version: 66.11
glider: 108
mission: 25
dive: 551
start: 1 3 114 21 40 21
data:
$ID,108
$MISSION,25
$DIVE,551
$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,-194897.73
$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,75
$R_STBD_OVSHOOT,57
$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
$GPS1,030114,212922,4748.559,-12520.857,58,0.8,58,17.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-68.9
$GPS2,030114,213954,4748.556,-12520.802,21,1.0,22,17.2
$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,92.3,14502,-15.8,-8.049,-22.04,2046
$D_GRID,579
$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,21,begin dive
$GC,25,-1.11,-107.1,343,2321,1622,1497,0.0,0.0,0,73,0.00,0.00,-40.90,0.000,16386,0.000,0.000,343,2322,2628,2661,2595,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.11,-107.1,343,2324,2665,2599,3.0,-1.3,7,127,10.20,2.25,-23.35,0.000,18948,0.236,0.047,2846,900,3451,3482,3421,0,0,0,0,0,0,25.18,25.97,26.43
$GC,360,-1.11,-107.1,1840,899,3479,3421,49.8,-17.1,45,372,0.00,2.17,0.00,0.000,1030,0.000,0.032,2840,2301,3457,3490,3424,0,0,0,0,0,0,28.83,26.09,28.83
$GC,666,-1.11,-107.1,2838,2300,3490,3426,94.3,-12.7,61,677,0.00,2.12,0.00,0.000,516,0.000,0.031,2839,909,3458,3490,3426,0,0,0,0,0,0,28.83,26.17,28.83
$GC,751,-1.11,-107.1,2838,909,3491,3426,103.4,-12.8,64,763,0.00,2.15,0.00,0.000,1030,0.000,0.031,2829,2308,3458,3491,3425,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1057,-1.11,-107.1,2829,2308,3491,3426,143.7,-12.5,80,1068,0.00,1.90,0.00,0.000,260,0.000,0.042,2820,3589,3458,3491,3426,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1193,-1.11,-107.1,2819,3588,3491,3426,161.3,-13.8,86,1204,0.00,1.83,0.00,0.000,1030,0.000,0.024,2820,2286,3458,3491,3426,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1518,-1.11,-107.1,2819,2284,3491,3426,203.2,-12.4,102,1529,0.00,2.05,0.00,0.000,516,0.000,0.030,2821,913,3458,3491,3426,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1568,-1.11,-107.1,2820,913,3491,3426,209.4,-12.5,104,1579,0.00,2.12,0.00,0.000,1030,0.000,0.031,2814,2303,3458,3491,3425,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1898,-1.11,-107.1,2814,2303,3491,3426,250.1,-12.4,120,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2302,3458,3491,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2198,-1.11,-107.1,2814,2302,3491,3426,287.7,-13.2,135,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2303,3458,3491,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2499,-1.11,-107.1,2814,2303,3491,3426,325.7,-12.4,150,2510,0.00,2.12,0.00,0.000,516,0.000,0.029,2814,902,3458,3491,3426,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2593,-1.11,-107.1,2813,902,3490,3426,337.3,-12.8,154,2604,0.15,2.15,0.00,0.000,3078,0.174,0.031,2842,2305,3458,3491,3426,0,0,0,0,0,0,25.77,26.29,28.83
$GC,2924,-1.11,-107.1,2842,2305,3490,3426,375.1,-11.1,170,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2305,3458,3490,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3224,-1.11,-107.1,2842,2305,3490,3426,408.7,-10.9,185,3235,0.00,1.90,0.00,0.000,260,0.000,0.043,2835,3586,3458,3490,3426,0,0,0,0,0,0,28.83,26.14,28.83
$GC,3340,-1.11,-107.1,1856,3584,3479,3423,422.5,-12.4,190,3351,0.00,1.80,0.00,0.000,1030,0.000,0.026,2835,2300,3457,3489,3426,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3665,-1.11,-107.1,2835,2300,3489,3426,462.1,-11.7,206,3676,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2300,3457,3489,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3966,-1.11,-107.1,2835,2300,3488,3426,496.5,-11.6,221,3976,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2300,3456,3487,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4266,-1.11,-107.1,2835,2300,3487,3425,531.8,-11.5,236,4277,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2300,3456,3488,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4566,-1.11,-107.1,2835,2300,3486,3424,564.6,-10.8,251,4576,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2300,3455,3487,3423,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4702,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4702,begin apogee
$GC,4712,-0.25,0.0,2837,2025,3485,3423,579.9,-10.9,258,4866,0.88,0.00,137.18,0.815,10246,0.133,0.000,3113,2025,3004,3086,2922,0,0,0,0,0,0,25.22,28.83,24.10
$STATE,4868,end apogee,CONTROL_FINISHED_OK
$STATE,4868,begin climb
$GC,4872,1.11,107.1,3113,2025,3083,2920,584.3,0.0,265,5018,1.27,0.00,136.73,0.727,10246,0.078,0.000,3558,2025,2571,2665,2478,0,0,0,0,0,0,25.18,28.83,23.82
