.2