version: 66.11
glider: 108
mission: 25
dive: 576
start: 1 5 114 23 55 41
data:
$ID,108
$MISSION,25
$DIVE,576
$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,-194929.27
$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,57
$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
$GPS1,050114,234730,4750.208,-12518.041,36,1.1,36,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-73.9
$GPS2,050114,235511,4750.268,-12518.042,14,1.6,15,17.2
$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,171.9,158906,-15.8,-8.049,-22.04,2046
$D_GRID,478
$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,24,-1.11,-107.1,337,2326,1627,1506,0.0,0.0,0,71,0.00,0.00,-40.05,0.000,16386,0.000,0.000,338,2326,2615,2645,2585,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,337,2327,2650,2589,3.2,-2.5,7,125,10.32,2.20,-25.45,0.000,18948,0.239,0.044,2847,901,3449,3480,3418,0,0,0,0,0,0,25.19,26.01,26.46
$GC,356,-1.11,-107.1,1856,901,3474,3422,46.5,-16.2,46,368,0.00,2.17,0.00,0.000,1030,0.000,0.033,2840,2293,3455,3485,3425,0,0,0,0,0,0,28.83,26.13,28.83
$GC,678,-1.11,-107.1,2840,2293,3487,3426,89.8,-13.5,63,689,0.00,2.15,0.00,0.000,516,0.000,0.031,2840,895,3456,3487,3426,0,0,0,0,0,0,28.83,26.21,28.83
$GC,775,-1.11,-107.1,2840,894,3488,3425,102.2,-13.7,67,786,0.00,2.17,0.00,0.000,1030,0.000,0.032,2831,2309,3457,3488,3426,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1100,-1.11,-107.1,2831,2308,3487,3426,145.5,-12.4,83,1112,0.00,2.15,0.00,0.000,516,0.000,0.030,2832,906,3457,3488,3426,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1152,-1.11,-107.1,2832,906,3487,3426,152.0,-12.6,85,1163,0.00,2.15,0.00,0.000,1030,0.000,0.031,2825,2305,3457,3488,3426,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1483,-1.11,-107.1,2824,2304,3488,3426,190.8,-11.1,101,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2304,3457,3488,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1783,-1.11,-107.1,2825,2304,3488,3427,223.3,-10.7,116,1794,0.00,1.90,0.00,0.000,260,0.000,0.044,2815,3590,3457,3488,3426,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1870,-1.11,-107.1,2815,3590,3488,3426,231.4,-11.3,119,1882,0.00,1.83,0.00,0.000,1030,0.000,0.024,2816,2279,3457,3488,3426,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2173,-1.11,-107.1,2815,2279,3488,3427,268.2,-11.8,135,2184,0.00,2.05,0.00,0.000,516,0.000,0.030,2816,917,3457,3488,3426,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2228,-1.11,-107.1,1808,916,3478,3423,274.3,-12.0,137,2240,0.12,2.12,0.00,0.000,3078,0.177,0.031,2838,2301,3457,3488,3427,0,0,0,0,0,0,25.92,26.33,28.83
$GC,2554,-1.11,-107.1,2838,2301,3489,3426,312.0,-11.6,153,2565,0.00,1.90,0.00,0.000,260,0.000,0.043,2830,3586,3457,3488,3426,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2606,-1.11,-107.1,2830,3586,3488,3426,318.2,-12.0,155,2617,0.00,1.80,0.00,0.000,1030,0.000,0.026,2830,2305,3457,3488,3426,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2937,-1.11,-107.1,2830,2304,3488,3426,359.4,-12.2,171,2948,0.00,2.10,0.00,0.000,516,0.000,0.031,2831,912,3457,3488,3426,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2968,-1.11,-107.1,2831,912,3488,3427,363.2,-12.3,172,2979,0.00,2.15,0.00,0.000,1030,0.000,0.031,2824,2304,3457,3488,3426,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3300,-1.11,-107.1,2824,2304,3488,3426,403.1,-12.0,188,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2304,3457,3488,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3599,-1.11,-107.1,2824,2304,3487,3426,438.0,-11.9,203,3610,0.00,2.12,0.00,0.000,516,0.000,0.031,2824,915,3456,3487,3426,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3665,-1.11,-107.1,2824,915,3486,3426,443.9,-11.7,205,3677,0.00,2.15,0.00,0.000,1030,0.000,0.032,2816,2306,3456,3486,3426,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,3966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3966,begin apogee
$GC,3975,-0.25,0.0,2816,2026,3485,3426,480.1,-10.7,221,4126,0.95,0.00,136.05,0.754,10246,0.138,0.000,3111,2026,3006,3086,2926,0,0,0,0,0,0,25.27,28.83,24.22
$STATE,4128,end apogee,CONTROL_FINISHED_OK
$STATE,4128,begin climb
$GC,4132,1.11,107.1,3111,2026,3080,2919,484.5,0.0,228,4279,1.27,2.25,131.10,0.681,10500,0.076,0.038,3560,3427,2564,2655,2474,0,0,0,0,0,0,25.25,24.98,24.04
