version: 66.11
glider: 108
mission: 25
dive: 553
start: 1 4 114 3 36 29
data:
$ID,108
$MISSION,25
$DIVE,553
$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,-194900.33
$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,47
$R_STBD_OVSHOOT,53
$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
$GPS1,040114,032803,4748.970,-12519.174,21,1.4,23,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-70.8
$GPS2,040114,033559,4748.929,-12519.317,17,1.1,18,17.2
$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,71.3,12540,-15.8,-8.049,-22.04,2046
$D_GRID,553
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.11,-107.1,332,2277,1617,1501,0.0,0.0,0,71,0.00,0.00,-40.75,0.000,16386,0.000,0.000,332,2275,2629,2661,2598,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,332,2275,2666,2603,3.1,-1.1,7,126,10.02,2.20,-23.42,0.000,18948,0.230,0.047,2843,885,3451,3484,3418,0,0,0,0,0,0,25.08,25.98,26.45
$GC,358,-1.11,-107.1,1856,884,3479,3420,49.9,-18.7,45,370,0.00,2.17,0.00,0.000,1030,0.000,0.032,2836,2300,3456,3490,3423,0,0,0,0,0,0,28.83,26.11,28.83
$GC,665,-1.11,-107.1,2835,2299,3491,3424,92.3,-12.3,61,676,0.00,1.92,0.00,0.000,260,0.000,0.043,2826,3593,3457,3491,3423,0,0,0,0,0,0,28.83,26.08,28.83
$GC,715,-1.11,-107.1,2825,3593,3491,3423,98.3,-11.8,63,726,0.00,1.88,0.00,0.000,1030,0.000,0.025,2826,2264,3457,3491,3423,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1046,-1.11,-107.1,2826,2261,3491,3424,135.9,-11.1,79,1057,0.00,2.03,0.00,0.000,516,0.000,0.030,2834,913,3457,3491,3424,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1192,-1.11,-107.1,2833,913,3493,3424,150.7,-11.2,85,1205,0.00,2.12,0.00,0.000,1030,0.000,0.031,2827,2301,3458,3492,3424,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1498,-1.11,-107.1,2827,2301,3492,3424,189.3,-12.1,101,1509,0.00,1.90,0.00,0.000,260,0.000,0.043,2817,3585,3458,3492,3424,0,0,0,0,0,0,28.83,26.15,28.83
$GC,1570,-1.11,-107.1,2817,3586,3492,3424,198.4,-12.9,104,1581,0.00,1.80,0.00,0.000,1030,0.000,0.026,2817,2298,3458,3492,3425,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1901,-1.11,-107.1,2817,2298,3492,3424,240.8,-12.3,120,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2298,3458,3492,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2201,-1.11,-107.1,2817,2299,3492,3425,279.0,-12.6,135,2212,0.00,1.95,0.00,0.000,260,0.000,0.044,2808,3593,3458,3492,3425,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2247,-1.11,-107.1,2808,3593,3492,3424,283.0,-12.7,136,2259,0.12,1.83,0.00,0.000,3078,0.176,0.025,2841,2286,3458,3492,3424,0,0,0,0,0,0,25.96,26.46,28.83
$GC,2552,-1.11,-107.1,2841,2285,3492,3424,320.4,-11.6,152,2563,0.00,1.95,0.00,0.000,260,0.000,0.043,2834,3586,3458,3492,3424,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2604,-1.11,-107.1,2833,3586,3492,3424,326.8,-12.3,154,2615,0.00,1.83,0.00,0.000,1030,0.000,0.025,2839,2287,3458,3492,3424,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2934,-1.11,-107.1,2839,2287,3492,3424,367.3,-12.1,170,2945,0.00,2.08,0.00,0.000,516,0.000,0.031,2840,904,3458,3491,3425,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3000,-1.11,-107.1,2839,904,3492,3425,373.4,-11.8,172,3012,0.00,2.15,0.00,0.000,1030,0.000,0.031,2832,2305,3457,3491,3424,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3304,-1.11,-107.1,2831,2304,3490,3425,410.3,-11.3,188,3315,0.00,1.90,0.00,0.000,260,0.000,0.042,2822,3591,3457,3490,3424,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3340,-1.11,-107.1,2822,3591,3490,3424,413.9,-11.5,189,3351,0.00,1.80,0.00,0.000,1030,0.000,0.025,2822,2299,3457,3490,3424,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3666,-1.11,-107.1,2822,2299,3490,3424,451.6,-11.2,205,3677,0.00,2.08,0.00,0.000,516,0.000,0.030,2823,914,3457,3490,3424,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3774,-1.11,-107.1,2823,914,3490,3424,462.0,-11.4,209,3786,0.00,2.12,0.00,0.000,1030,0.000,0.031,2816,2304,3456,3489,3424,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4077,-1.11,-107.1,2816,2303,3489,3424,499.3,-12.1,225,4087,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2303,3456,3489,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4377,-1.11,-107.1,2816,2303,3488,3423,534.1,-11.5,240,4388,0.00,1.90,0.00,0.000,260,0.000,0.043,2807,3587,3455,3488,3422,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4417,-1.11,-107.1,2807,3587,3487,3423,537.7,-11.7,241,4429,0.12,1.80,0.00,0.000,3078,0.170,0.025,2839,2300,3455,3488,3423,0,0,0,0,0,0,25.98,26.46,28.83
$STATE,4554,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4557,begin apogee
$GC,4566,-0.25,0.0,2841,2028,3488,3423,553.4,-10.0,248,4722,0.88,0.00,137.50,0.806,10246,0.138,0.000,3114,2024,3003,3085,2922,0,0,0,0,0,0,25.21,28.83,24.12
$STATE,4724,end apogee,CONTROL_FINISHED_OK
