version: 66.11
glider: 108
mission: 25
dive: 554
start: 1 4 114 6 33 18
data:
$ID,108
$MISSION,25
$DIVE,554
$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,-194901.58
$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,55
$R_STBD_OVSHOOT,55
$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
$GPS1,040114,062457,4749.425,-12518.524,18,1.5,38,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-72.5
$GPS2,040114,063248,4749.521,-12518.649,19,1.0,19,17.2
$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,81.8,11327,-15.8,-8.049,-22.04,2046
$D_GRID,501
$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,-107.1,326,2276,1620,1502,0.0,0.0,0,72,0.00,0.00,-40.83,0.000,16386,0.000,0.000,326,2276,2636,2666,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.11,-107.1,326,2276,2672,2610,3.1,-1.6,7,126,10.20,2.20,-22.98,0.000,18948,0.234,0.045,2838,876,3450,3483,3418,0,0,0,0,0,0,25.15,26.01,26.45
$GC,251,-1.11,-107.1,2838,876,3489,3422,30.0,-18.0,35,262,0.00,2.22,0.00,0.000,1030,0.000,0.032,2831,2302,3455,3489,3422,0,0,0,0,0,0,28.83,26.07,28.83
$GC,572,-1.11,-107.1,2831,2301,3490,3423,79.7,-14.2,56,583,0.00,1.92,0.00,0.000,260,0.000,0.043,2821,3592,3456,3490,3423,0,0,0,0,0,0,28.83,26.07,28.83
$GC,606,-1.11,-107.1,1832,3590,3479,3420,84.2,-14.4,57,617,0.00,1.88,0.00,0.000,1030,0.000,0.024,2822,2263,3456,3490,3423,0,0,0,0,0,0,28.83,26.33,28.83
$GC,931,-1.11,-107.1,2822,2262,3490,3424,127.4,-12.7,73,942,0.00,2.03,0.00,0.000,516,0.000,0.031,2825,913,3457,3490,3424,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1011,-1.11,-107.1,2824,913,3491,3424,135.9,-12.0,76,1022,0.00,2.15,0.00,0.000,1030,0.000,0.031,2818,2313,3458,3492,3424,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1332,-1.11,-107.1,2817,2312,3491,3424,176.1,-12.5,92,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2312,3457,3490,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1633,-1.11,-107.1,2817,2312,3490,3425,214.3,-12.9,107,1644,0.00,2.12,0.00,0.000,516,0.000,0.030,2817,915,3457,3491,3424,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1683,-1.11,-107.1,2817,915,3491,3424,220.9,-13.0,109,1694,0.12,2.15,0.00,0.000,3078,0.177,0.031,2840,2309,3458,3491,3425,0,0,0,0,0,0,25.88,26.29,28.83
$GC,2015,-1.11,-107.1,2840,2308,3491,3425,259.9,-12.1,125,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2309,3458,3491,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2315,-1.11,-107.1,2840,2308,3491,3424,295.0,-11.5,140,2326,0.00,2.12,0.00,0.000,516,0.000,0.029,2849,911,3457,3491,3424,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2355,-1.11,-107.1,2849,911,3491,3424,298.6,-11.5,141,2366,0.00,2.15,0.00,0.000,1030,0.000,0.031,2842,2315,3457,3491,3424,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2675,-1.11,-107.1,2841,2314,3491,3424,334.0,-10.3,157,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2314,3457,3491,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2975,-1.11,-107.1,2841,2314,3490,3424,363.5,-9.7,172,2985,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2314,3457,3491,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3275,-1.11,-107.1,2841,2314,3491,3424,393.8,-9.9,187,3286,0.00,2.15,0.00,0.000,516,0.000,0.031,2842,905,3457,3490,3424,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3314,-1.11,-107.1,2841,906,3490,3424,396.9,-10.1,188,3325,0.00,2.15,0.00,0.000,1030,0.000,0.031,2833,2304,3457,3490,3424,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3635,-1.11,-107.1,2833,2303,3489,3424,430.2,-10.1,204,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2303,3457,3489,3425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3935,-1.11,-107.1,2833,2304,3489,3424,460.9,-10.5,219,3946,0.00,2.12,0.00,0.000,516,0.000,0.030,2833,904,3456,3489,3424,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4015,-1.11,-107.1,2833,904,3489,3423,468.4,-10.7,222,4026,0.00,2.15,0.00,0.000,1030,0.000,0.031,2824,2304,3456,3489,3423,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4302,-0.25,0.0,2824,2016,3488,3423,501.0,-11.2,236,4452,0.93,0.00,135.12,0.776,10246,0.134,0.000,3113,2010,3005,3087,2924,0,0,0,0,0,0,25.25,28.83,24.20
$STATE,4454,end apogee,CONTROL_FINISHED_OK
$STATE,4454,begin climb
$GC,4457,1.11,107.1,3113,2010,3084,2920,505.6,0.0,243,4603,1.27,0.00,133.85,0.695,10758,0.079,0.000,3559,2010,2569,2662,2476,0,0,0,0,0,0,25.22,28.83,23.96
