version: 66.11
glider: 108
mission: 25
dive: 579
start: 1 6 114 8 0 17
data:
$ID,108
$MISSION,25
$DIVE,579
$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,-194933.2
$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,45
$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
$GPS1,060114,075139,4748.594,-12520.609,19,1.0,20,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-73.0
$GPS2,060114,075947,4748.616,-12520.743,18,1.0,19,17.2
$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,195.3,154349,-15.8,-8.049,-22.04,2046
$D_GRID,606
$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,-107.1,330,2316,1622,1503,0.0,0.0,0,71,0.00,0.00,-40.75,0.000,16386,0.000,0.000,330,2316,2625,2657,2593,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.11,-107.1,330,2316,2659,2598,3.1,-2.5,7,126,10.27,2.25,-23.77,0.000,18948,0.238,0.045,2839,903,3451,3482,3421,0,0,0,0,0,0,25.18,26.01,26.46
$GC,358,-1.11,-107.1,2838,904,3485,3426,45.3,-15.8,46,370,0.00,2.20,0.00,0.000,1030,0.000,0.033,2832,2316,3456,3486,3426,0,0,0,0,0,0,28.83,26.11,28.83
$GC,669,-1.11,-107.1,2831,2315,3487,3427,87.9,-12.4,63,680,0.00,2.17,0.00,0.000,516,0.000,0.031,2832,902,3456,3487,3426,0,0,0,0,0,0,28.83,26.19,28.83
$GC,877,-1.11,-107.1,2831,902,3489,3427,112.3,-12.9,72,889,0.00,2.17,0.00,0.000,1030,0.000,0.033,2822,2308,3457,3488,3427,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1182,-1.11,-107.1,2822,2308,3488,3427,152.2,-12.9,88,1193,0.00,1.90,0.00,0.000,260,0.000,0.044,2813,3591,3457,3488,3427,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1243,-1.11,-107.1,2813,3591,3488,3426,159.1,-13.4,90,1254,0.00,1.88,0.00,0.000,1030,0.000,0.025,2813,2285,3457,3488,3427,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1564,-1.11,-107.1,2812,2284,3488,3427,201.3,-12.6,106,1575,0.12,0.00,0.00,0.000,2054,0.182,0.000,2843,2283,3458,3489,3427,0,0,0,0,0,0,26.20,28.83,28.83
$GC,1865,-1.11,-107.1,2842,2283,3489,3427,236.4,-11.8,121,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2283,3458,3489,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-1.11,-107.1,2842,2283,3489,3427,269.9,-11.0,136,2176,0.00,1.98,0.00,0.000,260,0.000,0.045,2835,3594,3458,3489,3427,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2204,-1.11,-107.1,2834,3594,3489,3427,273.3,-11.0,137,2215,0.00,1.83,0.00,0.000,1030,0.000,0.026,2835,2287,3458,3489,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2524,-1.11,-107.1,2834,2287,3489,3427,310.4,-11.3,153,2535,0.00,1.98,0.00,0.000,260,0.000,0.044,2825,3599,3458,3489,3427,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2574,-1.11,-107.1,2824,3599,3489,3427,316.1,-11.2,155,2585,0.00,1.83,0.00,0.000,1030,0.000,0.026,2825,2295,3458,3489,3427,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2905,-1.11,-107.1,2825,2294,3489,3427,351.0,-10.3,171,2916,0.00,2.08,0.00,0.000,516,0.000,0.030,2825,913,3458,3489,3427,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2939,-1.11,-107.1,2826,913,3489,3427,354.3,-10.6,172,2950,0.00,2.12,0.00,0.000,1030,0.000,0.031,2817,2306,3458,3489,3427,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3265,-1.11,-107.1,2817,2305,3489,3427,388.1,-10.5,188,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2305,3458,3489,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3565,-1.11,-107.1,2817,2305,3488,3427,421.5,-11.6,203,3576,0.00,2.12,0.00,0.000,516,0.000,0.030,2817,913,3458,3489,3427,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3738,-1.11,-107.1,2817,913,3489,3427,442.0,-11.9,211,3750,0.12,2.17,0.00,0.000,3078,0.177,0.032,2838,2309,3457,3488,3427,0,0,0,0,0,0,25.89,26.30,28.83