$GC,5311,1.11,107.1,3558,2025,2640,2465,540.1,12.1,288,5321,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2025,2552,2640,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5610,1.11,107.1,3558,2025,2639,2463,506.6,10.7,303,5621,0.00,2.15,0.00,0.000,260,0.000,0.041,3557,3427,2551,2639,2463,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5640,1.11,107.1,3558,3427,2638,2462,503.1,11.1,304,5651,0.00,2.05,0.00,0.000,1030,0.000,0.025,3568,2029,2550,2638,2462,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5971,1.11,107.1,3568,2029,2637,2461,465.1,11.8,320,5982,0.00,2.15,0.00,0.000,260,0.000,0.041,3567,3424,2549,2637,2461,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6002,1.11,107.1,3568,3424,2637,2461,461.3,11.9,321,6013,0.00,2.05,0.00,0.000,1030,0.000,0.025,3578,2027,2548,2636,2461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6332,1.11,107.1,3578,2026,2635,2460,423.1,11.6,337,6343,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2026,2547,2635,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6632,1.11,107.1,3577,2026,2634,2460,387.2,12.1,352,6643,0.00,2.15,0.00,0.000,260,0.000,0.039,3578,3440,2546,2634,2459,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6682,1.11,107.1,3578,3439,2634,2460,380.6,12.6,354,6694,0.12,2.08,0.00,0.000,5126,0.165,0.025,3557,2012,2546,2634,2459,0,0,0,0,0,0,26.00,26.42,28.83
$GC,7013,1.11,107.1,3557,2012,2633,2459,341.0,12.0,370,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2012,2546,2633,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7313,1.11,107.1,3557,2012,2632,2459,307.5,11.3,385,7324,0.00,2.12,0.00,0.000,516,0.000,0.034,3565,630,2545,2632,2459,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7415,1.11,107.1,3565,630,2631,2459,297.5,11.2,389,7426,0.00,2.17,0.00,0.000,1030,0.000,0.029,3565,2030,2545,2631,2459,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7736,1.11,107.1,3565,2031,2631,2459,259.2,11.3,405,7746,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2030,2545,2631,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8037,1.11,107.1,3565,2030,2630,2459,226.3,10.7,420,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2030,2544,2630,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8336,1.11,107.1,3565,2031,2630,2458,191.8,12.2,435,8347,0.00,2.10,0.00,0.000,260,0.000,0.042,3565,3438,2544,2630,2458,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8448,1.11,107.1,3565,3438,2630,2458,177.3,13.0,440,8459,0.00,2.05,0.00,0.000,1030,0.000,0.025,3575,2019,2544,2630,2458,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8778,1.11,107.1,3574,2020,2630,2458,139.9,10.8,456,8789,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2021,2544,2630,2458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9079,1.11,107.1,3574,2019,2630,2458,108.9,10.0,471,9090,0.00,2.17,0.00,0.000,260,0.000,0.041,3574,3442,2544,2630,2458,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9215,1.11,107.1,2816,3440,2576,2449,94.7,10.8,477,9226,0.00,2.05,0.00,0.000,1030,0.000,0.026,3585,2026,2544,2630,2458,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9541,1.11,107.1,3584,2026,2629,2458,65.1,8.6,493,9552,0.00,2.12,0.00,0.000,516,0.000,0.034,3595,637,2544,2630,2458,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9784,1.23,147.6,3595,637,2630,2457,46.8,6.0,507,9845,0.00,2.15,47.25,0.596,9222,0.000,0.028,3595,2043,2404,2491,2318,0,0,0,0,0,0,28.83,26.35,24.88
$GC,10151,1.32,176.6,3595,2043,2482,2314,24.0,6.6,543,10194,0.00,2.25,31.25,0.582,8708,0.000,0.031,3603,633,2285,2374,2196,0,0,0,0,0,0,28.83,25.91,24.89
$STATE,10396,end climb,SURFACE_DEPTH_REACHED
$STATE,10396,begin surface coast
$FINISH,2.1,1.024575
$STATE,10414,end surface coast,CONTROL_FINISHED_OK
$STATE,10414,begin surface
$SM_CCo,10443,77.95,0.057,0,0,1581,350.04
$SM_GC,2.84,8.73,2.65,77.95,0.044,0.031,0.057,331,2303,1581,-8.88,-1.33,350.04,0,0,1,0,0,0,25.93,26.04,25.84
$IRIDIUM_FIX,4729.30,-12540.45,030114,212120
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.36
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,10.70
$XPDR_PINGS,0
$SC_FREEKB,3761824
$PM_FREEKB,2218096
$24V_AH,23.8,57.394
$10V_AH,9.3,56.858
$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,21.350,59.375,352.400,77.950,0.000,0.000,0.000,332.075,0.000,0.000,22.769,1736.720,6550.434,502.387,1888.991,469.801,0.000,1788.101,0.000,1277.861,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,46.665,815.490,57.375,0.000,0.000,0.000,125.460,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10431.000,240.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.348,10.139,0.000,0.000
$MEM,258776
$DATA_FILE_SIZE,20154,591
$CAP_FILE_SIZE,132734,0
$CFSIZE,260034560,196321280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.131,326.5,1
$GPS,040114,003706,4748.863,-12519.841,32,1.1,32,17.2