version: 66.11
glider: 108
mission: 25
dive: 556
start: 1 4 114 11 39 41
data:
$ID,108
$MISSION,25
$DIVE,556
$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,-194904.17
$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,54
$R_STBD_OVSHOOT,54
$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
$GPS1,040114,113134,4750.799,-12516.958,41,1.1,41,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.69
$_SM_ANGLEo,-72.8
$GPS2,040114,113911,4750.875,-12516.787,15,1.4,16,17.2
$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,104.2,8330,-15.8,-8.049,-22.04,2046
$D_GRID,407
$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,-107.1,331,2274,1622,1503,0.0,0.0,0,63,0.00,0.00,-32.65,0.000,16386,0.000,0.000,331,2276,2419,2465,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-1.11,-107.1,331,2276,2468,2377,3.1,-2.2,6,126,10.23,2.08,-36.45,0.000,18692,0.236,0.058,2829,3592,3448,3481,3416,0,0,0,0,0,0,25.13,25.94,26.48
$GC,360,-1.11,-107.1,1840,3591,3472,3420,52.2,-17.4,45,371,0.00,1.88,0.00,0.000,1030,0.000,0.025,2836,2263,3453,3484,3423,0,0,0,0,0,0,28.83,26.27,28.83
$GC,685,-1.11,-107.1,2836,2260,3486,3423,95.4,-12.4,61,696,0.00,2.03,0.00,0.000,260,0.000,0.043,2828,3597,3454,3487,3422,0,0,0,0,0,0,28.83,26.09,28.83
$GC,833,-1.11,-107.1,2828,3597,3486,3423,113.1,-13.5,67,846,0.00,1.85,0.00,0.000,1030,0.000,0.025,2834,2301,3455,3487,3424,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1138,-1.11,-107.1,2834,2301,3489,3423,149.7,-11.3,83,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2301,3456,3489,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1438,-1.11,-107.1,2834,2301,3489,3424,183.8,-11.5,98,1448,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2301,3456,3489,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1738,-1.11,-107.1,2834,2301,3489,3424,220.5,-12.4,113,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2301,3457,3490,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2038,-1.11,-107.1,2834,2301,3490,3423,256.8,-12.0,128,2049,0.00,2.08,0.00,0.000,516,0.000,0.031,2838,916,3456,3490,3423,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2089,-1.11,-107.1,2838,916,3490,3424,262.9,-12.2,130,2100,0.00,2.12,0.00,0.000,1030,0.000,0.031,2830,2307,3457,3490,3424,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2419,-1.11,-107.1,2830,2306,3490,3423,301.6,-11.2,146,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2306,3456,3490,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2719,-1.11,-107.1,2830,2306,3489,3424,334.3,-10.8,161,2729,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2306,3457,3490,3424,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3019,-1.11,-107.1,2831,2306,3489,3423,366.2,-10.8,176,3030,0.00,1.90,0.00,0.000,260,0.000,0.043,2821,3591,3456,3489,3423,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3080,-1.11,-107.1,2821,3591,3489,3423,371.9,-11.1,178,3091,0.00,1.85,0.00,0.000,1030,0.000,0.025,2823,2299,3456,3489,3424,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,3397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3397,begin apogee
$GC,3407,-0.25,0.0,2825,2028,3489,3423,408.0,-11.0,194,3557,0.93,0.00,134.38,0.733,10246,0.138,0.000,3114,2021,3004,3085,2923,0,0,0,0,0,0,25.27,28.83,24.27
$STATE,3559,end apogee,CONTROL_FINISHED_OK
$STATE,3559,begin climb
$GC,3564,1.11,107.1,3114,2021,3083,2920,412.2,0.0,201,3709,1.25,2.22,131.75,0.653,10756,0.078,0.031,3563,649,2566,2659,2474,0,0,0,0,0,0,25.27,25.04,24.12
$GC,3770,1.11,107.1,3563,649,2646,2470,397.0,11.1,211,3781,0.00,2.20,0.00,0.000,1030,0.000,0.028,3563,2032,2557,2645,2470,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4090,1.11,107.1,3562,2031,2640,2467,356.7,11.6,227,4101,0.00,2.12,0.00,0.000,260,0.000,0.040,3563,3440,2553,2640,2466,0,0,0,0,0,0,28.83,26.00,28.83
