version: 66.11
glider: 108
mission: 25
dive: 550
start: 1 3 114 18 6 8
data:
$ID,108
$MISSION,25
$DIVE,550
$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,350
$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,-194896.48
$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,76
$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
$GPS1,030114,175734,4747.507,-12521.910,33,0.9,33,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-70.2
$GPS2,030114,180541,4747.535,-12521.952,14,1.7,15,17.2
$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,68.1,16642,-15.8,-8.049,-22.04,2046
$D_GRID,661
$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,-107.1,334,2328,1618,1500,0.0,0.0,0,55,0.00,0.00,-23.90,0.000,16386,0.000,0.000,335,2328,2185,2216,2154,0,0,0,0,0,0,28.83,28.83,28.83
$GC,59,-1.11,-107.1,334,2328,2230,2149,3.0,-2.5,4,127,10.10,2.28,-44.97,0.000,18948,0.231,0.045,2847,906,3449,3483,3416,0,0,0,0,0,0,25.08,25.98,26.46
$GC,360,-1.11,-107.1,1864,905,3479,3419,50.8,-19.0,46,372,0.00,2.15,0.00,0.000,1030,0.000,0.031,2840,2299,3456,3490,3422,0,0,0,0,0,0,28.83,26.09,28.83
$GC,667,-1.11,-107.1,2840,2298,3490,3423,92.8,-13.1,62,678,0.00,2.12,0.00,0.000,516,0.000,0.031,2840,907,3456,3490,3423,0,0,0,0,0,0,28.83,26.17,28.83
$GC,751,-1.11,-107.1,2840,906,3491,3423,101.6,-12.8,65,763,0.00,2.15,0.00,0.000,1030,0.000,0.031,2831,2304,3457,3491,3423,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1057,-1.11,-107.1,2831,2304,3491,3424,139.8,-11.7,81,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2304,3457,3491,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1357,-1.11,-107.1,2831,2304,3491,3424,174.5,-11.5,96,1368,0.00,2.15,0.00,0.000,516,0.000,0.030,2831,893,3457,3491,3424,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1412,-1.11,-107.1,2831,893,3492,3424,180.3,-11.5,98,1422,0.00,2.15,0.00,0.000,1030,0.000,0.031,2822,2301,3457,3491,3424,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1737,-1.11,-107.1,2821,2300,3491,3424,219.4,-12.4,114,1748,0.00,2.12,0.00,0.000,516,0.000,0.031,2822,893,3458,3492,3424,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1796,-1.11,-107.1,2821,893,3492,3424,225.6,-12.3,116,1807,0.00,2.15,0.00,0.000,1030,0.000,0.031,2813,2300,3457,3491,3424,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2116,-1.11,-107.1,2813,2300,3491,3424,266.7,-12.8,132,2127,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2300,3457,3491,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2418,-1.11,-107.1,2813,2300,3491,3424,304.9,-12.8,147,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2299,3457,3491,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2717,-1.11,-107.1,2813,2300,3490,3424,343.7,-12.7,162,2728,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2300,3457,3490,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3017,-1.11,-107.1,2813,2299,3491,3424,380.8,-12.0,177,3028,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2299,3457,3490,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3317,-1.11,-107.1,2813,2300,3490,3424,417.2,-12.1,192,3328,0.00,1.92,0.00,0.000,260,0.000,0.044,2804,3591,3457,3490,3424,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3398,-1.11,-107.1,2804,3591,3489,3424,426.2,-12.7,195,3409,0.15,1.83,0.00,0.000,3078,0.169,0.025,2841,2288,3456,3489,3424,0,0,0,0,0,0,25.86,26.45,28.83
