version: 66.11
glider: 108
mission: 25
dive: 351
start: 11 25 113 12 36 19
data:
$ID,108
$MISSION,25
$DIVE,351
$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,-194549.86
$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,54
$R_STBD_OVSHOOT,56
$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
$GPS1,251113,122824,4749.395,-12515.164,28,1.3,29,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-71.6
$GPS2,251113,123552,4749.370,-12515.000,38,0.8,38,17.2
$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,198.9,161085,-15.8,-8.049,-22.04,2046
$D_GRID,482
$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,-107.1,330,2283,1542,1379,0.0,0.0,0,77,0.00,0.00,-46.53,0.000,16386,0.000,0.000,329,2290,2685,2721,2649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.11,-107.1,329,2289,2724,2653,3.1,-2.2,8,126,10.00,2.05,-23.98,0.000,18692,0.236,0.060,2834,3584,3449,3498,3400,0,0,0,0,0,0,25.54,26.01,26.41
$GC,146,-1.11,-107.1,2833,3584,3499,3406,7.9,-12.1,17,158,0.00,1.88,0.00,0.000,1030,0.000,0.026,2839,2271,3453,3500,3406,0,0,0,0,0,0,28.83,26.16,28.83
$GC,479,-1.11,-107.1,2838,2270,3505,3409,62.4,-14.2,54,490,0.00,1.98,0.00,0.000,260,0.000,0.042,2830,3580,3456,3504,3409,0,0,0,0,0,0,28.83,26.19,28.83
$GC,579,-1.11,-107.1,2831,3581,3505,3410,74.6,-13.5,58,590,0.00,1.83,0.00,0.000,1030,0.000,0.025,2831,2284,3457,3505,3410,0,0,0,0,0,0,28.83,26.37,28.83
$GC,899,-1.11,-107.1,2830,2284,3506,3411,117.6,-12.4,74,910,0.00,1.95,0.00,0.000,260,0.000,0.041,2821,3591,3458,3506,3411,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1050,-1.11,-107.1,2820,3591,3506,3411,137.7,-13.5,81,1061,0.00,1.80,0.00,0.000,1030,0.000,0.025,2820,2303,3458,3506,3411,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1380,-1.11,-107.1,2820,2302,3506,3411,178.5,-11.7,97,1391,0.00,2.08,0.00,0.000,516,0.000,0.030,2821,915,3459,3507,3411,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1460,-1.11,-107.1,2822,915,3506,3411,186.5,-11.5,100,1471,0.00,2.10,0.00,0.000,1030,0.000,0.031,2815,2308,3458,3507,3410,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1780,-1.11,-107.1,2814,2307,3506,3411,225.5,-11.7,116,1791,0.00,2.10,0.00,0.000,516,0.000,0.029,2815,909,3458,3506,3411,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1890,-1.11,-107.1,2815,909,3506,3411,238.9,-12.2,121,1901,0.12,2.10,0.00,0.000,3078,0.180,0.031,2837,2304,3458,3506,3411,0,0,0,0,0,0,26.10,26.47,28.83
$GC,2221,-1.11,-107.1,2837,2304,3506,3411,274.6,-10.3,137,2232,0.00,1.90,0.00,0.000,260,0.000,0.043,2830,3580,3458,3506,3411,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2279,-1.11,-107.1,2830,3580,3505,3411,280.5,-11.2,139,2290,0.00,1.80,0.00,0.000,1030,0.000,0.026,2830,2289,3458,3506,3411,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2599,-1.11,-107.1,2829,2288,3505,3411,319.8,-11.3,155,2610,0.00,1.95,0.00,0.000,260,0.000,0.043,2820,3596,3458,3505,3411,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2633,-1.11,-107.1,2820,3596,3505,3411,323.3,-11.5,156,2644,0.00,1.80,0.00,0.000,1030,0.000,0.026,2820,2303,3458,3505,3411,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2957,-1.11,-107.1,2820,2302,3505,3411,363.5,-12.3,172,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2302,3457,3505,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3257,-1.11,-107.1,2819,2302,3504,3411,398.7,-11.5,187,3268,0.00,2.08,0.00,0.000,516,0.000,0.030,2821,910,3457,3504,3411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3402,-1.11,-107.1,2821,910,3504,3411,413.7,-11.7,193,3413,0.00,2.10,0.00,0.000,1030,0.000,0.031,2814,2303,3457,3504,3411,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3708,-1.11,-107.1,2814,2302,3503,3411,451.5,-11.7,209,3719,0.00,1.90,0.00,0.000,260,0.000,0.044,2805,3593,3457,3503,3411,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3788,-1.11,-107.1,2804,3593,3502,3411,460.0,-12.1,212,3799,0.15,1.80,0.00,0.000,3078,0.168,0.026,2842,2301,3456,3502,3411,0,0,0,0,0,0,26.12,26.62,28.83
$STATE,3985,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3985,begin apogee
$GC,3992,-0.25,0.0,2844,2029,3502,3411,482.8,-10.9,222,4146,0.85,0.00,136.73,0.762,10246,0.136,0.000,3117,2027,3004,3096,2912,0,0,0,0,0,0,25.90,28.83,24.25
