version: 66.11
glider: 108
mission: 25
dive: 577
start: 1 6 114 2 26 30
data:
$ID,108
$MISSION,25
$DIVE,577
$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,-194930.61
$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,78
$R_STBD_OVSHOOT,59
$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
$GPS1,060114,021828,4749.924,-12518.627,38,0.8,38,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-73.2
$GPS2,060114,022559,4749.945,-12518.628,18,0.9,19,17.2
$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,173.2,157956,-15.8,-8.049,-22.04,2046
$D_GRID,492
$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,-107.1,340,2318,1625,1503,0.0,0.0,0,71,0.00,0.00,-39.97,0.000,16386,0.000,0.000,340,2319,2605,2637,2573,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,340,2319,2640,2578,3.1,-2.5,7,127,10.25,2.28,-29.08,0.000,18948,0.239,0.045,2835,900,3449,3480,3418,0,0,0,0,0,0,25.20,26.03,26.47
$GC,259,-1.11,-107.1,2835,899,3484,3425,27.1,-19.3,37,271,0.00,2.17,0.00,0.000,1030,0.000,0.033,2828,2295,3454,3484,3425,0,0,0,0,0,0,28.83,26.10,28.83
$GC,574,-1.11,-107.1,2828,2294,3485,3426,76.7,-12.7,59,584,0.00,1.92,0.00,0.000,260,0.000,0.044,2818,3590,3455,3485,3426,0,0,0,0,0,0,28.83,26.09,28.83
$GC,667,-1.11,-107.1,2818,3589,3485,3426,89.6,-14.0,63,678,0.00,1.83,0.00,0.000,1030,0.000,0.025,2818,2295,3456,3485,3427,0,0,0,0,0,0,28.83,26.36,28.83
$GC,997,-1.11,-107.1,2818,2294,3487,3427,133.4,-12.5,79,1009,0.00,2.10,0.00,0.000,516,0.000,0.031,2818,901,3456,3486,3426,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1069,-1.11,-107.1,2818,901,3487,3426,142.2,-12.1,82,1080,0.12,2.15,0.00,0.000,3078,0.177,0.032,2840,2302,3456,3487,3426,0,0,0,0,0,0,25.88,26.28,28.83
$GC,1400,-1.11,-107.1,2839,2302,3488,3428,178.5,-10.3,98,1411,0.00,1.90,0.00,0.000,260,0.000,0.044,2832,3588,3457,3488,3427,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1527,-1.11,-107.1,2832,3588,3488,3428,190.8,-10.8,103,1539,0.00,1.83,0.00,0.000,1030,0.000,0.025,2832,2283,3457,3488,3426,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1833,-1.11,-107.1,2832,2283,3488,3427,224.0,-10.2,119,1844,0.00,2.05,0.00,0.000,516,0.000,0.030,2832,916,3457,3489,3426,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1955,-1.11,-107.1,2832,916,3489,3427,236.2,-10.9,124,1966,0.00,2.12,0.00,0.000,1030,0.000,0.031,2823,2302,3458,3489,3427,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2276,-1.11,-107.1,2823,2301,3488,3426,275.6,-12.5,140,2287,0.00,2.12,0.00,0.000,516,0.000,0.030,2823,915,3458,3489,3427,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2307,-1.11,-107.1,2823,915,3489,3427,279.5,-12.4,141,2318,0.00,2.15,0.00,0.000,1030,0.000,0.031,2814,2308,3457,3488,3427,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2637,-1.11,-107.1,2814,2308,3488,3427,321.6,-12.3,157,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2308,3457,3489,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2937,-1.11,-107.1,2814,2308,3488,3427,356.8,-11.4,172,2949,0.00,1.90,0.00,0.000,260,0.000,0.044,2804,3594,3457,3488,3426,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2993,-1.11,-107.1,1808,3593,3477,3424,362.9,-11.7,174,3005,0.15,1.85,0.00,0.000,3078,0.167,0.026,2842,2281,3457,3487,3427,0,0,0,0,0,0,25.91,26.48,28.83
$GC,3320,-1.11,-107.1,2842,2282,3488,3427,394.9,-9.5,190,3331,0.00,1.98,0.00,0.000,260,0.000,0.043,2834,3589,3456,3487,3426,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3413,-1.11,-107.1,2834,3589,3487,3427,404.3,-10.3,194,3424,0.00,1.85,0.00,0.000,1030,0.000,0.025,2834,2303,3457,3487,3427,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3744,-1.11,-107.1,2834,2303,3486,3426,437.6,-10.1,210,3755,0.00,1.95,0.00,0.000,260,0.000,0.044,2824,3590,3455,3485,3426,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3775,-1.11,-107.1,2824,3590,3485,3426,440.7,-10.2,211,3786,0.00,1.85,0.00,0.000,1030,0.000,0.025,2824,2279,3455,3485,3426,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4105,-1.11,-107.1,2824,2279,3485,3427,475.5,-10.7,227,4116,0.00,2.08,0.00,0.000,516,0.000,0.031,2824,911,3455,3484,3426,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4150,-1.11,-107.1,2824,911,3484,3426,478.9,-10.8,228,4162,0.00,2.15,0.00,0.000,1030,0.000,0.031,2816,2304,3455,3485,3426,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,4272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4272,begin apogee
$GC,4282,-0.25,0.0,2816,2033,3484,3425,493.7,-10.6,235,4431,0.95,0.00,135.38,0.767,10246,0.135,0.000,3112,2027,3006,3086,2926,0,0,0,0,0,0,25.29,28.83,24.20
