version: 66.11
glider: 108
mission: 25
dive: 450
start: 12 15 113 10 44 39
data:
$ID,108
$MISSION,25
$DIVE,450
$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,-194771.22
$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,80
$R_STBD_OVSHOOT,61
$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
$GPS1,151213,103729,4750.006,-12514.157,39,0.8,39,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-71.4
$GPS2,151213,104412,4750.115,-12514.226,17,1.9,17,17.2
$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,62.7,5955,-15.8,-8.049,-22.04,2046
$D_GRID,344
$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,-107.1,336,2327,1534,1386,0.0,0.0,0,73,0.00,0.00,-42.12,0.000,16386,0.000,0.000,337,2328,2578,2614,2542,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.11,-107.1,337,2329,2621,2542,3.2,-2.3,7,128,10.00,1.92,-26.55,0.000,18692,0.233,0.057,2833,3573,3450,3492,3409,0,0,0,0,0,0,25.34,25.93,26.46
$GC,360,-1.11,-107.1,2833,3573,3495,3414,49.9,-15.1,45,371,0.00,1.83,0.00,0.000,1030,0.000,0.025,2839,2285,3455,3496,3415,0,0,0,0,0,0,28.83,26.23,28.83
$GC,680,-1.11,-107.1,2839,2282,3498,3414,93.7,-13.4,61,690,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2282,3456,3498,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,980,-1.11,-107.1,2839,2283,3498,3414,131.3,-12.3,76,991,0.00,1.98,0.00,0.000,260,0.000,0.044,2831,3589,3456,3498,3415,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1020,-1.11,-107.1,2831,3590,3498,3414,135.2,-12.4,77,1031,0.00,1.83,0.00,0.000,1030,0.000,0.025,2838,2287,3456,3498,3414,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1340,-1.11,-107.1,2838,2287,3499,3414,177.9,-12.3,93,1351,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2287,3457,3499,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1640,-1.11,-107.1,2838,2287,3499,3414,214.5,-11.4,108,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2287,3456,3499,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,-1.11,-107.1,2838,2287,3500,3414,248.8,-11.3,123,1951,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2287,3456,3499,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2240,-1.11,-107.1,2838,2288,3500,3415,282.7,-11.5,138,2251,0.00,1.95,0.00,0.000,260,0.000,0.042,2830,3585,3457,3499,3415,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2311,-1.11,-107.1,2830,3585,3499,3415,291.7,-12.7,141,2322,0.00,1.83,0.00,0.000,1030,0.000,0.025,2831,2289,3456,3499,3414,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2641,-1.11,-107.1,2830,2289,3499,3415,332.7,-12.3,157,2652,0.00,1.95,0.00,0.000,260,0.000,0.042,2821,3579,3457,3499,3415,0,0,0,0,0,0,28.83,26.14,28.83
$GC,2686,-1.11,-107.1,2821,3579,3499,3415,336.7,-12.6,158,2699,0.00,1.80,0.00,0.000,1030,0.000,0.025,2825,2294,3457,3499,3415,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,2728,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2728,begin apogee
$GC,2736,-0.25,0.0,2824,2025,3499,3415,344.4,-13.0,161,2886,0.93,0.00,133.07,0.727,10246,0.138,0.000,3114,2017,3005,3093,2918,0,0,0,0,0,0,25.33,28.83,24.41
$STATE,2888,end apogee,CONTROL_FINISHED_OK
$STATE,2888,begin climb
$GC,2891,1.11,107.1,3113,2017,3091,2916,349.9,0.0,168,3042,1.25,2.28,132.98,0.696,10756,0.078,0.032,3562,651,2566,2666,2467,0,0,0,0,0,0,25.27,24.94,24.16
