version: 66.11
glider: 108
mission: 25
dive: 561
start: 1 4 114 22 19 15
data:
$ID,108
$MISSION,25
$DIVE,561
$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,-194910.42
$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,79
$R_STBD_OVSHOOT,56
$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
$GPS1,040114,221048,4751.323,-12514.618,16,1.2,16,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-74.5
$GPS2,040114,221848,4751.421,-12514.724,20,1.1,21,17.2
$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,108.1,5614,-15.8,-8.049,-22.04,2046
$D_GRID,297
$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,-107.1,336,2320,1621,1505,0.0,0.0,0,71,0.00,0.00,-40.17,0.000,16386,0.000,0.000,336,2320,2626,2656,2596,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,336,2320,2662,2599,3.2,-2.3,7,126,10.00,2.22,-23.62,0.000,18948,0.230,0.046,2839,910,3450,3482,3419,0,0,0,0,0,0,25.16,26.05,26.50
$GC,360,-1.11,-107.1,2838,909,3489,3423,48.7,-15.6,46,371,0.00,2.15,0.00,0.000,1030,0.000,0.031,2832,2303,3456,3489,3423,0,0,0,0,0,0,28.83,26.17,28.83
$GC,680,-1.11,-107.1,2831,2302,3489,3424,91.8,-12.9,62,691,0.00,1.90,0.00,0.000,260,0.000,0.043,2822,3584,3456,3489,3424,0,0,0,0,0,0,28.83,26.12,28.83
$GC,863,-1.11,-107.1,2821,3584,3489,3424,116.2,-13.5,70,874,0.00,1.83,0.00,0.000,1030,0.000,0.026,2822,2287,3456,3489,3424,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1183,-1.11,-107.1,2821,2286,3489,3425,158.2,-12.7,86,1194,0.00,2.08,0.00,0.000,516,0.000,0.031,2823,901,3457,3489,3425,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1223,-1.11,-107.1,2823,901,3490,3425,161.9,-12.5,87,1234,0.00,2.15,0.00,0.000,1030,0.000,0.031,2816,2306,3457,3490,3424,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1544,-1.11,-107.1,2816,2305,3490,3425,201.1,-11.8,103,1555,0.00,2.12,0.00,0.000,516,0.000,0.029,2816,909,3458,3491,3425,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1616,-1.11,-107.1,2816,908,3490,3425,209.6,-12.1,106,1628,0.12,2.12,0.00,0.000,3078,0.190,0.031,2837,2303,3457,3490,3425,0,0,0,0,0,0,25.89,26.33,28.83
$GC,1948,-1.11,-107.1,2836,2302,3490,3425,244.9,-10.6,122,1959,0.00,1.90,0.00,0.000,260,0.000,0.042,2828,3592,3457,3490,3425,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2041,-1.11,-107.1,2829,3592,3490,3425,255.3,-11.3,126,2052,0.00,1.83,0.00,0.000,1030,0.000,0.024,2829,2288,3458,3490,3426,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2371,-1.11,-107.1,2828,2289,3490,3425,292.3,-11.2,142,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2289,3457,3490,3425,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2428,begin apogee
$GC,2437,-0.25,0.0,2829,2028,3490,3425,299.2,-11.5,145,2583,0.90,0.00,130.62,0.688,10246,0.136,0.000,3111,2028,3006,3088,2925,0,0,0,0,0,0,25.37,28.83,24.39
$STATE,2585,end apogee,CONTROL_FINISHED_OK
$STATE,2585,begin climb
$GC,2588,1.11,107.1,3111,2028,3085,2922,304.3,0.0,152,2732,1.27,0.00,130.62,0.598,10502,0.078,0.000,3560,2028,2565,2658,2473,0,0,0,0,0,0,25.32,28.83,24.30
$GC,3032,1.11,107.1,3559,2028,2645,2467,261.6,11.4,175,3042,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2028,2555,2645,2466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3332,1.11,107.1,3559,2028,2643,2466,230.5,9.9,190,3343,0.00,2.10,0.00,0.000,260,0.000,0.041,3560,3421,2554,2644,2465,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3426,1.11,107.1,3559,3421,2641,2465,220.2,11.3,194,3437,0.00,2.03,0.00,0.000,1030,0.000,0.025,3569,2024,2552,2641,2464,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3756,1.11,107.1,3569,2024,2640,2462,185.7,9.9,210,3767,0.00,2.12,0.00,0.000,516,0.000,0.034,3579,636,2551,2640,2463,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3836,1.11,107.1,3579,636,2640,2463,178.3,10.4,213,3847,0.00,2.15,0.00,0.000,1030,0.000,0.028,3579,2036,2551,2640,2463,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4156,1.11,107.1,3578,2036,2639,2463,140.8,11.6,229,4167,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2036,2551,2640,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4456,1.11,107.1,3579,2036,2639,2462,107.0,10.6,244,4467,0.00,2.17,0.00,0.000,516,0.000,0.034,3589,635,2550,2639,2461,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4511,1.11,107.1,3588,635,2639,2461,101.7,10.3,246,4522,0.12,2.15,0.00,0.000,5126,0.161,0.029,3558,2033,2550,2639,2461,0,0,0,0,0,0,26.01,26.37,28.83
$GC,4837,1.11,107.1,3557,2033,2638,2461,69.5,9.3,262,4848,0.00,2.08,0.00,0.000,260,0.000,0.041,3552,3419,2549,2638,2461,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5005,1.12,108.8,3551,3419,2638,2461,56.3,8.0,269,5018,0.00,2.00,0.00,0.000,1030,0.000,0.024,3560,2022,2549,2638,2460,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5313,1.38,197.0,3560,2022,2638,2460,39.6,3.6,296,5443,0.20,2.25,111.32,0.571,10500,0.075,0.039,3639,3423,2200,2293,2107,0,0,1,0,0,0,26.47,25.46,24.71
$STATE,5669,end climb,SURFACE_DEPTH_REACHED
$STATE,5669,begin surface coast
$FINISH,2.0,1.024250
$STATE,5685,end surface coast,CONTROL_FINISHED_OK
$STATE,5685,begin surface
$SM_CCo,5712,67.88,0.057,0,0,1581,350.04
$SM_GC,2.70,8.77,1.67,67.88,0.042,0.025,0.057,337,2327,1581,-8.87,2.46,350.04,0,0,0,0,0,0,25.92,26.14,25.87
$IRIDIUM_FIX,4732.49,-12512.13,040114,202001
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.94
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3758624
$PM_FREEKB,2191024
$24V_AH,24.3,58.129
$10V_AH,9.6,57.398
$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,21.400,41.325,372.575,67.875,0.000,0.000,0.000,226.875,0.000,0.000,22.441,1057.302,3162.129,474.532,1214.777,352.723,0.000,1325.484,0.000,816.447,0.000,0.536,0.000
$DEVICE_MAMPS,229.500,45.900,687.735,56.610,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5692.000,138.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.546,9.389,0.000,0.000
$MEM,258788
$DATA_FILE_SIZE,10135,351
$CAP_FILE_SIZE,85039,0
$CFSIZE,260034560,195788800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.174,346.8,1
$GPS,040114,235704,4751.690,-12514.231,37,1.1,37,17.2