version: 66.11
glider: 108
mission: 25
dive: 552
start: 1 4 114 0 45 45
data:
$ID,108
$MISSION,25
$DIVE,552
$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,-194898.98
$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,73
$R_STBD_OVSHOOT,45
$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
$GPS1,040114,003706,4748.863,-12519.841,32,1.1,32,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.75
$_SM_ANGLEo,-69.7
$GPS2,040114,004518,4748.796,-12519.843,20,1.1,21,17.2
$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,87.6,13235,-15.8,-8.049,-22.04,2046
$D_GRID,537
$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,-107.1,330,2315,1618,1499,0.0,0.0,0,67,0.00,0.00,-36.47,0.000,16386,0.000,0.000,330,2315,2520,2564,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-1.11,-107.1,330,2320,2572,2480,3.1,-1.5,6,127,10.23,2.25,-29.30,0.000,19204,0.235,0.049,2849,911,3450,3483,3417,0,0,0,0,0,0,25.20,25.98,26.46
$GC,140,-1.11,-107.1,2849,911,3485,3419,8.4,-13.8,15,152,0.00,2.17,0.00,0.000,1030,0.000,0.032,2842,2307,3452,3485,3419,0,0,0,0,0,0,28.83,26.02,28.83
$GC,477,-1.11,-107.1,2842,2307,3490,3422,66.7,-15.9,50,487,0.00,2.20,0.00,0.000,516,0.000,0.031,2849,889,3456,3490,3422,0,0,0,0,0,0,28.83,26.14,28.83
$GC,718,-1.11,-107.1,2849,889,3491,3423,99.5,-13.3,61,729,0.00,2.20,0.00,0.000,1030,0.000,0.031,2842,2310,3457,3491,3423,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1038,-1.11,-107.1,2842,2310,3491,3423,143.3,-12.7,77,1049,0.00,2.17,0.00,0.000,516,0.000,0.030,2842,893,3457,3491,3423,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1155,-1.11,-107.1,2842,893,3491,3423,157.3,-12.8,82,1166,0.00,2.17,0.00,0.000,1030,0.000,0.031,2833,2310,3457,3491,3423,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1481,-1.11,-107.1,2833,2309,3491,3423,197.5,-11.9,98,1492,0.00,1.90,0.00,0.000,260,0.000,0.044,2823,3591,3457,3491,3423,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1541,-1.11,-107.1,2823,3591,3491,3423,203.6,-12.2,100,1552,0.00,1.88,0.00,0.000,1030,0.000,0.025,2823,2284,3457,3491,3423,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1863,-1.11,-107.1,2823,2284,3491,3423,243.1,-11.7,116,1873,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2284,3457,3491,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2162,-1.11,-107.1,2822,2284,3491,3423,275.8,-10.6,131,2173,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2284,3457,3491,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2462,-1.11,-107.1,2823,2284,3490,3423,308.6,-11.2,146,2472,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2284,3457,3491,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2762,-1.11,-107.1,2823,2283,3490,3424,343.5,-11.8,161,2773,0.00,2.05,0.00,0.000,516,0.000,0.030,2825,913,3456,3490,3423,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2817,-1.11,-107.1,1824,913,3479,3420,349.7,-12.0,163,2828,0.00,2.15,0.00,0.000,1030,0.000,0.031,2818,2305,3456,3490,3423,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3142,-1.11,-107.1,2818,2304,3490,3423,391.1,-12.8,179,3152,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2304,3456,3490,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3443,-1.11,-107.1,2817,2304,3489,3423,428.3,-12.2,194,3453,0.00,2.12,0.00,0.000,516,0.000,0.030,2818,907,3456,3489,3423,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3540,-1.11,-107.1,1792,906,3477,3420,439.4,-12.3,198,3552,0.12,2.15,0.00,0.000,3078,0.176,0.031,2838,2307,3456,3489,3423,0,0,0,0,0,0,25.87,26.29,28.83
$GC,3867,-1.11,-107.1,2838,2306,3488,3423,476.5,-10.9,214,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2306,3456,3489,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4166,-1.11,-107.1,2838,2306,3487,3423,509.6,-11.3,229,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2306,3455,3488,3423,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4427,begin apogee
$GC,4435,-0.25,0.0,2838,2022,3486,3422,537.8,-10.9,242,4585,0.88,0.00,136.35,0.802,10246,0.133,0.000,3115,2014,3007,3089,2925,0,0,0,0,0,0,25.25,28.83,24.14
$STATE,4587,end apogee,CONTROL_FINISHED_OK
$STATE,4587,begin climb
$GC,4592,1.11,107.1,3114,2014,3085,2922,543.1,0.0,249,4739,1.25,0.00,134.93,0.710,10502,0.077,0.000,3553,2014,2572,2666,2478,0,0,0,0,0,0,25.18,28.83,23.89
$GC,5030,1.11,107.1,3553,2014,2643,2466,500.7,11.8,272,5041,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2014,2554,2643,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5330,1.11,107.1,3553,2014,2640,2464,466.3,11.5,287,5341,0.00,2.17,0.00,0.000,260,0.000,0.041,3553,3434,2552,2640,2464,0,0,0,0,0,0,28.83,26.07,28.83