$GC,4070,-1.11,-107.1,2837,2308,3488,3427,477.2,-10.1,227,4081,0.00,2.15,0.00,0.000,516,0.000,0.030,2838,903,3457,3488,3427,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4115,-1.11,-107.1,2838,903,3488,3427,480.4,-10.2,228,4127,0.00,2.17,0.00,0.000,1030,0.000,0.032,2831,2313,3457,3488,3427,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4420,-1.11,-107.1,2830,2312,3486,3428,512.5,-9.9,244,4430,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2312,3457,3487,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4721,-1.11,-107.1,2830,2312,3486,3427,542.7,-10.1,259,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2312,3456,3486,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5020,-1.11,-107.1,2830,2312,3484,3427,573.3,-10.4,274,5031,0.00,2.15,0.00,0.000,516,0.000,0.031,2831,913,3455,3484,3427,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5156,-1.11,-107.1,2830,913,3485,3425,587.7,-10.9,280,5167,0.00,2.15,0.00,0.000,1030,0.000,0.033,2822,2303,3455,3485,3426,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,5338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5338,begin apogee
$GC,5351,-0.25,0.0,2822,2024,3484,3426,608.2,-10.6,288,5503,0.93,0.00,138.18,0.815,10246,0.135,0.000,3110,2023,3007,3087,2928,0,0,0,0,0,0,25.18,28.83,24.07
$STATE,5505,end apogee,CONTROL_FINISHED_OK
$STATE,5505,begin climb
$GC,5509,1.11,107.1,3110,2023,3083,2923,614.2,0.0,293,5665,1.27,2.35,136.20,0.737,11012,0.075,0.034,3568,640,2565,2653,2477,0,0,0,0,0,0,25.17,24.80,23.80
$GC,5722,1.11,107.1,3568,640,2641,2474,598.1,11.1,301,5733,0.00,2.25,0.00,0.000,1030,0.000,0.029,3568,2024,2557,2640,2474,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6052,1.11,107.1,3568,2023,2637,2469,556.1,13.3,317,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,3568,2023,2553,2637,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6352,1.11,107.1,3568,2023,2633,2469,514.5,13.6,332,6363,0.00,2.20,0.00,0.000,516,0.000,0.034,3577,637,2551,2634,2469,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6406,1.11,107.1,2816,637,2581,2460,507.5,13.7,334,6417,0.00,2.20,0.00,0.000,1030,0.000,0.030,3577,2038,2551,2634,2468,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6731,1.11,107.1,3576,2038,2632,2467,462.0,13.4,350,6742,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2038,2549,2632,2467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,1.11,107.1,3577,2038,2630,2466,424.4,11.9,365,7042,0.00,2.20,0.00,0.000,516,0.000,0.034,3586,634,2548,2631,2466,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7148,1.11,107.1,2816,634,2574,2457,411.3,11.9,370,7159,0.00,2.17,0.00,0.000,1030,0.000,0.030,3586,2042,2548,2630,2466,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7474,1.11,107.1,3586,2041,2630,2465,370.8,12.4,386,7485,0.00,2.20,0.00,0.000,516,0.000,0.034,3593,640,2547,2629,2465,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7518,1.11,107.1,3593,640,2630,2465,367.1,12.4,387,7531,0.15,2.15,0.00,0.000,5126,0.157,0.029,3555,2027,2547,2629,2465,0,0,0,0,0,0,25.89,26.34,28.83
