version: 66.11
glider: 108
mission: 25
dive: 447
start: 12 15 113 3 12 45
data:
$ID,108
$MISSION,25
$DIVE,447
$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,-194767.47
$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,75
$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
$GPS1,151213,030504,4748.409,-12517.366,45,0.9,45,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-70.4
$GPS2,151213,031218,4748.400,-12517.322,19,1.0,19,17.2
$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,45.2,10933,-15.8,-8.049,-22.04,2046
$D_GRID,561
$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,-107.1,334,2323,1532,1385,0.0,0.0,0,70,0.00,0.00,-40.12,0.000,16386,0.000,0.000,334,2324,2516,2570,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.11,-107.1,334,2323,2571,2469,3.1,-1.8,7,130,10.07,2.00,-29.75,0.000,19204,0.234,0.062,2830,3588,3451,3494,3409,0,0,0,0,0,0,25.28,25.88,26.39
$GC,363,-1.11,-107.1,2830,3588,3497,3414,55.6,-17.8,45,374,0.00,1.85,0.00,0.000,1030,0.000,0.026,2838,2288,3456,3498,3415,0,0,0,0,0,0,28.83,26.17,28.83
$GC,694,-1.11,-107.1,2838,2287,3499,3415,105.4,-14.4,61,705,0.00,1.98,0.00,0.000,260,0.000,0.042,2831,3586,3457,3499,3415,0,0,0,0,0,0,28.83,26.01,28.83
$GC,936,-1.11,-107.1,2830,3586,3498,3415,136.3,-12.5,72,947,0.00,1.83,0.00,0.000,1030,0.000,0.026,2837,2291,3457,3499,3415,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1256,-1.11,-107.1,2837,2291,3500,3415,174.1,-11.3,88,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2291,3457,3500,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1556,-1.11,-107.1,2837,2291,3499,3415,208.1,-11.3,103,1566,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2291,3457,3500,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1856,-1.11,-107.1,2837,2291,3500,3415,241.2,-11.2,118,1867,0.00,1.95,0.00,0.000,260,0.000,0.043,2829,3588,3457,3500,3415,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1941,-1.11,-107.1,2829,3588,3499,3415,249.7,-12.0,121,1952,0.00,1.83,0.00,0.000,1030,0.000,0.026,2837,2285,3457,3500,3415,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2246,-1.11,-107.1,2837,2285,3500,3415,288.0,-12.1,137,2257,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2285,3457,3500,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2546,-1.11,-107.1,2837,2285,3500,3415,323.1,-11.6,152,2556,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2285,3457,3500,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2846,-1.11,-107.1,2837,2285,3500,3415,356.9,-11.1,167,2856,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2285,3457,3500,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3146,-1.11,-107.1,2837,2285,3499,3415,388.5,-10.1,182,3157,0.00,1.95,0.00,0.000,260,0.000,0.043,2829,3583,3457,3499,3415,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3230,-1.11,-107.1,2829,3583,3499,3415,396.0,-10.6,185,3242,0.00,1.80,0.00,0.000,1030,0.000,0.026,2837,2296,3457,3499,3415,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3536,-1.11,-107.1,2836,2296,3499,3415,428.9,-10.3,201,3547,0.00,2.08,0.00,0.000,516,0.000,0.031,2837,911,3457,3499,3415,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3607,-1.11,-107.1,2838,911,3499,3416,436.5,-10.9,204,3618,0.00,2.12,0.00,0.000,1030,0.000,0.031,2831,2308,3456,3498,3415,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3937,-1.11,-107.1,2831,2308,3498,3415,472.3,-10.6,220,3947,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2307,3456,3498,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4237,-1.11,-107.1,2831,2307,3498,3415,503.9,-10.6,235,4248,0.00,2.10,0.00,0.000,516,0.000,0.030,2831,917,3456,3498,3415,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4312,-1.11,-107.1,1824,917,3486,3412,511.5,-11.0,238,4323,0.00,2.10,0.00,0.000,1030,0.000,0.031,2824,2300,3456,3498,3415,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4637,-1.11,-107.1,2824,2299,3497,3415,546.6,-11.1,254,4648,0.00,1.90,0.00,0.000,260,0.000,0.043,2815,3580,3455,3496,3414,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4676,-1.11,-107.1,2814,3580,3495,3415,549.9,-11.0,255,4687,0.00,1.80,0.00,0.000,1030,0.000,0.026,2815,2293,3455,3496,3414,0,0,0,0,0,0,28.83,26.43,28.83
$STATE,4772,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4773,begin apogee
$GC,4781,-0.25,0.0,2817,2026,3495,3415,561.8,-10.7,260,4935,0.95,0.00,137.85,0.829,10246,0.139,0.000,3112,2019,3005,3093,2917,0,0,0,0,0,0,25.25,28.83,24.18
$STATE,4937,end apogee,CONTROL_FINISHED_OK
$STATE,4937,begin climb
$GC,4940,1.11,107.1,3111,2019,3090,2913,565.3,0.0,267,5087,1.27,0.00,137.43,0.791,10246,0.080,0.000,3555,2019,2571,2671,2471,0,0,0,0,0,0,25.13,28.83,23.86
