version: 66.11
glider: 108
mission: 25
dive: 352
start: 11 25 113 15 7 29
data:
$ID,108
$MISSION,25
$DIVE,352
$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,-194551.2
$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,58
$R_STBD_OVSHOOT,55
$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
$GPS1,251113,145958,4748.803,-12515.812,36,1.0,36,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-70.0
$GPS2,251113,150700,4748.848,-12515.765,21,1.0,21,17.2
$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,210.0,159741,-15.8,-8.049,-22.04,2046
$D_GRID,536
$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,-107.1,340,2282,1541,1380,0.0,0.0,0,75,0.00,0.00,-46.12,0.000,16386,0.000,0.000,340,2281,2673,2706,2640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.11,-107.1,340,2281,2714,2641,3.0,-2.0,8,129,9.88,2.17,-24.65,0.000,18948,0.234,0.046,2837,891,3450,3498,3402,0,0,0,0,0,0,25.46,26.08,26.42
$GC,259,-1.11,-107.1,2836,891,3503,3408,27.7,-17.3,38,271,0.00,2.17,0.00,0.000,1030,0.000,0.031,2830,2310,3455,3503,3408,0,0,0,0,0,0,28.83,26.16,28.83
$GC,580,-1.11,-107.1,2829,2310,3505,3410,82.0,-14.3,60,591,0.00,1.90,0.00,0.000,260,0.000,0.043,2820,3591,3457,3505,3410,0,0,0,0,0,0,28.83,26.22,28.83
$GC,654,-1.11,-107.1,1832,3590,3494,3408,91.5,-13.7,63,665,0.00,1.88,0.00,0.000,1030,0.000,0.024,2824,2263,3457,3505,3410,0,0,0,0,0,0,28.83,26.39,28.83
$GC,978,-1.11,-107.1,2823,2262,3506,3411,135.5,-13.0,79,989,0.00,2.03,0.00,0.000,516,0.000,0.031,2825,913,3458,3506,3411,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1098,-1.11,-107.1,2825,913,3505,3411,150.2,-13.5,84,1109,0.00,2.10,0.00,0.000,1030,0.000,0.031,2818,2299,3459,3506,3412,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1417,-1.11,-107.1,2818,2299,3505,3412,193.9,-13.3,100,1428,0.00,2.10,0.00,0.000,516,0.000,0.031,2818,915,3459,3506,3412,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1568,-1.11,-107.1,2818,915,3505,3412,215.3,-14.2,107,1580,0.12,2.10,0.00,0.000,3078,0.177,0.031,2841,2304,3458,3505,3412,0,0,0,0,0,0,26.08,26.44,28.83
$GC,1899,-1.11,-107.1,2841,2304,3506,3412,256.1,-12.0,123,1910,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2304,3459,3506,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2199,-1.11,-107.1,2841,2304,3506,3412,289.7,-10.6,138,2210,0.00,1.90,0.00,0.000,260,0.000,0.043,2833,3592,3459,3506,3412,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2283,-1.11,-107.1,2833,3592,3506,3412,297.7,-11.3,141,2295,0.00,1.80,0.00,0.000,1030,0.000,0.025,2837,2299,3458,3505,3412,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2588,-1.11,-107.1,2837,2299,3506,3412,331.0,-10.6,157,2599,0.00,2.08,0.00,0.000,516,0.000,0.031,2839,911,3458,3505,3412,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2633,-1.11,-107.1,2839,911,3505,3412,334.4,-11.0,158,2645,0.00,2.12,0.00,0.000,1030,0.000,0.031,2831,2308,3459,3507,3412,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2938,-1.11,-107.1,2831,2308,3505,3412,370.6,-11.1,174,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2308,3458,3505,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3238,-1.11,-107.1,2831,2308,3504,3412,402.9,-10.6,189,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2308,3458,3504,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-1.11,-107.1,2831,2308,3504,3412,433.8,-10.0,204,3549,0.00,2.10,0.00,0.000,516,0.000,0.030,2836,914,3457,3503,3412,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3587,-1.11,-107.1,2836,914,3503,3412,438.6,-9.8,206,3598,0.00,2.12,0.00,0.000,1030,0.000,0.031,2829,2309,3457,3503,3411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3917,-1.11,-107.1,2829,2309,3503,3411,473.4,-11.6,222,3928,0.00,2.10,0.00,0.000,516,0.000,0.030,2829,914,3456,3502,3411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3966,-1.11,-107.1,2829,914,3502,3411,479.1,-11.7,224,3977,0.00,2.10,0.00,0.000,1030,0.000,0.032,2821,2299,3457,3503,3411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4296,-1.11,-107.1,2821,2298,3501,3411,517.7,-12.0,240,4307,0.00,2.10,0.00,0.000,516,0.000,0.031,2821,907,3456,3501,3411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4345,-1.11,-107.1,2821,907,3501,3410,523.6,-12.0,242,4356,0.00,2.12,0.00,0.000,1030,0.000,0.032,2813,2303,3455,3501,3410,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4460,-0.25,0.0,2813,2033,3501,3410,536.3,-11.6,247,4609,0.95,0.00,135.62,0.791,10246,0.142,0.000,3112,2028,3004,3096,2913,0,0,0,0,0,0,25.83,28.83,24.34
$STATE,4611,end apogee,CONTROL_FINISHED_OK
$STATE,4611,begin climb
$GC,4614,1.11,107.1,3111,2028,3095,2912,539.6,0.0,254,4767,1.27,2.30,134.30,0.766,10756,0.079,0.033,3566,654,2565,2666,2465,0,0,0,0,0,0,25.20,24.84,24.10