$GC,3071,1.11,107.1,3562,651,2656,2465,339.5,8.9,177,3082,0.00,2.20,0.00,0.000,1030,0.000,0.028,3562,2020,2560,2656,2465,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3392,1.11,107.1,3562,2019,2650,2459,303.1,10.4,193,3403,0.00,2.15,0.00,0.000,260,0.000,0.040,3562,3440,2554,2650,2459,0,0,0,0,0,0,28.83,25.90,28.83
$GC,3431,1.11,107.1,3562,3440,2649,2459,299.7,10.7,194,3442,0.00,2.08,0.00,0.000,1030,0.000,0.024,3572,2015,2554,2650,2459,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3752,1.11,107.1,3572,2015,2650,2458,261.6,11.6,210,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2015,2553,2648,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,1.11,107.1,3571,2015,2647,2457,230.5,10.2,225,4062,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2015,2552,2647,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4352,1.11,107.1,3572,2015,2645,2456,196.6,11.5,240,4363,0.00,2.12,0.00,0.000,516,0.000,0.034,3582,637,2550,2645,2456,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4422,1.11,107.1,3581,637,2645,2456,188.2,11.8,243,4433,0.00,2.15,0.00,0.000,1030,0.000,0.028,3582,2034,2550,2645,2456,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4752,1.11,107.1,3581,2034,2644,2455,147.2,12.0,259,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2034,2550,2645,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5052,1.11,107.1,3581,2034,2643,2455,115.0,10.2,274,5063,0.00,2.08,0.00,0.000,260,0.000,0.041,3582,3427,2549,2644,2455,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5136,1.11,107.1,3581,3426,2643,2454,107.6,10.5,277,5148,0.12,2.03,0.00,0.000,5126,0.167,0.025,3560,2019,2548,2642,2454,0,0,0,0,0,0,25.99,26.44,28.83
$GC,5442,1.11,107.1,3560,2019,2643,2453,77.7,9.9,293,5453,0.00,2.10,0.00,0.000,516,0.000,0.034,3568,645,2548,2643,2453,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5684,1.11,107.1,3568,645,2642,2454,54.0,9.1,304,5695,0.00,2.12,0.00,0.000,1030,0.000,0.030,3568,2036,2548,2643,2453,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6007,1.19,132.9,3567,2036,2642,2453,27.2,6.7,334,6039,0.00,2.22,21.60,0.584,8708,0.000,0.033,3575,643,2462,2556,2369,0,0,1,0,0,0,28.83,26.27,25.44
$GC,6276,1.41,206.4,3574,638,2545,2366,12.2,4.4,381,6323,0.22,2.12,34.33,0.074,11270,0.076,0.028,3663,2030,2167,2270,2064,0,0,0,0,0,0,26.10,26.26,25.91
$STATE,6377,end climb,SURFACE_DEPTH_REACHED
$STATE,6377,begin surface coast
$FINISH,1.8,1.019084
$STATE,6416,end surface coast,CONTROL_FINISHED_OK
$STATE,6418,begin surface
$SM_CCo,6443,74.53,0.057,0,0,1479,375.06
$SM_GC,2.67,8.85,0.35,74.53,0.046,0.046,0.057,333,2301,1479,-8.87,-1.75,375.06,0,0,0,0,0,0,26.07,26.33,25.96
$IRIDIUM_FIX,4732.49,-12519.22,151213,080808
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.02
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3794176
$PM_FREEKB,2812428
$24V_AH,24.2,47.641
$10V_AH,9.8,47.992
$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,21.375,41.400,321.975,74.525,0.000,0.000,0.000,204.725,0.000,0.000,18.856,1162.626,3747.809,450.705,1259.610,301.962,0.000,1316.543,0.000,837.561,0.000,0.536,0.000
$DEVICE_MAMPS,232.560,56.610,726.750,56.610,0.000,0.000,0.000,121.635,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6426.000,158.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.395,9.673,0.000,0.000
$MEM,258748
$DATA_FILE_SIZE,13459,405
$CAP_FILE_SIZE,91708,0
$CFSIZE,260034560,204955648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.035,297.0,1
$GPS,151213,123434,4750.165,-12513.445,28,1.2,28,17.2