version: 66.11
glider: 108
mission: 25
dive: 574
start: 1 5 114 18 55 30
data:
$ID,108
$MISSION,25
$DIVE,574
$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,-194926.67
$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,75
$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
$GPS1,050114,184753,4750.500,-12516.104,19,1.1,19,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-73.0
$GPS2,050114,185500,4750.558,-12516.114,16,1.7,16,17.2
$SPEED_LIMITS,0.139,0.199
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,190.9,161197,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.11,-107.1,342,2313,1621,1502,0.0,0.0,0,72,0.00,0.00,-41.78,0.000,16386,0.000,0.000,342,2314,2670,2698,2643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.11,-107.1,341,2314,2700,2647,3.3,-2.6,7,117,10.15,2.25,-20.83,0.000,18948,0.234,0.046,2849,898,3450,3481,3420,0,0,0,0,0,0,25.18,26.04,26.50
$GC,312,-1.11,-107.1,2849,898,3488,3427,41.7,-15.2,40,319,0.00,2.17,0.00,0.000,1030,0.000,0.032,2842,2302,3457,3488,3426,0,0,0,0,0,0,28.83,26.14,28.83
$GC,629,-1.11,-107.1,2842,2301,3489,3426,83.6,-13.2,58,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2302,3458,3489,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,931,-1.11,-107.1,2841,2301,3489,3427,121.8,-13.1,73,938,0.00,1.92,0.00,0.000,260,0.000,0.043,2832,3593,3457,3489,3426,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1019,-1.11,-107.1,2831,3593,3489,3427,134.2,-13.9,77,1026,0.00,1.85,0.00,0.000,1030,0.000,0.025,2832,2280,3458,3489,3427,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1345,-1.11,-107.1,2832,2278,3489,3427,173.6,-11.5,93,1352,0.00,2.08,0.00,0.000,516,0.000,0.031,2834,907,3458,3490,3427,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1498,-1.11,-107.1,2834,907,3490,3427,190.7,-11.5,100,1505,0.00,2.15,0.00,0.000,1030,0.000,0.031,2827,2309,3458,3490,3427,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1820,-1.11,-107.1,2827,2308,3490,3427,226.8,-11.0,116,1826,0.00,2.15,0.00,0.000,516,0.000,0.029,2827,906,3458,3490,3427,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1871,-1.11,-107.1,2827,905,3490,3426,232.0,-11.1,118,1878,0.00,2.15,0.00,0.000,1030,0.000,0.031,2818,2305,3458,3490,3427,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2193,-1.11,-107.1,2818,2304,3490,3427,270.6,-11.7,134,2201,0.00,1.90,0.00,0.000,260,0.000,0.043,2809,3590,3458,3490,3427,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2326,-1.11,-107.1,2809,3590,3490,3427,287.1,-12.8,140,2333,0.12,1.80,0.00,0.000,3078,0.170,0.025,2839,2298,3457,3489,3426,0,0,0,0,0,0,26.01,26.48,28.83
$GC,2648,-1.11,-107.1,2838,2298,3490,3427,324.2,-11.5,156,2655,0.00,2.08,0.00,0.000,516,0.000,0.030,2839,916,3458,3490,3427,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2708,-1.11,-107.1,2838,916,3490,3427,329.5,-11.7,158,2716,0.00,2.12,0.00,0.000,1030,0.000,0.031,2832,2302,3458,3490,3427,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3014,-1.11,-107.1,2832,2302,3490,3427,364.9,-10.5,174,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2302,3459,3491,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3317,-1.11,-107.1,2832,2302,3490,3427,396.7,-10.7,189,3324,0.00,2.10,0.00,0.000,516,0.000,0.030,2836,919,3458,3490,3427,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3388,-1.11,-107.1,2836,919,3490,3426,403.9,-10.4,192,3394,0.00,2.12,0.00,0.000,1030,0.000,0.032,2829,2303,3458,3490,3427,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3709,-1.11,-107.1,2829,2302,3489,3426,436.9,-9.9,208,3716,0.00,2.12,0.00,0.000,516,0.000,0.030,2833,912,3458,3489,3427,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3763,-1.11,-107.1,2833,912,3489,3427,441.7,-10.0,210,3770,0.00,2.12,0.00,0.000,1030,0.000,0.031,2826,2301,3458,3489,3427,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,3780,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3780,begin apogee