$GC,4309,1.11,107.1,3560,3427,2647,2469,470.6,11.1,237,4319,0.00,2.12,0.00,0.000,1030,0.000,0.024,3570,2018,2557,2646,2469,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4639,1.11,107.1,3570,2018,2640,2466,429.1,12.7,253,4650,0.00,2.15,0.00,0.000,516,0.000,0.034,3580,637,2552,2639,2465,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4746,1.11,107.1,3580,637,2638,2465,417.2,13.1,257,4758,0.00,2.17,0.00,0.000,1030,0.000,0.030,3580,2027,2552,2638,2466,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5049,1.11,107.1,3579,2027,2635,2464,374.2,13.4,273,5060,0.00,2.10,0.00,0.000,260,0.000,0.041,3580,3436,2550,2635,2465,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5114,1.11,107.1,3580,3437,2634,2463,367.1,13.7,275,5127,0.12,2.08,0.00,0.000,5126,0.167,0.025,3559,2023,2548,2634,2463,0,0,0,0,0,0,25.94,26.34,28.83
$GC,5419,1.11,107.1,3559,2023,2634,2462,327.6,12.1,291,5430,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2023,2548,2634,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5720,1.11,107.1,3559,2023,2633,2461,291.5,12.0,306,5731,0.00,2.15,0.00,0.000,260,0.000,0.040,3552,3433,2547,2633,2461,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5779,1.11,107.1,3551,3432,2632,2461,285.1,12.3,308,5790,0.00,2.05,0.00,0.000,1030,0.000,0.026,3559,2015,2546,2632,2461,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6099,1.11,107.1,3559,2015,2631,2460,245.6,11.8,324,6111,0.00,2.12,0.00,0.000,516,0.000,0.035,3569,637,2545,2631,2460,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6261,1.11,107.1,3569,637,2630,2460,227.5,11.8,331,6272,0.00,2.15,0.00,0.000,1030,0.000,0.030,3569,2028,2545,2630,2460,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6582,1.11,107.1,3569,2028,2629,2460,189.9,12.0,347,6593,0.00,2.10,0.00,0.000,260,0.000,0.042,3569,3436,2544,2629,2460,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6680,1.11,107.1,3569,3435,2629,2459,177.9,13.3,351,6691,0.00,2.05,0.00,0.000,1030,0.000,0.026,3578,2025,2544,2630,2459,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7005,1.11,107.1,3577,2025,2629,2458,137.8,12.1,367,7016,0.00,2.15,0.00,0.000,260,0.000,0.041,3570,3438,2544,2629,2459,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7065,1.11,107.1,3570,3439,2629,2459,131.7,11.9,369,7076,0.00,2.05,0.00,0.000,1030,0.000,0.025,3578,2013,2544,2629,2459,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7386,1.11,107.1,3578,2013,2629,2458,91.8,11.9,385,7397,0.00,2.10,0.00,0.000,516,0.000,0.034,3588,637,2544,2629,2459,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7572,1.11,107.1,3588,637,2628,2458,71.9,11.8,393,7586,0.12,2.15,0.00,0.000,5126,0.160,0.030,3557,2038,2544,2629,2459,0,0,0,0,0,0,25.99,26.36,28.83
$GC,7878,1.20,138.1,3557,2037,2629,2459,45.7,6.5,412,7924,0.00,2.15,32.40,0.602,8452,0.000,0.041,3556,3433,2442,2526,2359,0,0,0,0,0,0,28.83,26.09,24.96
$GC,8098,1.40,204.5,3555,3432,2522,2356,31.4,4.7,433,8206,0.25,2.05,90.68,0.568,11270,0.066,0.025,3662,2023,2171,2263,2080,0,0,0,0,0,0,26.10,26.27,24.69
$STATE,8351,end climb,SURFACE_DEPTH_REACHED
$STATE,8351,begin surface coast
$FINISH,1.6,1.012182
$STATE,8386,end surface coast,CONTROL_FINISHED_OK
$STATE,8386,begin surface
$SM_CCo,8411,64.82,0.057,0,0,1581,350.04
$SM_GC,2.72,8.85,0.43,64.82,0.042,0.044,0.057,342,2312,1581,-8.86,-1.50,350.04,0,0,0,0,0,0,25.87,26.03,25.82
$IRIDIUM_FIX,4732.49,-12523.69,050114,212147
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.41
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3753824
$PM_FREEKB,2153160
$24V_AH,24.0,59.176
$10V_AH,9.9,58.068
$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,22.025,72.075,390.225,64.825,0.000,0.000,0.000,232.850,0.000,0.000,16.461,1479.448,4909.709,499.105,1610.631,441.720,0.000,1613.177,0.000,1132.366,0.000,0.535,0.000
$DEVICE_MAMPS,239.445,44.370,753.525,56.610,0.000,0.000,0.000,122.400,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8398.000,186.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.767,9.915,0.000,0.000
$MEM,258740
$DATA_FILE_SIZE,16810,477
$CAP_FILE_SIZE,119400,0
$CFSIZE,260034560,195059712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.139,330.9,1
$GPS,060114,021828,4749.924,-12518.627,38,0.8,38,17.2