version: 66.11
glider: 108
mission: 25
dive: 555
start: 1 4 114 9 14 48
data:
$ID,108
$MISSION,25
$DIVE,555
$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,-194902.92
$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,40
$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
$GPS1,040114,090705,4750.225,-12517.765,29,0.8,30,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-72.5
$GPS2,040114,091418,4750.368,-12517.797,18,0.9,19,17.2
$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,100.6,9790,-15.8,-8.049,-22.04,2046
$D_GRID,443
$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,20,begin dive
$GC,24,-1.11,-107.1,332,2275,1620,1503,0.0,0.0,0,60,0.00,0.00,-28.95,0.000,16386,0.000,0.000,332,2275,2318,2366,2271,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.11,-107.1,332,2274,2373,2273,3.0,-1.2,5,131,10.02,2.20,-42.05,0.000,18948,0.228,0.045,2848,870,3450,3483,3417,0,0,0,0,0,0,25.18,26.04,26.49
$GC,148,-1.11,-107.1,1832,869,3472,3416,6.9,-12.7,17,160,0.00,2.22,0.00,0.000,1030,0.000,0.031,2840,2307,3451,3484,3419,0,0,0,0,0,0,28.83,26.04,28.83
$GC,487,-1.11,-107.1,2840,2307,3488,3422,67.3,-16.7,52,498,0.00,1.95,0.00,0.000,260,0.000,0.043,2830,3605,3455,3488,3422,0,0,0,0,0,0,28.83,26.05,28.83
$GC,608,-1.11,-107.1,2830,3605,3488,3422,83.8,-14.4,57,619,0.00,1.92,0.00,0.000,1030,0.000,0.025,2838,2246,3455,3488,3422,0,0,0,0,0,0,28.83,26.34,28.83
$GC,928,-1.11,-107.1,2838,2245,3489,3422,123.7,-10.9,73,939,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2245,3455,3489,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1229,-1.11,-107.1,2837,2245,3490,3422,157.2,-11.4,88,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2244,3455,3489,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1529,-1.11,-107.1,2838,2244,3490,3422,192.4,-11.8,103,1539,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2244,3456,3490,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1829,-1.11,-107.1,2838,2244,3490,3422,225.3,-10.6,118,1839,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2244,3456,3490,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2129,-1.11,-107.1,2838,2244,3490,3422,258.4,-11.0,133,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2244,3456,3490,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2429,-1.11,-107.1,2838,2244,3490,3423,294.0,-12.3,148,2440,0.00,2.08,0.00,0.000,516,0.000,0.031,2839,867,3456,3490,3423,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2488,-1.11,-107.1,2839,867,3490,3422,300.5,-12.5,150,2499,0.00,2.20,0.00,0.000,1030,0.000,0.031,2831,2306,3456,3490,3422,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2809,-1.11,-107.1,2832,2306,3490,3422,340.8,-12.1,166,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2306,3455,3489,3422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3109,-1.11,-107.1,2831,2306,3489,3422,376.6,-11.6,181,3120,0.00,1.90,0.00,0.000,260,0.000,0.043,2822,3591,3455,3489,3422,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3168,-1.11,-107.1,2821,3591,3489,3422,382.8,-12.2,183,3179,0.00,1.90,0.00,0.000,1030,0.000,0.025,2822,2240,3455,3489,3422,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3488,-1.11,-107.1,2821,2239,3489,3422,421.8,-11.5,199,3499,0.00,2.05,0.00,0.000,260,0.000,0.042,2814,3599,3455,3488,3422,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3528,-1.11,-107.1,2813,3600,3488,3423,425.3,-11.5,200,3539,0.00,1.90,0.00,0.000,1030,0.000,0.025,2814,2249,3455,3488,3422,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,3685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3685,begin apogee
$GC,3697,-0.25,0.0,2813,1978,3488,3422,444.4,-10.9,208,3846,0.98,0.00,133.85,0.762,10246,0.139,0.000,3115,1977,3004,3086,2923,0,0,0,0,0,0,25.22,28.83,24.22
$STATE,3848,end apogee,CONTROL_FINISHED_OK
$STATE,3848,begin climb
$GC,3853,1.11,107.1,3115,1977,3082,2920,448.8,0.0,215,3999,1.25,2.17,132.52,0.665,10756,0.078,0.031,3562,647,2566,2657,2475,0,0,0,0,0,0,25.25,25.01,24.06