$GC,3789,-0.25,0.0,2826,2028,3489,3426,444.5,-10.1,211,3932,0.93,0.00,132.25,0.760,10246,0.135,0.000,3115,2027,3008,3089,2928,0,0,0,0,0,0,25.33,28.83,24.24
$STATE,3935,end apogee,CONTROL_FINISHED_OK
$STATE,3935,begin climb
$GC,3938,1.11,107.1,3115,2027,3084,2923,447.7,0.0,218,4086,1.25,2.28,130.10,0.665,10756,0.076,0.034,3565,662,2565,2655,2476,0,0,0,0,0,0,25.26,25.06,24.10
$GC,4165,1.11,107.1,3564,662,2644,2474,426.9,12.6,229,4176,0.00,2.17,0.00,0.000,1030,0.000,0.028,3565,2021,2559,2644,2474,0,0,0,0,0,0,28.83,25.65,28.83
$GC,4495,1.11,107.1,3564,2020,2640,2469,383.9,12.3,245,4506,0.00,2.15,0.00,0.000,516,0.000,0.034,3572,654,2554,2640,2469,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4588,1.11,107.1,3572,654,2640,2469,372.6,12.4,249,4599,0.00,2.15,0.00,0.000,1030,0.000,0.030,3572,2027,2554,2640,2469,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4918,1.11,107.1,3572,2028,2638,2468,331.9,12.4,265,4929,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2027,2553,2638,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5219,1.11,107.1,3572,2027,2637,2467,291.6,13.7,280,5230,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2027,2552,2637,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5521,1.11,107.1,3572,2027,2636,2466,253.2,12.6,295,5532,0.00,2.17,0.00,0.000,516,0.000,0.034,3581,640,2550,2635,2466,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5624,1.11,107.1,3581,640,2635,2466,241.8,12.6,299,5635,0.00,2.15,0.00,0.000,1030,0.000,0.030,3581,2041,2550,2634,2466,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5944,1.11,107.1,3581,2040,2634,2465,201.5,11.5,315,5955,0.00,2.05,0.00,0.000,260,0.000,0.041,3581,3418,2550,2634,2466,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6151,1.11,107.1,3581,3419,2633,2464,177.2,12.4,324,6164,0.12,2.00,0.00,0.000,5126,0.165,0.025,3560,2023,2548,2633,2464,0,0,0,0,0,0,26.03,26.46,28.83
$GC,6457,1.11,107.1,3560,2024,2633,2463,143.7,10.2,340,6468,0.00,2.10,0.00,0.000,516,0.000,0.034,3568,644,2548,2633,2464,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6679,1.11,107.1,3568,644,2633,2463,122.4,10.0,350,6690,0.00,2.12,0.00,0.000,1030,0.000,0.031,3566,2025,2547,2632,2463,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7000,1.11,107.1,3566,2025,2631,2463,87.7,10.6,366,7011,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2025,2547,2631,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7301,1.11,107.1,3566,2025,2631,2462,56.4,10.8,381,7311,0.00,0.00,0.00,0.000,6,0.000,0.000,3566,2025,2546,2631,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7601,1.31,174.3,3566,2025,2631,2462,31.7,4.7,408,7692,0.15,0.00,81.10,0.578,10758,0.089,0.000,3632,2024,2295,2384,2207,0,0,0,0,0,0,26.52,28.83,24.72
$STATE,7918,end climb,SURFACE_DEPTH_REACHED
$STATE,7918,begin surface coast
$FINISH,1.8,1.014069
$STATE,7974,end surface coast,CONTROL_FINISHED_OK
$STATE,7975,begin surface
$SM_CCo,8000,78.80,0.057,0,0,1581,350.04
$SM_GC,2.55,8.77,0.38,78.80,0.044,0.050,0.057,336,2298,1581,-8.88,-1.50,350.04,0,0,0,0,0,0,25.96,26.12,25.86
$IRIDIUM_FIX,4732.49,-12516.60,050114,161635
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.85
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3754464
$PM_FREEKB,2153164
$24V_AH,24.1,59.012
$10V_AH,9.4,57.952
$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,21.500,55.175,343.450,78.800,0.000,0.000,0.000,204.925,0.000,0.000,16.675,1482.997,4682.362,456.979,1476.858,411.203,0.000,1410.793,0.000,1123.429,0.000,0.535,0.000
$DEVICE_MAMPS,234.090,49.725,759.645,57.375,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7981.000,3998.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.960,9.116,0.000,0.000
$MEM,258728
$DATA_FILE_SIZE,16735,471
$CAP_FILE_SIZE,107410,0
$CFSIZE,260034560,195194880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.152,316.5,1
$GPS,050114,211134,4750.292,-12517.323,32,0.7,32,17.2