version: 66.11
glider: 108
mission: 25
dive: 446
start: 12 14 113 23 49 9
data:
$ID,108
$MISSION,25
$DIVE,446
$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,-194766.22
$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,77
$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
$GPS1,141213,234135,4747.649,-12518.873,40,1.1,40,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-70.6
$GPS2,141213,234842,4747.604,-12518.806,15,1.1,16,17.2
$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,40.1,13293,-15.8,-8.049,-22.04,2046
$D_GRID,655
$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,-107.1,332,2329,1534,1384,0.0,0.0,0,71,0.00,0.00,-40.65,0.000,16386,0.000,0.000,333,2329,2531,2578,2484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,332,2329,2580,2488,3.1,-1.1,7,126,10.02,2.00,-26.45,0.000,18692,0.233,0.060,2831,3592,3451,3493,3409,0,0,0,0,0,0,25.27,25.90,26.41
$GC,356,-1.11,-107.1,2831,3592,3497,3415,52.2,-15.0,42,368,0.00,1.85,0.00,0.000,1030,0.000,0.026,2839,2292,3456,3498,3415,0,0,0,0,0,0,28.83,26.18,28.83
$GC,662,-1.11,-107.1,2838,2291,3500,3415,94.0,-12.7,58,673,0.00,2.10,0.00,0.000,516,0.000,0.031,2839,909,3457,3500,3415,0,0,0,0,0,0,28.83,26.12,28.83
$GC,869,-1.11,-107.1,2839,909,3500,3416,117.0,-11.8,67,880,0.00,2.12,0.00,0.000,1030,0.000,0.031,2832,2296,3457,3500,3415,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1174,-1.11,-107.1,2832,2296,3501,3415,155.2,-11.7,83,1185,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2296,3458,3501,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1474,-1.11,-107.1,2831,2295,3501,3415,191.9,-12.7,98,1485,0.00,2.12,0.00,0.000,516,0.000,0.031,2834,907,3458,3501,3415,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1513,-1.11,-107.1,2834,906,3501,3415,195.8,-12.9,99,1524,0.00,2.15,0.00,0.000,1030,0.000,0.031,2827,2310,3458,3501,3415,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1832,-1.11,-107.1,2827,2310,3501,3415,236.9,-12.3,115,1843,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2310,3458,3501,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2132,-1.11,-107.1,2827,2310,3501,3415,274.7,-12.6,130,2143,0.00,1.90,0.00,0.000,260,0.000,0.043,2818,3590,3458,3501,3415,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2191,-1.11,-107.1,2817,3590,3500,3415,281.5,-13.3,132,2203,0.00,1.88,0.00,0.000,1030,0.000,0.026,2817,2289,3458,3501,3415,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2512,-1.11,-107.1,2817,2288,3500,3415,323.7,-12.3,148,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2288,3458,3501,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2811,-1.11,-107.1,2817,2288,3500,3415,360.1,-11.9,163,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2288,3458,3501,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3112,-1.11,-107.1,2817,2288,3500,3415,395.0,-11.7,178,3123,0.00,2.08,0.00,0.000,516,0.000,0.031,2821,912,3457,3500,3415,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3209,-1.11,-107.1,2822,912,3500,3415,405.9,-12.2,182,3221,0.00,2.12,0.00,0.000,1030,0.000,0.031,2814,2303,3457,3500,3415,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3534,-1.11,-107.1,2814,2303,3499,3415,445.7,-11.9,198,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2303,3457,3499,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3835,-1.11,-107.1,2814,2303,3499,3415,481.7,-11.9,213,3845,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2303,3457,3499,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4136,-1.11,-107.1,2814,2303,3498,3415,517.3,-11.9,228,4147,0.00,2.12,0.00,0.000,516,0.000,0.031,2817,910,3456,3498,3415,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4245,-1.11,-107.1,2817,910,3498,3415,530.0,-11.3,233,4257,0.12,2.12,0.00,0.000,3078,0.173,0.031,2840,2303,3456,3498,3415,0,0,0,0,0,0,25.83,26.25,28.83
$GC,4576,-1.11,-107.1,2840,2302,3498,3415,564.5,-10.1,249,4587,0.00,1.92,0.00,0.000,260,0.000,0.044,2833,3594,3456,3498,3415,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4630,-1.11,-107.1,2832,3594,3497,3415,569.5,-10.0,251,4641,0.00,1.88,0.00,0.000,1030,0.000,0.026,2834,2292,3455,3496,3415,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4955,-1.11,-107.1,2833,2292,3497,3415,601.5,-9.9,267,4965,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2292,3456,3497,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5256,-1.11,-107.1,2834,2292,3496,3415,631.8,-10.8,277,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2291,3455,3495,3415,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5492,begin apogee
$GC,5500,-0.25,0.0,2836,2021,3494,3415,657.5,-10.5,285,5654,0.88,0.00,139.05,0.868,10246,0.135,0.000,3111,2020,3006,3094,2919,0,0,0,0,0,0,25.24,28.83,24.09
$STATE,5656,end apogee,CONTROL_FINISHED_OK
$STATE,5656,begin climb
$GC,5660,1.11,107.1,3111,2020,3091,2915,661.7,0.0,290,5815,1.27,2.38,139.10,0.838,10500,0.079,0.038,3554,3429,2566,2664,2468,0,0,0,0,0,0,25.09,24.49,23.63
$GC,5859,1.11,107.1,3554,3429,2653,2461,647.5,9.9,296,5871,0.00,2.17,0.00,0.000,1030,0.000,0.024,3564,2026,2556,2652,2460,0,0,0,0,0,0,28.83,25.04,28.83