$GC,4913,1.11,107.1,3559,2010,2641,2465,457.6,12.7,266,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2010,2554,2642,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5213,1.11,107.1,3558,2010,2640,2464,421.0,11.9,281,5223,0.00,2.12,0.00,0.000,516,0.000,0.034,3568,640,2552,2640,2464,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5258,1.11,107.1,3568,640,2640,2464,417.3,12.1,282,5270,0.00,2.15,0.00,0.000,1030,0.000,0.029,3568,2019,2552,2640,2464,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5563,1.11,107.1,3567,2018,2638,2462,377.8,12.3,298,5574,0.00,2.12,0.00,0.000,260,0.000,0.041,3568,3446,2549,2637,2462,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5717,1.11,107.1,3568,3445,2637,2461,357.4,13.3,305,5728,0.00,2.05,0.00,0.000,1030,0.000,0.025,3578,2025,2549,2637,2461,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6048,1.11,107.1,3577,2025,2636,2461,318.2,11.9,321,6059,0.00,2.12,0.00,0.000,516,0.000,0.034,3588,634,2548,2636,2460,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6145,1.11,107.1,3588,634,2635,2460,307.1,12.1,325,6156,0.00,2.15,0.00,0.000,1030,0.000,0.029,3583,2035,2548,2635,2461,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6471,1.11,107.1,3584,2034,2634,2462,266.5,12.2,341,6482,0.00,2.08,0.00,0.000,260,0.000,0.041,3583,3422,2547,2634,2460,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6525,1.11,107.1,3583,3422,2634,2460,259.8,12.8,343,6537,0.12,2.03,0.00,0.000,5126,0.167,0.026,3560,2021,2547,2634,2460,0,0,0,0,0,0,26.00,26.44,28.83
$GC,6851,1.11,107.1,3560,2020,2633,2459,222.9,10.8,359,6862,0.00,2.12,0.00,0.000,516,0.000,0.034,3569,637,2546,2633,2460,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6958,1.11,107.1,3568,637,2634,2459,213.1,10.8,363,6970,0.00,2.15,0.00,0.000,1030,0.000,0.029,3568,2032,2546,2633,2460,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7264,1.11,107.1,3568,2032,2633,2460,177.9,11.2,379,7275,0.00,2.10,0.00,0.000,260,0.000,0.041,3568,3436,2547,2634,2460,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7295,1.11,107.1,3568,3436,2632,2459,174.4,11.3,380,7306,0.00,2.08,0.00,0.000,1030,0.000,0.025,3575,2010,2546,2632,2460,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7626,1.11,107.1,3575,2010,2632,2459,136.7,11.4,396,7637,0.00,2.17,0.00,0.000,260,0.000,0.041,3568,3435,2545,2632,2459,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7651,1.11,107.1,3568,3435,2632,2459,136.7,11.4,396,7664,0.00,2.05,0.00,0.000,1030,0.000,0.026,3575,2022,2545,2632,2459,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7956,1.11,107.1,3575,2021,2632,2459,97.9,11.6,412,7967,0.00,2.10,0.00,0.000,516,0.000,0.034,3586,639,2545,2632,2459,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8042,1.11,107.1,3585,639,2632,2459,90.1,11.1,415,8053,0.00,2.15,0.00,0.000,1030,0.000,0.029,3585,2040,2545,2631,2459,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8348,1.11,107.1,3584,2039,2632,2459,57.4,8.8,431,8359,0.00,2.20,0.00,0.000,516,0.000,0.033,3592,629,2545,2631,2459,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8530,1.30,168.8,3591,629,2631,2459,46.3,5.0,442,8622,0.00,2.15,76.45,0.591,9222,0.000,0.030,3592,2024,2319,2407,2231,0,0,0,0,0,0,28.83,26.36,24.72
$GC,8927,1.47,226.3,2768,2023,2336,2215,16.8,5.2,491,8969,0.20,2.17,27.92,0.086,10500,0.078,0.041,3673,3423,2085,2179,1991,0,0,0,0,0,0,26.12,25.95,25.67
$STATE,9032,end climb,SURFACE_DEPTH_REACHED
$STATE,9033,begin surface coast
$FINISH,1.9,1.021036
$STATE,9059,end surface coast,CONTROL_FINISHED_OK
$STATE,9060,begin surface
$SM_CCo,9090,55.05,0.057,0,0,1581,350.04
$SM_GC,2.60,8.98,1.70,55.05,0.049,0.027,0.057,335,2322,1581,-8.87,1.89,350.04,0,0,0,0,0,0,25.94,26.20,25.87
$IRIDIUM_FIX,4732.49,-12523.69,040114,030338
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.85
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3760864
$PM_FREEKB,2218096
$24V_AH,24.0,57.643
$10V_AH,9.5,57.042
$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,21.825,71.875,373.350,55.050,0.000,0.000,0.000,237.775,0.000,0.000,21.965,1506.134,5552.019,470.541,1638.058,449.138,0.000,1613.261,0.000,1140.725,0.000,0.535,0.000
$DEVICE_MAMPS,234.090,45.135,776.475,56.610,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9073.000,214.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.600,9.927,0.000,0.000
$MEM,258756
$DATA_FILE_SIZE,16809,514
$CAP_FILE_SIZE,122971,0
$CFSIZE,260034560,196128768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.190,339.0,1
$GPS,040114,090705,4750.225,-12517.765,29,0.8,30,17.2