$GC,4204,1.11,107.1,3562,3440,2640,2465,342.7,13.0,232,4215,0.00,2.05,0.00,0.000,1030,0.000,0.025,3573,2025,2552,2640,2464,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4535,1.11,107.1,3572,2025,2640,2463,302.5,11.6,248,4546,0.00,2.12,0.00,0.000,516,0.000,0.034,3582,628,2551,2640,2463,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4606,1.11,107.1,3582,628,2639,2463,294.1,11.6,251,4617,0.00,2.17,0.00,0.000,1030,0.000,0.028,3582,2034,2551,2639,2463,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4937,1.11,107.1,3582,2034,2637,2462,255.5,11.4,267,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2034,2549,2637,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5237,1.11,107.1,3582,2034,2636,2462,221.2,11.4,282,5248,0.00,2.17,0.00,0.000,516,0.000,0.034,3591,632,2549,2635,2463,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5289,1.11,107.1,3591,632,2635,2462,215.4,11.4,284,5300,0.12,2.15,0.00,0.000,5126,0.164,0.029,3561,2030,2548,2635,2462,0,0,0,0,0,0,25.97,26.34,28.83
$GC,5621,1.11,107.1,3560,2029,2634,2461,180.5,10.4,300,5632,0.00,2.08,0.00,0.000,260,0.000,0.041,3559,3417,2547,2633,2461,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5651,1.11,107.1,3558,3417,2634,2461,177.0,10.5,301,5662,0.00,2.03,0.00,0.000,1030,0.000,0.025,3566,2024,2547,2634,2460,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5984,1.11,107.1,3566,2024,2634,2460,140.0,11.2,317,5994,0.00,2.10,0.00,0.000,516,0.000,0.034,3576,640,2547,2634,2460,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6008,1.11,107.1,3576,640,2633,2460,140.0,11.2,317,6019,0.00,2.12,0.00,0.000,1030,0.000,0.029,3576,2030,2546,2633,2460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6315,1.11,107.1,3575,2029,2633,2460,103.6,10.8,333,6325,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2029,2546,2633,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6615,1.11,107.1,3575,2029,2632,2459,73.4,9.3,348,6625,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2029,2545,2632,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6915,1.20,136.9,3575,2029,2632,2459,49.1,6.5,363,6961,0.00,2.22,32.72,0.601,8708,0.000,0.034,3585,634,2447,2531,2363,0,0,1,0,0,0,28.83,26.06,24.99
$GC,7098,1.21,141.1,3584,634,2525,2362,35.1,7.8,380,7114,0.00,2.17,3.80,0.508,9222,0.000,0.029,3584,2034,2433,2515,2351,0,0,0,0,0,0,28.83,26.17,24.47
$GC,7420,1.37,193.7,3584,2034,2513,2351,14.0,5.4,429,7458,0.15,2.22,25.90,0.080,10756,0.091,0.032,3657,640,2218,2309,2127,0,0,1,0,0,0,26.32,26.04,25.82
$GC,7496,1.44,217.4,3657,640,2305,2125,9.3,6.9,440,7521,0.00,2.15,11.02,0.067,9222,0.000,0.029,3657,2017,2121,2216,2027,0,0,0,0,0,0,28.83,26.24,25.89
$STATE,7555,end climb,SURFACE_DEPTH_REACHED
$STATE,7555,begin surface coast
$FINISH,1.8,1.024266
$STATE,7591,end surface coast,CONTROL_FINISHED_OK
$STATE,7591,begin surface
$SM_CCo,7618,58.78,0.057,0,0,1582,350.04
$SM_GC,2.73,8.82,0.40,58.78,0.045,0.046,0.057,332,2324,1582,-8.87,-1.10,350.04,0,0,0,0,0,0,26.06,26.29,25.94
$IRIDIUM_FIX,4735.69,-12518.46,040114,090940
$TT8_MAMPS,0.023219,0.023219
$HUMID,56.61
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3760224
$24V_AH,24.1,57.786
$10V_AH,9.9,57.149
$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,21.500,50.825,339.575,58.775,0.000,0.000,0.000,238.275,0.000,0.000,16.529,1309.240,4562.193,434.347,1444.566,390.318,0.000,1446.573,0.000,991.730,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,58.140,732.870,56.610,0.000,0.000,0.000,120.870,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7601.000,185.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.951,9.888,0.000,0.000
$MEM,258720
$DATA_FILE_SIZE,16794,456
$CAP_FILE_SIZE,105783,0
$CFSIZE,260034560,196026368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1,0
$CURRENT,0.115,337.3,1
$GPS,040114,134855,4750.839,-12516.115,22,1.1,23,17.2