$STATE,4433,end apogee,CONTROL_FINISHED_OK
$STATE,4433,begin climb
$GC,4438,1.11,107.1,3112,2027,3083,2923,497.8,0.0,242,4586,1.25,2.25,134.02,0.682,10756,0.074,0.034,3563,652,2566,2656,2476,0,0,0,0,0,0,25.25,24.97,24.01
$GC,4674,1.11,107.1,3563,652,2641,2473,477.9,11.8,254,4684,0.00,2.20,0.00,0.000,1030,0.000,0.031,3563,2017,2555,2639,2472,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5000,1.11,107.1,3563,2016,2638,2469,436.0,12.5,270,5012,0.00,2.17,0.00,0.000,516,0.000,0.034,3572,646,2553,2637,2469,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5061,1.11,107.1,3572,646,2637,2469,429.3,12.5,272,5072,0.00,2.17,0.00,0.000,1030,0.000,0.030,3572,2039,2552,2637,2468,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5382,1.11,107.1,3572,2039,2634,2467,388.5,11.8,288,5392,0.00,0.00,0.00,0.000,6,0.000,0.000,3572,2039,2551,2635,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5682,1.11,107.1,3572,2038,2633,2466,353.1,11.8,303,5693,0.00,2.08,0.00,0.000,260,0.000,0.041,3569,3426,2550,2634,2466,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5727,1.11,107.1,3569,3425,2633,2465,349.2,12.1,304,5739,0.00,2.03,0.00,0.000,1030,0.000,0.026,3577,2025,2549,2633,2465,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6032,1.11,107.1,3576,2025,2632,2464,312.2,11.2,320,6044,0.00,2.12,0.00,0.000,516,0.000,0.034,3587,638,2548,2632,2464,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6085,1.11,107.1,3586,638,2632,2464,306.4,11.2,322,6096,0.00,2.17,0.00,0.000,1030,0.000,0.029,3587,2032,2548,2632,2464,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6416,1.11,107.1,3587,2032,2630,2463,266.9,12.2,338,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,3587,2032,2546,2630,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6716,1.11,107.1,3586,2032,2630,2463,230.6,12.1,353,6727,0.00,2.17,0.00,0.000,516,0.000,0.034,3595,638,2546,2630,2463,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6959,1.11,107.1,3596,638,2629,2462,202.1,12.0,364,6971,0.15,2.15,0.00,0.000,5126,0.158,0.031,3555,2040,2545,2629,2462,0,0,0,0,0,0,25.91,26.34,28.83
$GC,7280,1.11,107.1,3555,2040,2629,2462,163.6,11.6,380,7290,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2040,2545,2629,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7580,1.11,107.1,3555,2040,2629,2461,132.2,10.1,395,7591,0.00,2.05,0.00,0.000,260,0.000,0.041,3552,3421,2545,2630,2461,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7621,1.11,107.1,3553,3421,2629,2461,129.1,10.0,396,7632,0.00,2.03,0.00,0.000,1030,0.000,0.025,3560,2011,2545,2630,2460,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7942,1.11,107.1,3560,2011,2629,2460,96.7,9.8,412,7953,0.00,2.15,0.00,0.000,260,0.000,0.041,3552,3420,2545,2629,2461,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7976,1.11,107.1,2720,3418,2575,2451,93.5,10.0,413,7987,0.00,2.03,0.00,0.000,1030,0.000,0.026,3560,2012,2544,2629,2460,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8303,1.11,107.1,3561,2012,2629,2460,59.4,9.6,429,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2012,2544,2629,2460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8602,1.36,189.7,3560,2012,2629,2460,39.9,3.9,452,8718,0.20,0.00,102.47,0.578,10502,0.073,0.000,3648,2010,2234,2324,2144,0,0,0,0,0,0,26.49,28.83,24.59
$STATE,8959,end climb,SURFACE_DEPTH_REACHED
$STATE,8959,begin surface coast
$FINISH,1.7,1.022194
$STATE,8995,end surface coast,CONTROL_FINISHED_OK
$STATE,8995,begin surface
$SM_CCo,9022,71.53,0.057,0,0,1582,350.04
$SM_GC,2.66,8.75,0.43,71.53,0.039,0.046,0.057,333,2302,1582,-8.87,-1.75,350.04,0,0,0,0,0,0,25.95,26.10,25.84
$IRIDIUM_FIX,4729.30,-12517.37,050114,232305
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.60
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3753504
$PM_FREEKB,2153160
$24V_AH,24.0,59.257
$10V_AH,9.4,58.127
$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,21.825,70.775,371.875,71.525,0.000,0.000,0.000,220.300,0.000,0.000,20.452,1548.931,5410.455,493.243,1646.442,449.947,0.000,1623.756,0.000,1151.604,0.000,0.535,0.000
$DEVICE_MAMPS,238.680,45.900,767.295,57.375,0.000,0.000,0.000,124.695,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9007.000,208.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.743,9.999,0.000,0.000
$MEM,258768
$DATA_FILE_SIZE,16781,512
$CAP_FILE_SIZE,124462,0
$CFSIZE,260034560,194990080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,312.1,1
$GPS,060114,045922,4749.254,-12519.346,27,0.8,27,17.2