$GC,6168,1.11,107.1,3565,2017,2645,2457,600.8,14.3,307,6178,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2016,2551,2645,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6474,1.11,107.1,3565,2017,2643,2455,557.2,14.1,322,6484,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2017,2549,2643,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6775,1.11,107.1,3565,2017,2641,2454,514.7,14.3,337,6786,0.00,2.15,0.00,0.000,260,0.000,0.039,3565,3434,2547,2640,2454,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6845,1.11,107.1,3565,3434,2640,2453,503.9,15.1,340,6856,0.00,2.08,0.00,0.000,1030,0.000,0.026,3575,2018,2547,2640,2455,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7176,1.11,107.1,3574,2018,2640,2453,456.0,14.2,356,7186,0.00,0.00,0.00,0.000,6,0.000,0.000,3574,2018,2546,2640,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7476,1.11,107.1,3574,2018,2640,2453,414.3,13.6,371,7487,0.00,2.12,0.00,0.000,516,0.000,0.034,3585,635,2546,2640,2453,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7561,1.11,107.1,3585,635,2640,2453,404.6,13.6,374,7573,0.00,2.15,0.00,0.000,1030,0.000,0.028,3583,2038,2546,2640,2453,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7866,1.11,107.1,3582,2038,2639,2453,363.0,12.9,390,7876,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2038,2546,2639,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8166,1.11,107.1,3583,2038,2639,2453,325.4,12.5,405,8177,0.00,2.20,0.00,0.000,516,0.000,0.034,3590,638,2545,2639,2452,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8216,1.11,107.1,3590,638,2638,2453,319.1,12.7,407,8228,0.12,2.17,0.00,0.000,5126,0.163,0.029,3556,2037,2545,2639,2452,0,0,0,0,0,0,25.89,26.28,28.83
$GC,8548,1.11,107.1,3555,2036,2638,2452,283.9,10.6,423,8558,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2036,2545,2638,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8847,1.11,107.1,3555,2036,2637,2452,252.3,10.5,438,8858,0.00,2.10,0.00,0.000,260,0.000,0.042,3545,3431,2545,2638,2452,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8931,1.11,107.1,3545,3431,2637,2451,244.4,11.1,441,8942,0.00,2.05,0.00,0.000,1030,0.000,0.026,3553,2014,2544,2637,2451,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9237,1.11,107.1,3553,2014,2638,2451,211.5,10.1,457,9254,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2014,2544,2638,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9543,1.11,107.1,3553,2014,2638,2450,180.1,10.0,472,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2014,2544,2638,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9844,1.11,107.1,3553,2014,2637,2450,150.4,9.9,487,9854,0.00,2.12,0.00,0.000,516,0.000,0.035,3563,632,2543,2637,2450,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9875,1.11,107.1,3563,632,2637,2450,147.4,9.8,488,9886,0.00,2.15,0.00,0.000,1030,0.000,0.030,3563,2033,2543,2637,2450,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10205,1.11,107.1,3563,2033,2637,2450,113.9,10.2,504,10216,0.00,2.08,0.00,0.000,260,0.000,0.041,3563,3422,2543,2637,2450,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10236,1.11,107.1,3563,3422,2637,2450,110.9,10.2,505,10247,0.00,2.03,0.00,0.000,1030,0.000,0.026,3573,2017,2543,2637,2450,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10566,1.11,107.1,3573,2017,2637,2450,76.8,10.4,521,10577,0.00,2.10,0.00,0.000,516,0.000,0.034,3583,645,2544,2638,2450,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10807,1.11,107.1,3582,645,2637,2450,56.1,8.2,532,10818,0.00,2.12,0.00,0.000,1030,0.000,0.030,3582,2027,2544,2637,2451,0,0,0,0,0,0,28.83,26.29,28.83
$GC,11127,1.38,196.3,3582,2026,2637,2450,35.0,3.6,560,11257,0.15,2.25,115.18,0.571,10756,0.093,0.032,3656,638,2203,2306,2100,0,0,0,0,0,0,26.49,25.48,24.74
$GC,11451,1.38,196.3,3655,638,2296,2095,8.5,9.5,607,11463,0.00,2.20,0.00,0.000,1030,0.000,0.029,3654,2026,2195,2295,2095,0,0,0,0,0,0,28.83,25.88,28.83
$STATE,11503,end climb,SURFACE_DEPTH_REACHED
$STATE,11507,begin surface coast
$FINISH,1.9,1.024321
$STATE,11554,end surface coast,CONTROL_FINISHED_OK
$STATE,11554,begin surface
$SM_CCo,11578,79.47,0.057,0,0,1480,375.06
$SM_GC,2.74,8.85,0.38,79.47,0.041,0.050,0.057,338,2308,1480,-8.87,-1.53,375.06,0,0,0,0,0,0,25.81,26.00,25.73
$IRIDIUM_FIX,4732.49,-12517.37,141213,202030
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.10
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3795456
$PM_FREEKB,2849676
$24V_AH,23.6,47.345
$10V_AH,9.5,47.780
$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,21.425,67.700,393.325,79.475,0.000,0.000,0.000,213.050,0.000,0.000,18.152,1846.083,7354.622,531.548,1914.648,436.320,0.000,1813.421,0.000,1366.250,0.000,0.535,0.000
$DEVICE_MAMPS,232.560,60.435,868.275,57.375,0.000,0.000,0.000,126.990,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11554.000,269.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.101,9.972,0.000,0.000
$MEM,258788
$DATA_FILE_SIZE,23435,625
$CAP_FILE_SIZE,143499,0
$CFSIZE,260034560,205144064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,338.3,1
$GPS,151213,030504,4748.409,-12517.366,45,0.9,45,17.2