version: 66.11
glider: 108
mission: 25
dive: 456
start: 12 15 113 20 14 21
data:
$ID,108
$MISSION,25
$DIVE,456
$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,1
$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,-194778.72
$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,67
$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
$GPS1,151213,200734,4751.248,-12511.896,23,1.4,23,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-74.0
$GPS2,151213,201354,4751.241,-12511.896,14,1.9,14,17.2
$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,191.1,166280,-15.8,-8.049,-22.04,2046
$D_GRID,280
$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,24,-1.11,-107.1,330,2275,1538,1393,0.0,0.0,0,72,0.00,0.00,-40.90,0.000,16386,0.000,0.000,330,2275,2549,2592,2507,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.11,-107.1,330,2275,2597,2510,3.0,-1.1,7,127,9.88,2.00,-26.10,0.000,18692,0.230,0.056,2827,3593,3449,3490,3408,0,0,0,0,0,0,25.39,26.00,26.51
$GC,260,-1.11,-107.1,1800,3592,3483,3412,32.3,-17.6,35,272,0.00,1.90,0.00,0.000,1030,0.000,0.025,2836,2284,3455,3495,3415,0,0,0,0,0,0,28.83,26.23,28.83
$GC,571,-1.11,-107.1,2835,2281,3497,3415,79.4,-14.2,56,582,0.00,1.98,0.00,0.000,260,0.000,0.044,2828,3590,3455,3497,3414,0,0,0,0,0,0,28.83,26.09,28.83
$GC,616,-1.11,-107.1,2828,3590,3497,3415,83.5,-14.1,57,627,0.00,1.83,0.00,0.000,1030,0.000,0.025,2835,2286,3456,3497,3415,0,0,0,0,0,0,28.83,26.35,28.83
$GC,921,-1.11,-107.1,2835,2285,3497,3415,124.8,-13.0,73,932,0.00,2.08,0.00,0.000,516,0.000,0.031,2838,912,3457,3498,3416,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1007,-1.11,-107.1,2838,912,3498,3415,133.6,-12.5,76,1019,0.00,2.12,0.00,0.000,1030,0.000,0.031,2831,2308,3456,3497,3415,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1313,-1.11,-107.1,2831,2308,3497,3415,173.2,-12.2,92,1323,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2308,3456,3498,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1612,-1.11,-107.1,2831,2308,3498,3415,209.5,-12.4,107,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2308,3456,3498,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1912,-1.11,-107.1,2831,2308,3498,3415,244.6,-11.2,122,1923,0.00,1.90,0.00,0.000,260,0.000,0.043,2821,3597,3456,3498,3415,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1962,-1.11,-107.1,2821,3596,3498,3415,250.8,-12.0,124,1973,0.00,1.83,0.00,0.000,1030,0.000,0.024,2821,2291,3456,3498,3415,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,2209,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2209,begin apogee
$GC,2216,-0.25,0.0,2823,2029,3498,3415,281.3,-11.7,136,2362,0.93,0.00,130.57,0.694,10246,0.138,0.000,3113,2028,3004,3092,2916,0,0,0,0,0,0,25.44,28.83,24.50
$STATE,2364,end apogee,CONTROL_FINISHED_OK
$STATE,2364,begin climb
$GC,2368,1.11,107.1,3113,2028,3088,2912,285.3,0.0,143,2507,1.27,0.00,129.85,0.669,10246,0.080,0.000,3559,2028,2571,2673,2469,0,0,0,0,0,0,25.32,28.83,24.30
$GC,2801,1.11,107.1,3559,2028,2650,2457,241.7,11.8,165,2812,0.00,2.12,0.00,0.000,260,0.000,0.040,3558,3424,2553,2650,2457,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2860,1.11,107.1,3559,3424,2649,2456,235.3,11.9,167,2871,0.00,2.03,0.00,0.000,1030,0.000,0.024,3568,2028,2552,2649,2456,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3180,1.11,107.1,3568,2028,2647,2454,196.4,11.7,183,3191,0.00,2.12,0.00,0.000,260,0.000,0.038,3569,3425,2550,2647,2454,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3224,1.11,107.1,3568,3425,2646,2454,192.7,11.8,184,3235,0.00,2.03,0.00,0.000,1030,0.000,0.024,3578,2022,2550,2647,2454,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3530,1.11,107.1,3578,2022,2645,2453,151.9,12.9,200,3541,0.00,2.10,0.00,0.000,516,0.000,0.034,3588,642,2549,2645,2453,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3665,1.11,107.1,2816,641,2591,2444,135.8,12.0,206,3677,0.12,2.12,0.00,0.000,5126,0.163,0.029,3558,2034,2548,2644,2453,0,0,0,0,0,0,25.95,26.30,28.83
$GC,3991,1.11,107.1,3558,2033,2644,2453,100.2,10.4,222,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2033,2548,2644,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4292,1.11,107.1,3557,2033,2643,2453,70.8,8.8,237,4302,0.00,2.15,0.00,0.000,516,0.000,0.034,3565,645,2548,2643,2453,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4366,1.11,107.1,2752,645,2589,2443,63.8,9.9,240,4377,0.00,2.12,0.00,0.000,1030,0.000,0.030,3564,2038,2547,2642,2452,0,0,0,0,0,0,28.83,26.35,28.83
$GC,4681,1.18,130.6,3565,2038,2642,2453,35.6,6.9,264,4719,0.00,2.12,23.38,0.591,8452,0.000,0.041,3565,3426,2473,2566,2380,0,0,0,0,0,0,28.83,26.23,25.44
$GC,4761,1.21,139.5,3565,3426,2562,2378,30.5,7.6,270,4782,0.00,2.05,7.90,0.591,9222,0.000,0.024,3575,2018,2437,2532,2343,0,0,0,0,0,0,28.83,26.29,25.26
$GC,5089,1.42,209.4,2760,2015,2468,2331,11.7,4.5,326,5138,0.20,2.15,33.00,0.073,10756,0.077,0.033,3670,649,2154,2259,2049,0,0,0,0,0,0,26.27,26.17,25.95
$STATE,5175,end climb,SURFACE_DEPTH_REACHED
$STATE,5176,begin surface coast
$FINISH,1.8,1.014965
$STATE,5207,end surface coast,CONTROL_FINISHED_OK
$STATE,5207,begin surface
$SM_CCo,5234,72.88,0.057,0,0,1479,375.06
$SM_GC,2.71,8.75,2.58,72.88,0.039,0.029,0.057,335,2310,1479,-8.86,-1.58,375.06,0,0,1,0,0,0,26.11,26.23,26.00
$IRIDIUM_FIX,4732.49,-12510.28,151213,181809
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.55
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3792256
$PM_FREEKB,2812428
$24V_AH,24.3,48.016
$10V_AH,9.9,48.221
$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,21.150,41.625,324.700,72.875,0.000,0.000,0.000,191.925,0.000,0.000,15.955,977.203,2915.607,457.684,1071.872,271.744,0.000,1213.247,0.000,708.932,0.000,0.535,0.000
$DEVICE_MAMPS,229.500,55.845,693.855,56.610,0.000,0.000,0.000,121.635,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5209.000,127.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.109,9.843,0.000,0.000
$MEM,258764
$DATA_FILE_SIZE,10118,346
$CAP_FILE_SIZE,80476,0
$CFSIZE,260034560,204718080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.068,309.1,1
$GPS,151213,214400,4750.939,-12512.559,21,1.5,21,17.2