version: 66.11
glider: 108
mission: 25
dive: 451
start: 12 15 113 12 41 22
data:
$ID,108
$MISSION,25
$DIVE,451
$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,-194772.47
$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,78
$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
$GPS1,151213,123434,4750.165,-12513.445,28,1.2,28,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-74.0
$GPS2,151213,124055,4750.182,-12513.423,15,1.6,15,17.2
$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,42.4,5083,-15.8,-8.049,-22.04,2046
$D_GRID,312
$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,-107.1,330,2314,1535,1392,0.0,0.0,0,77,0.00,0.00,-46.47,0.000,16386,0.000,0.000,330,2316,2701,2727,2676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.11,-107.1,330,2316,2735,2677,3.2,-0.8,8,126,9.98,1.98,-18.38,0.000,18692,0.233,0.060,2827,3574,3453,3494,3413,0,0,0,0,0,0,25.35,25.98,26.47
$GC,359,-1.11,-107.1,1856,3573,3488,3415,50.7,-15.8,43,370,0.00,1.83,0.00,0.000,1030,0.000,0.025,2834,2278,3457,3498,3417,0,0,0,0,0,0,28.83,26.25,28.83
$GC,667,-1.11,-107.1,2834,2278,3500,3417,95.1,-14.0,59,678,0.00,1.98,0.00,0.000,260,0.000,0.042,2826,3591,3458,3499,3417,0,0,0,0,0,0,28.83,26.08,28.83
$GC,878,-1.11,-107.1,2826,3590,3500,3417,126.5,-13.9,69,889,0.00,1.83,0.00,0.000,1030,0.000,0.025,2834,2286,3458,3500,3417,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1208,-1.11,-107.1,2833,2286,3501,3417,172.2,-13.9,85,1219,0.00,1.95,0.00,0.000,260,0.000,0.042,2826,3581,3458,3500,3417,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1228,-1.11,-107.1,2826,3581,3500,3417,172.2,-13.9,85,1239,0.00,1.80,0.00,0.000,1030,0.000,0.025,2833,2295,3458,3500,3417,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1548,-1.11,-107.1,2833,2294,3501,3417,216.7,-12.3,101,1559,0.00,2.08,0.00,0.000,516,0.000,0.030,2836,912,3459,3501,3417,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1588,-1.11,-107.1,2836,912,3501,3417,220.4,-12.1,102,1599,0.00,2.12,0.00,0.000,1030,0.000,0.031,2829,2305,3459,3501,3417,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1908,-1.11,-107.1,2829,2304,3501,3417,259.8,-11.4,118,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2304,3459,3501,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2208,-1.11,-107.1,2829,2304,3502,3417,294.8,-11.9,133,2219,0.00,1.90,0.00,0.000,260,0.000,0.044,2819,3590,3459,3501,3417,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2286,-1.11,-107.1,2819,3590,3501,3417,303.4,-12.2,136,2298,0.00,1.80,0.00,0.000,1030,0.000,0.025,2820,2301,3459,3501,3418,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,2364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2364,begin apogee
$GC,2372,-0.25,0.0,2821,2029,3501,3417,313.9,-11.8,140,2518,0.93,0.00,131.77,0.707,10246,0.139,0.000,3111,2021,3007,3095,2919,0,0,0,0,0,0,25.37,28.83,24.46
$STATE,2520,end apogee,CONTROL_FINISHED_OK
$STATE,2520,begin climb
$GC,2524,1.11,107.1,3110,2021,3090,2913,318.0,0.0,147,2668,1.27,0.00,130.85,0.679,10246,0.080,0.000,3556,2020,2564,2664,2465,0,0,0,0,0,0,25.28,28.83,24.23
$GC,2968,1.11,107.1,3556,2020,2650,2456,271.8,12.7,170,2979,0.00,2.17,0.00,0.000,260,0.000,0.039,3556,3437,2553,2650,2456,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3038,1.11,107.1,3556,3438,2649,2456,262.0,13.7,173,3049,0.00,2.05,0.00,0.000,1030,0.000,0.024,3567,2025,2552,2648,2456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3368,1.11,107.1,3566,2025,2647,2454,219.3,12.6,189,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2025,2550,2647,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3668,1.11,107.1,3566,2025,2646,2453,183.1,11.6,204,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2025,2549,2646,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3968,1.11,107.1,3566,2025,2644,2453,148.7,11.3,219,3979,0.00,0.00,0.00,0.000,6,0.000,0.000,3567,2025,2549,2645,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4268,1.11,107.1,3566,2025,2644,2453,116.7,10.6,234,4280,0.00,2.10,0.00,0.000,516,0.000,0.033,3576,644,2549,2644,2454,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4288,1.11,107.1,3575,644,2643,2453,116.7,10.6,234,4299,0.00,2.12,0.00,0.000,1030,0.000,0.028,3576,2038,2548,2644,2453,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4609,1.11,107.1,3576,2037,2643,2453,79.5,11.3,250,4620,0.00,2.15,0.00,0.000,516,0.000,0.032,3585,645,2548,2643,2453,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4689,1.11,107.1,3585,645,2643,2453,72.3,10.3,253,4700,0.00,2.10,0.00,0.000,1030,0.000,0.029,3585,2024,2547,2642,2453,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5010,1.11,107.1,3585,2023,2641,2453,38.1,10.7,274,5021,0.00,2.12,0.00,0.000,516,0.000,0.033,3591,647,2547,2642,2452,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5127,1.12,110.2,3590,647,2641,2453,28.0,7.9,284,5139,0.12,2.12,0.00,0.000,5126,0.153,0.029,3560,2045,2546,2640,2453,0,0,0,0,0,0,26.01,26.36,28.83
$GC,5445,1.40,203.3,3560,2044,2640,2452,16.1,3.4,339,5500,0.22,2.22,44.00,0.083,10756,0.074,0.031,3665,640,2179,2283,2076,0,0,1,0,0,0,26.41,26.15,25.91
$STATE,5575,end climb,SURFACE_DEPTH_REACHED
$STATE,5576,begin surface coast
$FINISH,1.8,1.007437
$STATE,5613,end surface coast,CONTROL_FINISHED_OK
$STATE,5614,begin surface
$SM_CCo,5641,75.88,0.057,0,0,1480,375.06
$SM_GC,2.62,8.80,2.58,75.88,0.044,0.031,0.057,330,2287,1480,-8.89,-1.81,375.06,0,0,1,0,0,0,26.15,26.27,26.02
$IRIDIUM_FIX,4732.49,-12514.75,151213,101035
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.90
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3793856
$PM_FREEKB,2812428
$24V_AH,24.2,47.701
$10V_AH,9.6,48.032
$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,21.325,41.325,306.625,75.875,0.000,0.000,0.000,186.600,0.000,0.000,16.916,1066.132,3166.050,440.974,1145.035,284.062,0.000,1225.539,0.000,778.846,0.000,0.535,0.000
$DEVICE_MAMPS,232.560,60.435,706.860,56.610,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5617.000,139.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.689,9.602,0.000,0.000
$MEM,258756
$DATA_FILE_SIZE,13464,368
$CAP_FILE_SIZE,84183,0
$CFSIZE,260034560,204914688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.056,301.2,1
$GPS,151213,141755,4750.399,-12512.918,25,0.8,26,17.2