$GC,7825,1.11,107.1,3555,2026,2629,2464,328.6,12.4,403,7835,0.00,2.10,0.00,0.000,260,0.000,0.041,3555,3428,2546,2629,2464,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7875,1.11,107.1,3555,3429,2629,2463,322.0,12.9,405,7886,0.00,2.05,0.00,0.000,1030,0.000,0.026,3563,2010,2545,2629,2462,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8206,1.11,107.1,3563,2010,2629,2462,281.0,12.3,421,8216,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2010,2545,2628,2462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8505,1.11,107.1,3563,2010,2629,2462,245.1,11.8,436,8516,0.00,2.17,0.00,0.000,260,0.000,0.041,3563,3442,2545,2629,2462,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8550,1.11,107.1,3563,3442,2628,2462,241.5,11.8,437,8561,0.00,2.05,0.00,0.000,1030,0.000,0.025,3572,2022,2545,2628,2462,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8856,1.11,107.1,3572,2022,2628,2462,205.2,11.1,453,8867,0.00,2.15,0.00,0.000,260,0.000,0.040,3565,3433,2545,2628,2462,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8895,1.11,107.1,3565,3433,2628,2461,201.7,11.4,454,8906,0.00,2.05,0.00,0.000,1030,0.000,0.025,3572,2008,2544,2628,2461,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9216,1.11,107.1,3572,2009,2628,2461,163.3,11.8,470,9227,0.00,2.10,0.00,0.000,516,0.000,0.035,3582,636,2544,2628,2461,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9255,1.11,107.1,3582,638,2628,2461,159.7,11.9,471,9266,0.00,2.15,0.00,0.000,1030,0.000,0.030,3582,2030,2544,2628,2461,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9576,1.11,107.1,3582,2030,2628,2461,122.5,10.7,487,9587,0.00,2.10,0.00,0.000,260,0.000,0.041,3581,3443,2544,2627,2461,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9620,1.11,107.1,3582,3443,2627,2461,119.0,11.0,488,9633,0.15,2.05,0.00,0.000,5126,0.165,0.025,3555,2021,2544,2627,2461,0,0,0,0,0,0,25.90,26.45,28.83
$GC,9926,1.11,107.1,3554,2021,2626,2460,85.6,10.6,504,9937,0.00,2.12,0.00,0.000,516,0.000,0.034,3564,629,2544,2627,2461,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10169,1.13,114.6,3563,629,2627,2461,65.9,7.7,515,10180,0.00,2.17,0.00,0.000,1030,0.000,0.030,3563,2037,2544,2627,2461,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10490,1.20,137.8,3563,2036,2627,2461,43.1,6.9,536,10537,0.00,2.25,33.15,0.597,8708,0.000,0.034,3570,633,2444,2525,2363,0,0,1,0,0,0,28.83,26.03,24.91
$GC,10772,1.30,170.0,3570,633,2519,2361,23.8,6.4,564,10821,0.15,2.17,36.00,0.582,11270,0.084,0.030,3629,2033,2313,2398,2229,0,0,0,0,0,0,26.07,26.18,24.84
$STATE,10998,end climb,SURFACE_DEPTH_REACHED
$STATE,10999,begin surface coast
$FINISH,1.8,1.011637
$STATE,11068,end surface coast,CONTROL_FINISHED_OK
$STATE,11068,begin surface
$SM_CCo,11093,81.30,0.059,0,0,1581,350.04
$SM_GC,2.57,8.77,0.38,81.30,0.044,0.049,0.059,339,2318,1581,-8.88,-1.30,350.04,0,0,0,0,0,0,25.90,26.14,25.84
$IRIDIUM_FIX,4732.49,-12523.69,060114,050557
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.28
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3752864
$PM_FREEKB,2153160
$24V_AH,23.8,59.418
$10V_AH,9.3,58.259
$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,21.950,85.475,343.525,81.300,0.000,0.000,0.000,252.100,0.000,0.000,22.308,1921.567,6726.708,520.765,1982.557,511.842,0.000,1836.626,0.000,1426.628,0.000,0.536,0.000
$DEVICE_MAMPS,237.915,48.960,815.490,58.905,0.000,0.000,0.000,120.870,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11069.000,256.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.328,10.090,0.000,0.000
$MEM,258788
$DATA_FILE_SIZE,20078,618
$CAP_FILE_SIZE,148218,0
$CFSIZE,260034560,194830336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.146,333.7,1
$GPS,060114,110804,4748.456,-12522.183,38,1.0,38,17.2