$STATE,4724,begin climb
$GC,4727,1.11,107.1,3114,2024,3083,2920,558.2,0.0,255,4876,1.25,0.00,135.02,0.716,10758,0.077,0.000,3552,2024,2571,2665,2478,0,0,0,0,0,0,25.19,28.83,23.89
$GC,5168,1.11,107.1,3552,2024,2640,2465,514.1,11.6,278,5179,0.00,2.15,0.00,0.000,260,0.000,0.040,3552,3426,2553,2641,2466,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5214,1.11,107.1,3552,3427,2640,2464,510.0,11.7,279,5226,0.00,2.05,0.00,0.000,1030,0.000,0.025,3562,2025,2552,2640,2464,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5520,1.11,107.1,3562,2025,2639,2463,471.0,12.4,295,5530,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2025,2551,2640,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5820,1.11,107.1,3562,2025,2638,2462,433.8,12.4,310,5831,0.00,2.12,0.00,0.000,516,0.000,0.034,3572,636,2550,2638,2462,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5923,1.11,107.1,3572,636,2637,2462,422.5,12.4,314,5934,0.00,2.15,0.00,0.000,1030,0.000,0.028,3572,2038,2549,2637,2462,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6243,1.11,107.1,3572,2037,2635,2461,380.5,12.6,330,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2037,2547,2634,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6543,1.11,107.1,3572,2037,2634,2461,342.2,12.7,345,6554,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2037,2547,2634,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6843,1.11,107.1,3572,2037,2634,2460,305.0,12.2,360,6854,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2037,2547,2633,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7144,1.11,107.1,3572,2037,2633,2460,270.4,11.0,375,7154,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2037,2546,2633,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7443,1.11,107.1,3572,2037,2633,2460,237.6,10.7,390,7454,0.00,2.08,0.00,0.000,260,0.000,0.041,3572,3432,2546,2633,2460,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7514,1.11,107.1,3572,3432,2632,2459,229.3,11.5,393,7525,0.00,2.05,0.00,0.000,1030,0.000,0.025,3582,2024,2545,2632,2459,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7844,1.11,107.1,3582,2023,2632,2459,191.9,11.2,409,7855,0.00,2.12,0.00,0.000,516,0.000,0.034,3592,641,2545,2631,2459,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7918,1.11,107.1,2824,641,2579,2450,183.7,11.6,412,7929,0.12,2.12,0.00,0.000,5126,0.161,0.028,3561,2029,2545,2632,2459,0,0,0,0,0,0,25.98,26.36,28.83
$GC,8244,1.11,107.1,3560,2029,2631,2459,148.0,11.2,428,8255,0.00,2.08,0.00,0.000,260,0.000,0.041,3560,3423,2545,2632,2459,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8283,1.11,107.1,3560,3423,2631,2459,144.3,11.6,429,8294,0.00,2.03,0.00,0.000,1030,0.000,0.026,3567,2019,2545,2631,2459,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8604,1.11,107.1,3568,2020,2631,2459,110.2,9.3,445,8614,0.00,2.12,0.00,0.000,516,0.000,0.034,3578,629,2544,2631,2458,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8785,1.11,107.1,3577,629,2631,2458,93.5,9.5,453,8796,0.00,2.15,0.00,0.000,1030,0.000,0.029,3578,2031,2545,2631,2459,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9106,1.11,107.1,3577,2030,2631,2458,62.4,10.6,469,9117,0.00,2.17,0.00,0.000,516,0.000,0.034,3587,630,2545,2631,2459,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9320,1.21,140.5,3587,630,2631,2459,45.6,6.4,482,9371,0.00,2.15,37.30,0.600,9222,0.000,0.029,3584,2025,2433,2518,2348,0,0,0,0,0,0,28.83,26.35,24.94
$GC,9681,1.40,203.3,3584,2025,2510,2344,25.7,4.9,517,9778,0.17,2.20,79.03,0.576,10500,0.085,0.041,3658,3419,2176,2269,2083,0,0,0,0,0,0,26.24,25.56,24.65
$STATE,9897,end climb,SURFACE_DEPTH_REACHED
$STATE,9898,begin surface coast
$FINISH,2.0,1.024530
$STATE,9924,end surface coast,CONTROL_FINISHED_OK
$STATE,9924,begin surface
$SM_CCo,9951,65.60,0.057,0,0,1581,350.04
$SM_GC,2.60,8.85,1.70,65.60,0.041,0.028,0.057,328,2316,1581,-8.89,2.15,350.04,0,0,0,0,0,0,25.86,25.98,25.78
$IRIDIUM_FIX,4732.49,-12521.83,040114,000048
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.41
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3761184
$PM_FREEKB,2218096
$24V_AH,23.9,57.564
$10V_AH,9.4,56.983
$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,21.550,73.175,388.850,65.600,0.000,0.000,0.000,248.250,0.000,0.000,19.437,1664.146,6051.909,526.383,1782.801,470.411,0.000,1740.871,0.000,1253.878,0.000,0.536,0.000
$DEVICE_MAMPS,229.500,46.665,805.545,57.375,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9940.000,229.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.526,10.023,0.000,0.000
$MEM,258740
$DATA_FILE_SIZE,20132,559
$CAP_FILE_SIZE,132335,0
$CFSIZE,260034560,196182016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.116,313.1,1
$GPS,040114,062457,4749.425,-12518.524,18,1.5,38,17.2