version: 66.11
glider: 108
mission: 25
dive: 353
start: 11 25 113 17 53 33
data:
$ID,108
$MISSION,25
$DIVE,353
$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,-194554.34
$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,80
$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
$GPS1,251113,174628,4748.121,-12516.856,40,1.0,40,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-69.5
$GPS2,251113,175305,4748.127,-12516.825,16,1.0,16,17.2
$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,217.7,157882,-15.8,-8.049,-22.04,2046
$D_GRID,642
$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,-107.1,329,2322,1542,1378,0.0,0.0,0,78,0.00,0.00,-47.55,0.000,16386,0.000,0.000,329,2320,2713,2748,2678,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.11,-107.1,329,2321,2753,2681,3.1,-2.2,8,127,10.05,2.22,-22.80,0.000,18948,0.239,0.045,2847,913,3448,3496,3401,0,0,0,0,0,0,25.49,26.06,26.41
$GC,282,-1.11,-107.1,2847,913,3503,3408,31.4,-16.9,41,293,0.00,2.12,0.00,0.000,1030,0.000,0.031,2840,2297,3455,3502,3408,0,0,0,0,0,0,28.83,26.15,28.83
$GC,613,-1.11,-107.1,2840,2296,3505,3410,85.1,-14.5,62,624,0.00,2.12,0.00,0.000,516,0.000,0.030,2840,909,3457,3504,3410,0,0,0,0,0,0,28.83,26.29,28.83
$GC,705,-1.11,-107.1,2840,909,3505,3410,98.6,-14.9,66,716,0.00,2.12,0.00,0.000,1030,0.000,0.030,2832,2305,3457,3504,3410,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1035,-1.11,-107.1,2832,2305,3505,3410,140.3,-10.8,82,1046,0.00,1.92,0.00,0.000,260,0.000,0.043,2822,3594,3458,3505,3411,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1145,-1.11,-107.1,2822,3594,3505,3411,153.3,-12.3,87,1156,0.00,1.88,0.00,0.000,1030,0.000,0.025,2822,2285,3458,3505,3411,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1475,-1.11,-107.1,2822,2285,3505,3411,192.8,-11.8,103,1485,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2285,3457,3505,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1775,-1.11,-107.1,2822,2285,3505,3411,227.2,-10.8,118,1786,0.00,2.05,0.00,0.000,516,0.000,0.030,2825,911,3458,3505,3411,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1870,-1.11,-107.1,2824,911,3505,3411,237.1,-11.0,122,1881,0.00,2.10,0.00,0.000,1030,0.000,0.030,2817,2301,3458,3505,3411,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2196,-1.11,-107.1,2817,2300,3505,3411,279.8,-14.2,138,2206,0.00,1.90,0.00,0.000,260,0.000,0.043,2808,3589,3458,3505,3411,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2282,-1.11,-107.1,2808,3589,3504,3411,290.0,-14.5,141,2295,0.12,1.80,0.00,0.000,3078,0.178,0.026,2840,2304,3458,3505,3411,0,0,0,0,0,0,26.13,26.57,28.83
$GC,2585,-1.11,-107.1,2839,2304,3504,3411,332.3,-13.0,157,2596,0.00,1.92,0.00,0.000,260,0.000,0.043,2832,3594,3457,3504,3411,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2630,-1.11,-107.1,2832,3594,3504,3411,336.3,-13.1,158,2641,0.00,1.83,0.00,0.000,1030,0.000,0.025,2834,2283,3457,3504,3411,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2935,-1.11,-107.1,2834,2284,3504,3411,378.4,-12.4,174,2946,0.00,2.05,0.00,0.000,516,0.000,0.031,2837,909,3457,3504,3411,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2999,-1.11,-107.1,2837,909,3504,3411,384.6,-12.4,176,3012,0.00,2.12,0.00,0.000,1030,0.000,0.031,2830,2305,3457,3504,3411,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3305,-1.11,-107.1,2830,2304,3503,3411,421.9,-11.3,192,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2305,3457,3504,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3