$GC,4807,1.11,107.1,3566,654,2656,2462,520.9,13.0,264,4817,0.00,2.22,0.00,0.000,1030,0.000,0.028,3565,2025,2559,2656,2462,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5136,1.11,107.1,3565,2025,2649,2457,474.5,14.1,280,5147,0.00,2.12,0.00,0.000,260,0.000,0.041,3565,3430,2553,2649,2457,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5196,1.11,107.1,3565,3430,2648,2456,467.2,14.2,282,5207,0.00,2.08,0.00,0.000,1030,0.000,0.025,3573,2024,2552,2648,2456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5516,1.11,107.1,3572,2024,2646,2454,421.1,14.1,298,5527,0.00,2.12,0.00,0.000,516,0.000,0.034,3583,643,2550,2646,2454,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5575,1.11,107.1,3582,643,2645,2454,414.1,13.7,300,5586,0.00,2.15,0.00,0.000,1030,0.000,0.030,3582,2035,2550,2646,2454,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5895,1.11,107.1,3582,2035,2644,2453,371.1,13.1,316,5905,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2035,2548,2644,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6196,1.11,107.1,3582,2035,2644,2453,333.5,12.6,331,6207,0.00,2.08,0.00,0.000,260,0.000,0.042,3583,3423,2548,2643,2453,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6227,1.11,107.1,3582,3424,2642,2453,329.4,12.9,332,6239,0.12,2.05,0.00,0.000,5126,0.174,0.026,3561,2016,2548,2643,2453,0,0,0,0,0,0,26.07,26.45,28.83
$GC,6557,1.11,107.1,3560,2017,2642,2451,290.1,11.6,348,6568,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2017,2547,2642,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6857,1.11,107.1,3560,2017,2640,2451,255.6,11.3,363,6868,0.00,2.17,0.00,0.000,260,0.000,0.042,3552,3436,2545,2640,2451,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6901,1.11,107.1,3552,3436,2640,2451,252.1,11.3,364,6913,0.00,2.05,0.00,0.000,1030,0.000,0.026,3560,2013,2545,2640,2451,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7207,1.11,107.1,3560,2014,2640,2450,216.8,11.1,380,7218,0.00,2.08,0.00,0.000,516,0.000,0.035,3570,641,2545,2640,2450,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7372,1.11,107.1,3570,641,2640,2450,200.2,10.7,387,7384,0.00,2.15,0.00,0.000,1030,0.000,0.030,3570,2040,2545,2640,2450,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7679,1.11,107.1,3570,2040,2640,2450,164.2,11.9,403,7690,0.00,2.08,0.00,0.000,260,0.000,0.041,3570,3430,2545,2640,2451,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7718,1.11,107.1,3570,3430,2640,2449,160.1,12.5,404,7729,0.00,2.03,0.00,0.000,1030,0.000,0.026,3579,2020,2545,2640,2450,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8038,1.11,107.1,3578,2020,2640,2449,121.0,10.7,420,8049,0.00,2.12,0.00,0.000,260,0.000,0.040,3571,3426,2544,2640,2449,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8168,1.11,107.1,3571,3425,2640,2449,106.8,10.8,426,8179,0.00,2.03,0.00,0.000,1030,0.000,0.026,3578,2014,2544,2640,2449,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8499,1.11,107.1,3578,2014,2640,2449,73.7,8.6,442,8510,0.00,2.08,0.00,0.000,516,0.000,0.034,3589,641,2544,2640,2449,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8538,1.11,107.1,3588,641,2639,2449,71.1,8.3,443,8550,0.12,2.12,0.00,0.000,5126,0.163,0.029,3558,2042,2544,2640,2449,0,0,0,0,0,0,26.17,26.51,28.83
$GC,8859,1.26,157.2,3558,2042,2640,2448,46.4,5.5,462,8930,0.12,0.00,58.10,0.586,10246,0.099,0.000,3612,2042,2366,2465,2267,0,0,0,0,0,0,26.58,28.83,25.27
$GC,9234,1.26,157.2,3612,2042,2455,2262,8.8,10.8,513,9245,0.00,0.00,0.00,0.000,6,0.000,0.000,3612,2042,2359,2456,2262,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9281,end climb,SURFACE_DEPTH_REACHED
$STATE,9281,begin surface coast
$FINISH,1.9,1.013580
$STATE,9330,end surface coast,CONTROL_FINISHED_OK
$STATE,9330,begin surface
$SM_CCo,9353,96.43,0.057,0,0,1479,375.06
$SM_GC,2.50,8.55,0.35,96.43,0.036,0.053,0.057,331,2309,1479,-8.87,-1.53,375.06,0,0,0,0,0,0,26.17,26.23,26.03
$IRIDIUM_FIX,4732.49,-12517.37,251113,121241
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.04
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3825440
$PM_FREEKB,3396796
$24V_AH,24.1,37.366
$10V_AH,9.5,39.655
$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,21.150,75.725,328.025,96.425,0.000,0.000,0.000,230.025,0.000,0.000,22.211,1603.625,5713.690,509.507,1707.756,343.020,0.000,1669.491,0.000,1185.226,0.000,0.535,0.000
$DEVICE_MAMPS,234.090,52.785,791.010,56.610,0.000,0.000,0.000,122.400,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9342.000,222.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.416,10.001,0.000,0.000
$MEM,258724
$DATA_FILE_SIZE,16790,530
$CAP_FILE_SIZE,129333,0
$CFSIZE,260034560,213585920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.003,  3.3,1
$GPS,251113,174628,4748.121,-12516.856,40,1.0,40,17.2