$GC,3720,-1.11,-107.1,2841,2288,3489,3424,461.4,-10.0,211,3731,0.00,2.08,0.00,0.000,516,0.000,0.031,2850,910,3456,3489,3424,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3794,-1.11,-107.1,2850,911,3489,3424,468.6,-10.0,214,3806,0.00,2.15,0.00,0.000,1030,0.000,0.031,2843,2309,3456,3488,3425,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4120,-1.11,-107.1,2843,2308,3488,3423,500.7,-9.6,230,4131,0.00,1.90,0.00,0.000,260,0.000,0.044,2833,3588,3455,3488,3423,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4224,-1.11,-107.1,2833,3588,3487,3423,510.0,-10.4,234,4236,0.00,1.85,0.00,0.000,1030,0.000,0.025,2834,2301,3455,3487,3423,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4531,-1.11,-107.1,2834,2301,3487,3423,543.7,-10.8,250,4541,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2301,3455,3487,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4831,-1.11,-107.1,2834,2301,3485,3422,575.3,-10.3,265,4842,0.00,2.10,0.00,0.000,516,0.000,0.033,2837,918,3454,3486,3422,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4890,-1.11,-107.1,2836,918,3486,3422,580.4,-10.0,267,4902,0.00,2.15,0.00,0.000,1030,0.000,0.033,2829,2306,3454,3486,3422,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5211,-1.11,-107.1,2829,2306,3484,3422,612.8,-9.7,281,5221,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2306,3453,3485,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5512,-1.11,-107.1,2829,2306,3484,3422,642.2,-9.4,291,5522,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2306,3454,3486,3422,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5718,begin apogee
$GC,5727,-0.25,0.0,2829,2019,3484,3421,662.1,-9.4,298,5879,0.90,0.00,139.62,0.852,10246,0.135,0.000,3110,2018,3009,3091,2928,0,0,0,0,0,0,25.13,28.83,24.01
$STATE,5881,end apogee,CONTROL_FINISHED_OK
$STATE,5881,begin climb
$GC,5886,1.11,107.1,3110,2018,3084,2921,665.5,0.0,303,6036,1.27,0.00,138.68,0.760,11014,0.077,0.000,3554,2018,2567,2659,2475,0,0,0,0,0,0,25.10,28.83,23.65
$GC,6359,1.11,107.1,3554,2018,2640,2466,614.2,12.3,319,6370,0.00,2.17,0.00,0.000,516,0.000,0.034,3564,646,2553,2640,2466,0,0,0,0,0,0,28.83,25.93,28.83
$GC,6411,1.11,107.1,3563,646,2640,2466,609.2,12.3,320,6422,0.00,2.17,0.00,0.000,1030,0.000,0.030,3563,2027,2553,2640,2466,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6742,1.11,107.1,3563,2026,2637,2464,564.3,13.6,335,6753,0.00,2.12,0.00,0.000,260,0.000,0.041,3563,3437,2551,2638,2464,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6792,1.11,107.1,3563,3436,2637,2463,556.7,14.1,337,6803,0.00,2.05,0.00,0.000,1030,0.000,0.025,3572,2030,2550,2637,2463,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7124,1.11,107.1,3571,2030,2635,2462,510.5,14.1,353,7134,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2029,2548,2635,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7423,1.11,107.1,3571,2029,2634,2462,471.1,13.0,368,7434,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2029,2548,2635,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7723,1.11,107.1,3571,2029,2634,2461,431.9,12.8,383,7734,0.00,2.15,0.00,0.000,260,0.000,0.041,3571,3433,2547,2633,2461,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7763,1.11,107.1,3571,3433,2633,2461,427.8,13.0,384,7774,0.00,2.05,0.00,0.000,1030,0.000,0.025,3582,2016,2546,2632,2460,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8083,1.11,107.1,3581,2016,2632,2461,385.6,12.5,400,8094,0.00,2.17,0.00,0.000,260,0.000,0.040,3581,3441,2546,2632,2460,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8128,1.11,107.1,3582,3441,2632,2460,381.5,12.9,401,8140,0.12,2.05,0.00,0.000,5126,0.165,0.025,3561,2023,2545,2631,2460,0,0,0,0,0,0,25.99,26.42,28.83