$GC,5377,1.11,107.1,3555,2019,2646,2457,513.8,14.4,290,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2019,2552,2647,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5676,1.11,107.1,3555,2019,2644,2455,472.2,13.6,305,5686,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2018,2550,2644,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5976,1.11,107.1,3555,2019,2643,2453,431.7,13.3,320,5987,0.00,2.15,0.00,0.000,260,0.000,0.041,3555,3428,2548,2643,2454,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6011,1.11,107.1,3555,3428,2641,2454,427.5,13.4,321,6022,0.00,2.05,0.00,0.000,1030,0.000,0.025,3565,2012,2547,2641,2454,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6336,1.11,107.1,3565,2012,2640,2453,385.4,12.0,337,6347,0.00,2.10,0.00,0.000,516,0.000,0.034,3574,644,2546,2640,2453,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6375,1.11,107.1,3574,644,2640,2453,381.8,12.0,338,6386,0.00,2.12,0.00,0.000,1030,0.000,0.030,3574,2021,2547,2640,2454,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6695,1.11,107.1,3574,2021,2640,2455,342.2,11.9,354,6706,0.00,2.12,0.00,0.000,260,0.000,0.041,3575,3441,2546,2640,2453,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6781,1.11,107.1,3574,3442,2639,2453,333.0,12.6,357,6792,0.00,2.05,0.00,0.000,1030,0.000,0.026,3585,2021,2546,2640,2453,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7086,1.11,107.1,3584,2021,2639,2453,295.4,11.7,373,7097,0.00,2.12,0.00,0.000,516,0.000,0.034,3595,640,2546,2640,2453,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7157,1.11,107.1,3594,640,2640,2453,287.2,11.7,376,7168,0.15,2.15,0.00,0.000,5126,0.155,0.030,3555,2036,2546,2640,2453,0,0,0,0,0,0,25.83,26.28,28.83
$GC,7488,1.11,107.1,3555,2036,2639,2452,253.2,10.3,392,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2036,2545,2639,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7788,1.11,107.1,3555,2036,2639,2452,223.6,9.6,407,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2036,2545,2639,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8088,1.11,107.1,3555,2036,2638,2451,194.6,10.2,422,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2036,2544,2638,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8387,1.11,107.1,3555,2036,2638,2451,162.5,11.2,437,8398,0.00,2.17,0.00,0.000,516,0.000,0.034,3562,643,2544,2638,2451,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8481,1.11,107.1,3562,643,2637,2451,152.2,11.3,441,8492,0.00,2.15,0.00,0.000,1030,0.000,0.031,3562,2035,2544,2638,2451,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8811,1.11,107.1,3562,2034,2637,2451,114.7,11.5,457,8822,0.00,2.10,0.00,0.000,260,0.000,0.041,3563,3432,2544,2638,2451,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8856,1.11,107.1,3562,3432,2637,2451,111.0,11.6,458,8868,0.00,2.05,0.00,0.000,1030,0.000,0.026,3572,2014,2544,2637,2451,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9162,1.11,107.1,3572,2015,2637,2451,74.0,9.7,474,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2014,2544,2637,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9462,1.11,107.1,3572,2014,2637,2451,46.5,8.6,490,9473,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2014,2544,2637,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9772,1.29,167.6,3572,2014,2637,2451,28.2,5.0,521,9858,0.12,2.15,70.35,0.575,10756,0.095,0.033,3640,638,2320,2418,2222,0,0,0,0,0,0,26.55,25.80,25.03
$GC,10050,1.29,167.6,3640,639,2404,2215,8.8,8.9,565,10064,0.00,2.15,0.00,0.000,1030,0.000,0.028,3638,2021,2309,2404,2214,0,0,0,0,0,0,28.83,25.98,28.83
$STATE,10111,end climb,SURFACE_DEPTH_REACHED
$STATE,10111,begin surface coast
$FINISH,1.8,1.024091
$STATE,10168,end surface coast,CONTROL_FINISHED_OK
$STATE,10168,begin surface
$SM_CCo,10193,92.00,0.057,0,0,1479,375.06
$SM_GC,2.65,8.90,0.40,92.00,0.049,0.048,0.057,336,2312,1479,-8.88,-1.19,375.06,0,0,0,0,0,0,25.89,26.07,25.79
$IRIDIUM_FIX,4729.30,-12517.37,141213,232357
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.82
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3795136
$PM_FREEKB,2849676
$24V_AH,23.9,47.429
$10V_AH,10.2,47.840
$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,21.475,57.650,345.625,92.000,0.000,0.000,0.000,217.850,0.000,0.000,21.010,1686.564,6387.125,516.317,1729.801,397.930,0.000,1671.822,0.000,1215.395,0.000,0.535,0.000
$DEVICE_MAMPS,234.090,61.965,829.260,57.375,0.000,0.000,0.000,126.225,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10184.000,243.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.329,10.065,0.000,0.000
$MEM,258672
$DATA_FILE_SIZE,20064,586
$CAP_FILE_SIZE,130381,0
$CFSIZE,260034560,205090816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.126,357.1,1
$GPS,151213,060535,4749.463,-12516.049,33,0.9,33,17.2