$STATE,4148,end apogee,CONTROL_FINISHED_OK
$STATE,4148,begin climb
$GC,4151,1.11,107.1,3116,2027,3095,2911,486.0,0.0,229,4297,1.25,0.00,133.52,0.743,10502,0.077,0.000,3555,2028,2571,2674,2469,0,0,0,0,0,0,25.25,28.83,24.18
$GC,4588,1.11,107.1,3555,2027,2654,2457,438.6,12.3,252,4598,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2027,2555,2653,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,1.11,107.1,3555,2027,2649,2454,402.3,12.6,267,4900,0.00,2.15,0.00,0.000,260,0.000,0.040,3555,3428,2551,2649,2454,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4942,1.11,107.1,2768,3427,2596,2445,395.6,13.0,269,4953,0.00,2.05,0.00,0.000,1030,0.000,0.025,3565,2021,2551,2648,2454,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5267,1.11,107.1,3565,2021,2647,2453,353.9,12.5,285,5278,0.00,2.12,0.00,0.000,516,0.000,0.034,3575,637,2550,2647,2453,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5422,1.11,107.1,3574,637,2645,2453,335.3,12.4,292,5433,0.00,2.12,0.00,0.000,1030,0.000,0.029,3575,2024,2549,2646,2453,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5747,1.11,107.1,3574,2023,2645,2453,294.8,12.7,308,5757,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2023,2548,2644,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6047,1.11,107.1,3574,2023,2643,2452,255.4,12.9,323,6057,0.00,2.08,0.00,0.000,260,0.000,0.041,3574,3424,2547,2643,2452,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6181,1.11,107.1,2784,3422,2589,2442,237.5,13.7,329,6192,0.00,2.03,0.00,0.000,1030,0.000,0.025,3583,2016,2547,2643,2451,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6506,1.11,107.1,3582,2016,2642,2450,193.4,13.3,345,6517,0.00,2.08,0.00,0.000,516,0.000,0.034,3592,642,2545,2641,2450,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6727,1.11,107.1,3593,642,2641,2450,166.5,12.2,355,6739,0.15,2.15,0.00,0.000,5126,0.157,0.031,3554,2037,2545,2640,2450,0,0,0,0,0,0,26.11,26.48,28.83
$GC,7048,1.11,107.1,3554,2036,2640,2449,129.0,11.2,371,7059,0.00,2.08,0.00,0.000,260,0.000,0.041,3552,3424,2544,2640,2449,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7081,1.11,107.1,3551,3424,2640,2449,125.6,11.3,372,7092,0.00,2.03,0.00,0.000,1030,0.000,0.025,3559,2016,2544,2640,2449,0,0,0,0,0,0,28.83,26.57,28.83
$GC,7406,1.11,107.1,3559,2016,2640,2449,88.7,11.5,388,7417,0.00,2.08,0.00,0.000,516,0.000,0.034,3569,641,2544,2640,2449,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7531,1.11,107.1,3569,641,2640,2449,75.8,11.5,393,7544,0.00,2.12,0.00,0.000,1030,0.000,0.030,3568,2037,2544,2640,2449,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7838,1.22,144.5,3568,2037,2640,2449,51.4,6.2,409,7893,0.00,2.15,42.60,0.590,8452,0.000,0.041,3568,3425,2416,2513,2320,0,0,0,0,0,0,28.83,26.09,25.43
$GC,8024,1.22,144.5,3568,3425,2508,2315,37.0,9.5,425,8035,0.00,2.05,0.00,0.000,1030,0.000,0.025,3576,2018,2411,2508,2315,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8340,1.22,144.5,3576,2019,2504,2314,8.5,9.6,473,8352,0.00,2.15,0.00,0.000,260,0.000,0.040,3576,3427,2409,2504,2314,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,8384,end climb,SURFACE_DEPTH_REACHED
$STATE,8384,begin surface coast
$FINISH,1.7,1.024940
$STATE,8407,end surface coast,CONTROL_FINISHED_OK
$STATE,8407,begin surface
$SM_CCo,8431,101.70,0.057,0,0,1480,375.06
$SM_GC,2.69,8.50,1.67,101.70,0.042,0.027,0.057,343,2321,1480,-8.86,2.43,375.06,0,0,0,0,0,0,26.22,26.38,26.10
$IRIDIUM_FIX,4732.49,-12517.37,251113,101018
$TT8_MAMPS,0.026215,0.026215
$HUMID,56.18
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3825760
$PM_FREEKB,3396796
$24V_AH,24.2,37.287
$10V_AH,9.5,39.599
$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,21.025,68.600,312.850,101.700,0.000,0.000,0.000,218.225,0.000,0.000,40.463,1562.871,4920.812,505.048,1656.006,341.253,0.000,1578.844,0.000,1155.885,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,59.670,761.940,57.375,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8415.000,203.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.768,9.764,0.000,0.000
$MEM,258724
$DATA_FILE_SIZE,16762,484
$CAP_FILE_SIZE,120389,0
$CFSIZE,260034560,213663744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.035,  0.5,1
$GPS,251113,145958,4748.803,-12515.812,36,1.0,36,17.2