$GC,8434,1.11,107.1,3561,2015,2631,2460,345.6,10.6,417,8444,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2015,2545,2631,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8734,1.11,107.1,3560,2015,2631,2459,314.4,10.1,432,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2015,2545,2631,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9034,1.11,107.1,3560,2015,2631,2459,283.6,10.3,447,9044,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2015,2544,2630,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9334,1.11,107.1,3560,2015,2630,2459,251.2,11.3,462,9344,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2015,2544,2630,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9634,1.11,107.1,3560,2016,2630,2459,217.7,11.4,477,9645,0.00,2.12,0.00,0.000,516,0.000,0.034,3569,632,2544,2630,2459,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9715,1.11,107.1,3568,632,2630,2459,210.1,10.8,480,9726,0.00,2.15,0.00,0.000,1030,0.000,0.030,3569,2033,2544,2630,2459,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10036,1.11,107.1,3568,2032,2630,2459,175.3,10.3,496,10046,0.00,2.17,0.00,0.000,516,0.000,0.033,3577,640,2544,2630,2459,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10086,1.11,107.1,3577,640,2630,2459,170.0,10.4,498,10097,0.00,2.12,0.00,0.000,1030,0.000,0.029,3577,2027,2544,2630,2459,0,0,0,0,0,0,28.83,26.33,28.83
$GC,10416,1.11,107.1,3577,2026,2630,2459,136.2,10.2,514,10427,0.00,2.08,0.00,0.000,260,0.000,0.041,3578,3420,2544,2630,2459,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10476,1.11,107.1,3577,3421,2630,2459,130.8,10.4,516,10487,0.00,2.05,0.00,0.000,1030,0.000,0.026,3588,2014,2544,2630,2459,0,0,0,0,0,0,28.83,26.43,28.83
$GC,10796,1.11,107.1,3587,2014,2629,2459,97.9,9.7,532,10807,0.00,2.15,0.00,0.000,260,0.000,0.041,3583,3425,2544,2630,2459,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10963,1.11,107.1,3583,3425,2630,2459,82.3,10.8,539,10975,0.12,2.03,0.00,0.000,5126,0.162,0.026,3560,2025,2544,2630,2459,0,0,0,0,0,0,25.99,26.43,28.83
$GC,11270,1.11,107.1,3560,2026,2629,2458,54.6,8.2,555,11281,0.00,2.12,0.00,0.000,260,0.000,0.041,3554,3423,2544,2630,2458,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11353,1.15,121.4,3554,3423,2629,2458,48.6,7.3,559,11375,0.00,2.03,10.85,0.610,9222,0.000,0.025,3563,2017,2513,2601,2425,0,0,0,0,0,0,28.83,26.43,24.81
$GC,11685,1.43,213.5,3562,2017,2592,2425,35.5,3.4,591,11826,0.25,2.28,126.15,0.573,10756,0.070,0.034,3679,633,2134,2227,2042,0,0,0,0,0,0,26.34,25.41,24.51
$GC,11950,1.43,213.5,3678,633,2217,2037,6.7,13.3,628,11962,0.00,2.17,0.00,0.000,1030,0.000,0.028,3674,2026,2127,2217,2037,0,0,0,0,0,0,28.83,25.86,28.83
$STATE,11969,end climb,SURFACE_DEPTH_REACHED
$STATE,11969,begin surface coast
$FINISH,1.9,1.022955
$STATE,11998,end surface coast,CONTROL_FINISHED_OK
$STATE,11998,begin surface
$SM_CCo,12023,60.78,0.057,0,0,1581,350.04
$SM_GC,2.77,9.02,0.38,60.78,0.048,0.047,0.057,344,2308,1581,-8.87,-1.50,350.04,0,0,0,0,0,0,25.77,25.96,25.75
$IRIDIUM_FIX,4732.49,-12530.77,030114,141420
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.53
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3762144
$PM_FREEKB,2218096
$24V_AH,23.7,57.309
$10V_AH,9.4,56.792
$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,21.950,76.425,415.300,60.775,0.000,0.000,0.000,249.500,0.000,0.000,16.268,1849.573,7716.864,556.752,1933.041,508.817,0.000,1877.387,0.000,1349.486,0.000,0.535,0.000
$DEVICE_MAMPS,231.030,46.665,852.210,56.610,0.000,0.000,0.000,126.990,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12000.000,293.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.152,10.042,0.000,0.000
$MEM,258760
$DATA_FILE_SIZE,23376,635
$CAP_FILE_SIZE,148374,0
$CFSIZE,260034560,196370432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.144,329.5,1
$GPS,030114,212922,4748.559,-12520.857,58,0.8,58,17.2