version: 66.11
glider: 108
mission: 25
dive: 459
start: 12 16 113 1 28 49
data:
$ID,108
$MISSION,25
$DIVE,459
$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,-194782.47
$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,88
$R_STBD_OVSHOOT,59
$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
$GPS1,161213,012126,4750.250,-12513.897,20,1.1,20,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-73.9
$GPS2,161213,012820,4750.264,-12513.868,29,1.0,30,17.2
$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,192.7,163203,-15.8,-8.049,-22.04,2046
$D_GRID,416
$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,-107.1,335,2326,1532,1389,0.0,0.0,0,71,0.00,0.00,-40.42,0.000,16386,0.000,0.000,334,2326,2539,2590,2488,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,335,2326,2594,2493,3.1,-2.1,7,126,9.85,1.98,-29.02,0.000,18692,0.228,0.060,2833,3579,3449,3491,3407,0,0,0,0,0,0,25.39,26.00,26.48
$GC,222,-1.11,-107.1,2832,3579,3494,3414,23.4,-17.2,32,235,0.00,1.85,0.00,0.000,1030,0.000,0.026,2836,2304,3454,3494,3414,0,0,0,0,0,0,28.83,26.20,28.83
$GC,545,-1.11,-107.1,2836,2304,3496,3414,69.2,-13.9,57,556,0.00,1.92,0.00,0.000,260,0.000,0.044,2829,3579,3455,3496,3414,0,0,0,0,0,0,28.83,26.08,28.83
$GC,589,-1.11,-107.1,2829,3579,3495,3414,73.4,-13.8,58,602,0.00,1.80,0.00,0.000,1030,0.000,0.025,2836,2298,3455,3496,3414,0,0,0,0,0,0,28.83,26.33,28.83
$GC,896,-1.11,-107.1,2836,2298,3497,3414,118.2,-13.1,74,907,0.00,1.95,0.00,0.000,260,0.000,0.043,2828,3592,3455,3497,3414,0,0,0,0,0,0,28.83,26.14,28.83
$GC,955,-1.11,-107.1,2828,3591,3497,3414,124.8,-12.9,76,966,0.00,1.83,0.00,0.000,1030,0.000,0.024,2830,2286,3456,3498,3414,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1275,-1.11,-107.1,2830,2285,3497,3414,170.4,-14.8,92,1286,0.00,1.95,0.00,0.000,260,0.000,0.042,2822,3590,3456,3498,3414,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1315,-1.11,-107.1,2822,3590,3497,3414,175.2,-15.0,93,1326,0.00,1.80,0.00,0.000,1030,0.000,0.026,2823,2302,3455,3497,3414,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1635,-1.11,-107.1,2823,2302,3498,3414,218.2,-12.0,109,1646,0.00,2.08,0.00,0.000,516,0.000,0.030,2823,917,3456,3498,3414,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1708,-1.11,-107.1,1856,917,3487,3411,226.2,-11.7,112,1719,0.00,2.10,0.00,0.000,1030,0.000,0.031,2817,2299,3456,3497,3415,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2033,-1.11,-107.1,2817,2298,3497,3414,263.9,-11.2,128,2044,0.00,1.90,0.00,0.000,260,0.000,0.043,2807,3588,3455,3497,3414,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2084,-1.11,-107.1,2807,3588,3497,3414,269.8,-11.6,130,2095,0.12,1.80,0.00,0.000,3078,0.176,0.026,2839,2303,3455,3497,3414,0,0,0,0,0,0,25.98,26.46,28.83
$GC,2414,-1.11,-107.1,2839,2301,3499,3414,307.0,-11.3,146,2426,0.00,2.08,0.00,0.000,516,0.000,0.030,2848,915,3456,3498,3414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2459,-1.11,-107.1,2848,914,3498,3415,310.5,-11.4,147,2471,0.00,2.10,0.00,0.000,1030,0.000,0.031,2841,2301,3456,3498,3414,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2765,-1.11,-107.1,2841,2301,3498,3414,348.6,-11.8,163,2776,0.00,2.10,0.00,0.000,516,0.000,0.031,2848,915,3456,3498,3414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2877,-1.11,-107.1,2848,914,3498,3414,362.0,-11.9,168,2888,0.00,2.12,0.00,0.000,1030,0.000,0.032,2841,2302,3456,3498,3414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3207,-1.11,-107.1,2841,2301,3498,3414,401.0,-11.9,184,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2301,3456,3498,3414,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3364,begin apogee
$GC,3373,-0.25,0.0,2841,2031,3498,3415,418.0,-10.3,192,3523,0.85,0.00,133.77,0.750,10246,0.136,0.000,3110,2026,3006,3093,2919,0,0,0,0,0,0,25.41,28.83,24.39
$STATE,3525,end apogee,CONTROL_FINISHED_OK
$STATE,3525,begin climb
$GC,3528,1.11,107.1,3110,2026,3091,2917,421.9,0.0,199,3672,1.27,0.00,130.12,0.723,10758,0.079,0.000,3558,2026,2569,2670,2469,0,0,0,0,0,0,25.27,28.83,24.15