$GC,5382,1.11,107.1,3553,3434,2640,2464,460.0,12.0,289,5392,0.00,2.08,0.00,0.000,1030,0.000,0.025,3563,2025,2552,2640,2464,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5712,1.11,107.1,3562,2025,2640,2463,418.4,12.2,305,5723,0.00,2.15,0.00,0.000,516,0.000,0.034,3573,629,2551,2640,2462,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5792,1.11,107.1,3572,629,2639,2462,409.7,12.5,308,5803,0.00,2.17,0.00,0.000,1030,0.000,0.029,3572,2027,2550,2639,2462,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6115,1.11,107.1,3572,2027,2637,2462,367.0,12.9,324,6125,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2026,2549,2638,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6414,1.11,107.1,3573,2026,2636,2462,328.4,12.5,339,6425,0.00,2.17,0.00,0.000,516,0.000,0.034,3581,637,2549,2637,2462,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6508,1.11,107.1,3581,637,2635,2462,317.2,12.3,343,6519,0.00,2.15,0.00,0.000,1030,0.000,0.029,3581,2025,2548,2635,2461,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6838,1.11,107.1,3581,2024,2634,2462,276.6,12.0,359,6849,0.00,2.10,0.00,0.000,260,0.000,0.041,3581,3438,2547,2634,2461,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6899,1.11,107.1,3581,3438,2634,2461,270.5,12.2,361,6911,0.12,2.08,0.00,0.000,5126,0.169,0.025,3560,2012,2547,2634,2461,0,0,0,0,0,0,26.00,26.44,28.83
$GC,7221,1.11,107.1,3560,2012,2634,2460,233.9,11.4,377,7232,0.00,2.12,0.00,0.000,516,0.000,0.035,3568,630,2547,2634,2460,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7285,1.11,107.1,3568,630,2634,2460,228.3,11.0,379,7297,0.00,2.17,0.00,0.000,1030,0.000,0.031,3568,2032,2547,2634,2460,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7591,1.11,107.1,3567,2031,2634,2460,190.9,11.6,395,7602,0.00,2.10,0.00,0.000,260,0.000,0.042,3568,3435,2547,2634,2460,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7662,1.11,107.1,3567,3435,2633,2460,181.9,12.7,398,7673,0.00,2.05,0.00,0.000,1030,0.000,0.025,3575,2013,2546,2633,2460,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7993,1.11,107.1,3575,2013,2634,2460,141.1,12.5,414,8003,0.00,2.17,0.00,0.000,260,0.000,0.041,3576,3441,2546,2633,2460,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8047,1.11,107.1,3575,3442,2633,2460,134.5,12.9,416,8058,0.00,2.08,0.00,0.000,1030,0.000,0.026,3585,2010,2546,2633,2460,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8372,1.11,107.1,3585,2010,2633,2459,98.6,10.4,432,8383,0.00,2.10,0.00,0.000,516,0.000,0.034,3595,639,2545,2633,2458,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8447,1.11,107.1,3595,640,2632,2459,90.9,10.9,435,8458,0.15,2.15,0.00,0.000,5126,0.153,0.029,3555,2037,2546,2633,2459,0,0,0,0,0,0,25.91,26.35,28.83
$GC,8772,1.11,107.1,3554,2036,2633,2459,62.0,9.2,451,8783,0.00,2.17,0.00,0.000,516,0.000,0.033,3562,643,2547,2635,2459,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8946,1.18,129.1,3561,642,2631,2459,49.2,6.9,459,8982,0.00,2.15,21.52,0.610,9222,0.000,0.031,3559,2029,2480,2564,2396,0,0,0,0,0,0,28.83,26.32,24.98
$GC,9281,1.34,182.0,3558,2028,2557,2394,29.6,5.4,492,9365,0.17,2.15,66.25,0.581,10500,0.077,0.040,3635,3436,2264,2354,2174,0,0,0,0,0,0,26.36,25.67,24.75
$STATE,9533,end climb,SURFACE_DEPTH_REACHED
$STATE,9533,begin surface coast
$FINISH,1.8,1.024589
$STATE,9562,end surface coast,CONTROL_FINISHED_OK
$STATE,9562,begin surface
$SM_CCo,9588,75.30,0.057,0,0,1580,350.04
$SM_GC,2.85,8.88,1.70,75.30,0.047,0.026,0.057,335,2328,1580,-8.88,2.29,350.04,0,0,0,0,0,0,25.84,26.11,25.81
$IRIDIUM_FIX,4729.30,-12551.99,030114,212127
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.65
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3761504
$PM_FREEKB,2218096
$24V_AH,23.9,57.477
$10V_AH,9.3,56.920
$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,21.800,68.000,359.050,75.300,0.000,0.000,0.000,249.875,0.000,0.000,22.405,1612.663,5869.690,500.560,1721.166,448.225,0.000,1665.351,0.000,1206.628,0.000,0.535,0.000
$DEVICE_MAMPS,234.855,48.960,801.720,56.610,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9576.000,217.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.486,10.052,0.000,0.000
$MEM,258780
$DATA_FILE_SIZE,20109,538
$CAP_FILE_SIZE,126336,0
$CFSIZE,260034560,196259840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,301.1,1
$GPS,040114,032803,4748.970,-12519.174,21,1.4,23,17.2