$GC,4043,1.11,107.1,3562,647,2644,2470,436.0,9.9,224,4056,0.00,2.22,0.00,0.000,1030,0.000,0.029,3562,2025,2557,2644,2470,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4348,1.11,107.1,3562,2024,2640,2466,396.8,12.1,240,4360,0.00,2.12,0.00,0.000,260,0.000,0.040,3562,3441,2552,2639,2466,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4380,1.11,107.1,3562,3441,2638,2465,392.8,12.4,241,4392,0.00,2.08,0.00,0.000,1030,0.000,0.025,3572,2026,2552,2639,2465,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4711,1.11,107.1,3571,2026,2637,2463,351.9,12.3,257,4722,0.00,2.15,0.00,0.000,260,0.000,0.040,3572,3437,2550,2637,2463,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4822,1.11,107.1,3571,3437,2636,2462,336.9,13.6,262,4833,0.00,2.08,0.00,0.000,1030,0.000,0.025,3582,2014,2549,2636,2462,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5154,1.11,107.1,3581,2014,2635,2462,295.7,12.1,278,5164,0.00,2.12,0.00,0.000,516,0.000,0.034,3592,640,2548,2634,2462,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5274,1.11,107.1,3591,640,2634,2461,282.1,12.1,283,5285,0.12,2.15,0.00,0.000,5126,0.163,0.028,3560,2042,2548,2634,2462,0,0,0,0,0,0,25.95,26.32,28.83
$GC,5596,1.11,107.1,3561,2041,2633,2461,244.2,12.1,299,5607,0.00,2.05,0.00,0.000,260,0.000,0.041,3556,3421,2547,2633,2461,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5627,1.11,107.1,3556,3421,2633,2461,240.3,12.4,300,5638,0.00,2.03,0.00,0.000,1030,0.000,0.026,3564,2026,2546,2633,2460,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5957,1.11,107.1,3563,2026,2633,2460,200.6,11.6,316,5968,0.00,2.10,0.00,0.000,516,0.000,0.034,3573,644,2546,2633,2460,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6109,1.11,107.1,3573,644,2632,2460,182.8,11.8,323,6120,0.00,2.15,0.00,0.000,1030,0.000,0.030,3571,2034,2546,2632,2460,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6440,1.11,107.1,3571,2033,2631,2460,144.5,11.9,339,6451,0.00,2.15,0.00,0.000,516,0.000,0.034,3578,644,2545,2631,2460,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6475,1.11,107.1,3578,644,2631,2460,141.1,11.5,340,6486,0.00,2.15,0.00,0.000,1030,0.000,0.030,3578,2035,2545,2631,2460,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6800,1.11,107.1,3577,2035,2630,2460,104.0,11.6,356,6811,0.00,2.08,0.00,0.000,260,0.000,0.041,3578,3423,2545,2630,2460,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6973,1.11,107.1,3577,3423,2630,2459,83.9,11.1,364,6985,0.12,2.00,0.00,0.000,5126,0.167,0.026,3557,2025,2544,2630,2459,0,0,0,0,0,0,26.02,26.46,28.83
$GC,7305,1.29,167.6,3557,2020,2630,2459,60.3,5.0,380,7395,0.15,2.25,75.20,0.593,10500,0.084,0.040,3623,3422,2322,2409,2235,0,0,0,0,0,0,26.53,25.70,24.72
$GC,7435,1.29,167.6,3622,3422,2404,2231,49.1,9.8,386,7446,0.00,2.05,0.00,0.000,1030,0.000,0.025,3631,2025,2317,2404,2230,0,0,0,0,0,0,28.83,25.91,28.83
$GC,7754,1.30,169.0,3630,2025,2399,2227,17.2,8.0,425,7766,0.00,2.12,0.00,0.000,260,0.000,0.040,3630,3424,2313,2399,2227,0,0,0,0,0,0,28.83,26.01,28.83
$STATE,7948,end climb,SURFACE_DEPTH_REACHED
$STATE,7948,begin surface coast
$FINISH,1.8,1.024197
$STATE,8004,end surface coast,CONTROL_FINISHED_OK
$STATE,8005,begin surface
$SM_CCo,8032,81.45,0.057,0,0,1581,350.04
$SM_GC,2.71,8.73,1.67,81.45,0.043,0.025,0.057,334,2312,1581,-8.87,2.01,350.04,0,0,0,0,0,0,26.03,26.31,25.92
$IRIDIUM_FIX,4732.49,-12516.60,040114,060633
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.22
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3760544
$PM_FREEKB,2218096
$24V_AH,24.1,57.718
$10V_AH,9.3,57.097
$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,21.375,62.550,341.575,81.450,0.000,0.000,0.000,204.175,0.000,0.000,20.053,1406.978,4751.652,466.125,1507.489,417.733,0.000,1501.643,0.000,1079.377,0.000,0.535,0.000
$DEVICE_MAMPS,227.970,45.135,761.940,57.375,0.000,0.000,0.000,124.695,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8017.000,186.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.857,10.004,0.000,0.000
$MEM,258736
$DATA_FILE_SIZE,16777,472
$CAP_FILE_SIZE,112619,0
$CFSIZE,260034560,196075520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.198,349.3,1
$GPS,040114,113134,4750.799,-12516.958,41,1.1,41,17.2