606,-1.11,-107.1,2830,2305,3502,3411,453.7,-10.5,207,3617,0.00,2.10,0.00,0.000,516,0.000,0.031,2830,914,3456,3502,3410,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3676,-1.11,-107.1,2830,914,3502,3411,461.2,-10.7,210,3687,0.00,2.12,0.00,0.000,1030,0.000,0.031,2821,2306,3456,3502,3411,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4006,-1.11,-107.1,2821,2305,3501,3411,498.2,-11.5,226,4017,0.00,1.90,0.00,0.000,260,0.000,0.044,2812,3586,3455,3500,3411,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4151,-1.11,-107.1,2812,3586,3500,3411,514.5,-12.6,232,4164,0.12,1.80,0.00,0.000,3078,0.169,0.027,2842,2302,3455,3500,3411,0,0,0,0,0,0,26.17,26.60,28.83
$GC,4457,-1.11,-107.1,2842,2302,3500,3410,548.3,-9.8,248,4468,0.00,2.08,0.00,0.000,516,0.000,0.031,2850,910,3455,3500,3410,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4521,-1.11,-107.1,2850,910,3500,3410,553.0,-9.5,250,4533,0.00,2.12,0.00,0.000,1030,0.000,0.031,2844,2312,3455,3500,3410,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4827,-1.11,-107.1,2843,2312,3499,3410,586.6,-10.5,266,4838,0.00,2.12,0.00,0.000,516,0.000,0.030,2850,904,3454,3499,3409,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4885,-1.11,-107.1,2850,904,3499,3409,591.7,-10.5,268,4897,0.00,2.12,0.00,0.000,1030,0.000,0.032,2843,2301,3454,3499,3409,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5206,-1.11,-107.1,2843,2301,3498,3409,621.9,-9.1,280,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2300,3453,3498,3409,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5412,begin apogee
$GC,5420,-0.25,0.0,2843,2020,3498,3408,643.6,-10.8,287,5569,0.85,0.00,136.45,0.842,10246,0.137,0.000,3114,2020,3007,3098,2916,0,0,0,0,0,0,25.82,28.83,24.29
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5575,1.11,107.1,3114,2019,3095,2912,648.1,0.0,292,5730,1.25,2.28,136.68,0.815,10756,0.076,0.034,3563,640,2567,2667,2467,0,0,0,0,0,0,25.17,24.72,23.96
$GC,5768,1.11,107.1,3563,640,2657,2464,632.9,10.5,298,5779,0.00,2.25,0.00,0.000,1030,0.000,0.029,3563,2025,2559,2656,2463,0,0,0,0,0,0,28.83,25.16,28.83
$GC,6083,1.11,107.1,3563,2025,2649,2458,588.1,13.7,310,6094,0.00,2.17,0.00,0.000,260,0.000,0.041,3564,3443,2554,2650,2458,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6127,1.11,107.1,3563,3443,2648,2457,583.7,14.2,311,6139,0.00,2.12,0.00,0.000,1030,0.000,0.026,3574,2012,2552,2648,2457,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6433,1.11,107.1,3573,2012,2646,2455,535.6,14.9,327,6444,0.00,2.12,0.00,0.000,516,0.000,0.034,3583,636,2550,2646,2455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6543,1.11,107.1,3583,636,2645,2455,519.7,14.2,332,6554,0.00,2.20,0.00,0.000,1030,0.000,0.029,3583,2044,2550,2645,2455,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6873,1.11,107.1,3583,2044,2644,2453,474.1,13.3,348,6884,0.00,2.08,0.00,0.000,260,0.000,0.042,3583,3423,2549,2644,2454,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6980,1.11,107.1,3583,3422,2642,2453,461.2,14.3,352,6992,0.12,2.05,0.00,0.000,5126,0.173,0.026,3561,2013,2547,2642,2453,0,0,0,0,0,0,26.02,26.40,28.83