$GC,3970,1.11,107.1,3557,2026,2652,2458,376.7,12.1,222,3981,0.00,2.15,0.00,0.000,516,0.000,0.033,3567,644,2555,2652,2459,0,0,0,0,0,0,28.83,25.92,28.83
$GC,4062,1.11,107.1,3567,644,2650,2459,365.4,12.1,226,4073,0.00,2.17,0.00,0.000,1030,0.000,0.030,3566,2037,2554,2650,2459,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4392,1.11,107.1,3566,2036,2648,2458,325.2,12.6,242,4403,0.00,2.20,0.00,0.000,516,0.000,0.033,3576,637,2553,2648,2458,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4490,1.11,107.1,3575,636,2647,2458,313.3,13.2,246,4500,0.00,2.17,0.00,0.000,1030,0.000,0.030,3576,2035,2552,2647,2458,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4815,1.11,107.1,3575,2035,2646,2456,269.9,12.9,262,4826,0.00,2.17,0.00,0.000,516,0.000,0.033,3585,644,2550,2645,2456,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4867,1.11,107.1,3584,644,2645,2456,264.7,11.0,264,4878,0.00,2.15,0.00,0.000,1030,0.000,0.030,3582,2034,2551,2647,2456,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5199,1.11,107.1,3582,2033,2645,2455,226.4,12.3,280,5210,0.00,2.17,0.00,0.000,516,0.000,0.034,3590,639,2549,2644,2455,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5302,1.11,107.1,3590,638,2644,2455,215.1,12.4,284,5314,0.12,2.12,0.00,0.000,5126,0.161,0.030,3559,2031,2549,2644,2455,0,0,0,0,0,0,25.96,26.32,28.83
$GC,5624,1.11,107.1,3559,2029,2643,2454,175.6,11.2,300,5635,0.00,2.15,0.00,0.000,516,0.000,0.034,3567,646,2548,2643,2454,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5716,1.11,107.1,3566,646,2642,2454,165.8,10.7,304,5727,0.00,2.12,0.00,0.000,1030,0.000,0.030,3566,2033,2548,2642,2454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6046,1.11,107.1,3565,2033,2642,2454,131.5,10.7,320,6057,0.00,2.17,0.00,0.000,516,0.000,0.034,3572,634,2548,2642,2454,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6111,1.11,107.1,3572,634,2641,2454,125.4,11.5,322,6123,0.00,2.15,0.00,0.000,1030,0.000,0.030,3571,2038,2547,2641,2453,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6416,1.11,107.1,3571,2038,2641,2453,85.3,11.7,338,6427,0.00,2.08,0.00,0.000,260,0.000,0.042,3571,3437,2547,2641,2453,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6557,1.11,107.1,3571,3437,2640,2453,68.9,12.2,344,6568,0.00,2.03,0.00,0.000,1030,0.000,0.025,3579,2025,2547,2640,2454,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6878,1.18,128.8,3579,2025,2640,2454,38.6,7.0,367,6909,0.00,2.20,21.12,0.599,8708,0.000,0.034,3589,632,2482,2574,2390,0,0,0,0,0,0,28.83,26.29,25.41
$GC,7010,1.24,150.7,3589,632,2567,2389,29.6,6.9,379,7047,0.00,2.15,24.05,0.589,9222,0.000,0.028,3589,2031,2391,2485,2297,0,0,0,0,0,0,28.83,26.25,25.26
$GC,7353,1.32,177.0,3589,2031,2477,2293,7.5,6.7,439,7378,0.10,2.10,11.70,0.063,10500,0.116,0.039,3629,3430,2286,2383,2189,0,0,0,0,0,0,26.31,26.06,25.91
$STATE,7397,end climb,SURFACE_DEPTH_REACHED
$STATE,7397,begin surface coast
$FINISH,1.7,1.023044
$STATE,7443,end surface coast,CONTROL_FINISHED_OK
$STATE,7443,begin surface
$SM_CCo,7468,88.62,0.057,0,0,1478,375.06
$SM_GC,2.61,8.77,1.70,88.62,0.046,0.025,0.057,337,2320,1478,-8.87,1.98,375.06,0,0,0,0,0,0,26.00,26.28,25.93
$IRIDIUM_FIX,4735.69,-12512.13,151213,232344
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.82
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3791296
$PM_FREEKB,2812428
$24V_AH,24.1,48.215
$10V_AH,9.7,48.359
$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,21.100,69.875,320.775,88.625,0.000,0.000,0.000,203.300,0.000,0.000,31.500,1388.410,4281.148,480.480,1478.145,349.594,0.000,1476.551,0.000,1013.942,0.000,0.535,0.000
$DEVICE_MAMPS,227.970,60.435,749.700,57.375,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7451.000,176.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.067,9.834,0.000,0.000
$MEM,258740
$DATA_FILE_SIZE,16777,454
$CAP_FILE_SIZE,111568,0
$CFSIZE,260034560,204533760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,312.4,1
$GPS,161213,033605,4749.933,-12515.049,28,0.9,28,17.2