$GC,7283,1.11,107.1,3561,2010,2641,2454,421.5,12.2,368,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2009,2547,2641,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7583,1.11,107.1,3561,2010,2640,2452,384.3,12.6,383,7594,0.00,2.10,0.00,0.000,516,0.000,0.035,3569,639,2546,2640,2452,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7675,1.11,107.1,3569,639,2640,2453,373.0,12.5,387,7686,0.00,2.12,0.00,0.000,1030,0.000,0.029,3569,2027,2546,2640,2452,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8005,1.11,107.1,3569,2027,2640,2451,331.9,11.9,403,8016,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2027,2545,2640,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8305,1.11,107.1,3568,2027,2640,2451,297.6,11.0,418,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2026,2545,2640,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8605,1.11,107.1,3568,2026,2640,2451,263.6,11.7,433,8616,0.00,2.10,0.00,0.000,260,0.000,0.042,3570,3426,2545,2640,2451,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8725,1.11,107.1,3568,3426,2639,2450,248.8,13.6,438,8736,0.00,2.05,0.00,0.000,1030,0.000,0.027,3576,2019,2545,2640,2450,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9044,1.11,107.1,3576,2019,2640,2450,207.6,11.3,454,9055,0.00,2.10,0.00,0.000,516,0.000,0.035,3586,641,2544,2639,2450,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9103,1.11,107.1,3586,641,2639,2450,202.3,11.0,456,9114,0.00,2.12,0.00,0.000,1030,0.000,0.029,3585,2038,2545,2640,2450,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9423,1.11,107.1,3584,2038,2639,2450,166.9,11.5,472,9434,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,2038,2544,2639,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9723,1.11,107.1,3584,2038,2638,2450,131.5,12.3,487,9734,0.00,2.15,0.00,0.000,516,0.000,0.034,3592,645,2544,2638,2450,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9753,1.11,107.1,3591,644,2638,2450,128.0,12.1,488,9764,0.12,2.12,0.00,0.000,5126,0.165,0.031,3561,2028,2544,2638,2450,0,0,0,0,0,0,26.15,26.50,28.83
$GC,10083,1.11,107.1,3560,2028,2638,2450,92.1,10.1,504,10094,0.00,2.08,0.00,0.000,260,0.000,0.041,3552,3424,2544,2638,2450,0,0,0,0,0,0,28.83,26.39,28.83
$GC,10323,1.11,107.1,3551,3424,2638,2450,70.8,10.0,515,10334,0.00,2.03,0.00,0.000,1030,0.000,0.025,3560,2012,2543,2638,2449,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10644,1.26,155.8,3560,2013,2638,2449,44.1,5.6,535,10718,0.12,2.17,59.15,0.585,10756,0.096,0.034,3627,641,2369,2467,2271,0,0,0,0,0,0,26.60,25.94,25.25
$GC,10951,1.26,155.8,3626,641,2459,2268,14.9,10.7,573,10964,0.00,2.17,0.00,0.000,1030,0.000,0.028,3621,2029,2363,2459,2268,0,0,0,0,0,0,28.83,26.13,28.83
$STATE,11042,end climb,SURFACE_DEPTH_REACHED
$STATE,11042,begin surface coast
$FINISH,1.8,1.022454
$STATE,11073,end surface coast,CONTROL_FINISHED_OK
$STATE,11073,begin surface
$SM_CCo,11096,97.15,0.057,0,0,1479,375.06
$SM_GC,2.63,8.55,0.38,97.15,0.034,0.048,0.057,340,2314,1479,-8.86,-1.41,375.06,0,0,0,0,0,0,26.10,26.20,25.98
$IRIDIUM_FIX,4732.49,-12517.37,251113,151554
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.49
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3825120
$PM_FREEKB,3396796
$24V_AH,24.0,37.449
$10V_AH,9.5,39.719
$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,21.325,87.900,332.275,97.150,0.000,0.000,0.000,207.700,0.000,0.000,19.353,1894.927,6843.952,515.582,1953.444,384.903,0.000,1807.858,0.000,1410.484,0.000,0.536,0.000
$DEVICE_MAMPS,238.680,48.195,842.265,57.375,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11065.000,255.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.173,9.992,0.000,0.000
$MEM,258716
$DATA_FILE_SIZE,20072,595
$CAP_FILE_SIZE,148253,0
$CFSIZE,260034560,213499904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.026,215.8,1
$GPS,251113,210134,4747.321,-12518.435,36,0.8,36,17.2