version: 66.11
glider: 108
mission: 25
dive: 665
start: 1 24 114 18 19 8
data:
$ID,108
$MISSION,25
$DIVE,665
$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,-195040.78
$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,54
$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
$GPS1,240114,181000,4748.600,-12521.786,34,1.8,34,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-74.7
$GPS2,240114,181841,4748.574,-12521.765,20,1.1,20,17.2
$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,61.1,15576,-15.8,-8.049,-22.04,2046
$D_GRID,581
$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,25,-1.11,-107.1,330,2317,1610,1511,0.0,0.0,0,65,0.00,0.00,-32.60,0.000,16386,0.000,0.000,330,2317,2417,2454,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.11,-107.1,330,2317,2459,2382,3.2,-2.1,6,125,10.38,1.95,-32.62,0.000,18692,0.236,0.056,2832,3593,3449,3470,3428,0,0,0,0,0,0,25.03,25.89,26.51
$GC,360,-1.11,-107.1,2831,3592,3476,3435,50.0,-20.8,46,372,0.00,1.85,0.00,0.000,1030,0.000,0.026,2837,2285,3455,3476,3435,0,0,0,0,0,0,28.83,26.26,28.83
$GC,666,-1.11,-107.1,2837,2282,3478,3435,97.8,-12.8,62,677,0.00,2.08,0.00,0.000,516,0.000,0.031,2838,914,3456,3478,3435,0,0,0,0,0,0,28.83,26.20,28.83
$GC,910,-1.11,-107.1,2838,914,3479,3435,128.4,-13.2,73,921,0.00,2.15,0.00,0.000,1030,0.000,0.031,2831,2314,3457,3479,3435,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1232,-1.11,-107.1,2831,2313,3479,3435,169.2,-12.4,89,1243,0.00,1.88,0.00,0.000,260,0.000,0.043,2821,3585,3457,3479,3435,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1340,-1.11,-107.1,2821,3585,3479,3435,180.8,-12.8,93,1352,0.00,1.83,0.00,0.000,1030,0.000,0.026,2821,2295,3457,3479,3435,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1643,-1.11,-107.1,2821,2295,3479,3435,220.9,-11.8,109,1654,0.00,1.95,0.00,0.000,260,0.000,0.042,2812,3597,3457,3479,3435,0,0,0,0,0,0,28.83,26.16,28.83
$GC,1717,-1.11,-107.1,2811,3596,3479,3435,230.1,-12.7,112,1729,0.12,1.83,0.00,0.000,3078,0.175,0.025,2841,2288,3457,3479,3435,0,0,0,0,0,0,25.96,26.45,28.83
$GC,2043,-1.11,-107.1,2841,2287,3479,3435,267.7,-11.1,128,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2287,3456,3479,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2343,-1.11,-107.1,2841,2287,3479,3435,300.4,-10.6,143,2354,0.00,2.08,0.00,0.000,516,0.000,0.031,2849,913,3457,3480,3435,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2383,-1.11,-107.1,2849,913,3479,3436,303.8,-10.6,144,2394,0.00,2.15,0.00,0.000,1030,0.000,0.031,2842,2310,3457,3479,3435,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2704,-1.11,-107.1,2842,2310,3479,3435,339.6,-11.2,160,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2310,3457,3479,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3004,-1.11,-107.1,2842,2310,3479,3434,373.3,-11.4,175,3015,0.00,2.12,0.00,0.000,516,0.000,0.030,2843,915,3456,3479,3434,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3040,-1.11,-107.1,2843,915,3479,3434,376.9,-11.5,176,3051,0.00,2.15,0.00,0.000,1030,0.000,0.031,2836,2313,3456,3479,3434,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3366,-1.11,-107.1,2836,2312,3478,3435,414.2,-11.2,192,3377,0.00,2.15,0.00,0.000,516,0.000,0.031,2836,910,3456,3479,3434,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3422,-1.11,-107.1,2836,910,3479,3434,419.7,-11.1,194,3433,0.00,2.15,0.00,0.000,1030,0.000,0.031,2827,2309,3456,3479,3434,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3749,-1.11,-107.1,2826,2308,3478,3434,457.5,-11.5,210,3759,0.00,1.90,0.00,0.000,260,0.000,0.044,2818,3585,3455,3477,3434,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3823,-1.11,-107.1,2817,3585,3477,3434,466.3,-12.2,213,3834,0.00,1.80,0.00,0.000,1030,0.000,0.026,2817,2297,3455,3477,3434,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4149,-1.11,-107.1,2817,2297,3477,3434,505.2,-11.5,229,4160,0.00,2.10,0.00,0.000,516,0.000,0.031,2820,908,3455,3477,3433,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4220,-1.11,-107.1,2819,908,3477,3433,513.2,-11.4,232,4230,0.00,2.15,0.00,0.000,1030,0.000,0.031,2812,2309,3455,3477,3433,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4551,-1.11,-107.1,2812,2307,3477,3432,550.0,-10.4,248,4561,0.12,0.00,0.00,0.000,2054,0.184,0.000,2843,2309,3455,3477,3433,0,0,0,0,0,0,26.22,28.83,28.83
$GC,4852,-1.11,-107.1,2842,2309,3477,3433,577.5,-8.6,263,4863,0.00,2.15,0.00,0.000,516,0.000,0.031,2844,910,3454,3477,3432,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,4899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4899,begin apogee
$GC,4910,-0.25,0.0,2839,2029,3476,3432,582.0,-8.7,265,5064,0.88,0.00,136.50,0.814,10246,0.134,0.000,3113,2028,3005,3076,2935,0,0,0,0,0,0,25.28,28.83,23.82
$STATE,5066,end apogee,CONTROL_FINISHED_OK
$STATE,5066,begin climb
$GC,5070,1.11,107.1,3113,2029,3075,2933,584.8,0.0,272,5219,1.27,0.00,135.07,0.731,10758,0.076,0.000,3560,2028,2566,2648,2485,0,0,0,0,0,0,25.17,28.83,23.67
$GC,5509,1.11,107.1,3560,2028,2633,2477,537.0,12.9,295,5520,0.00,2.20,0.00,0.000,516,0.000,0.034,3569,652,2555,2633,2477,0,0,0,0,0,0,28.83,25.98,28.83
$GC,5571,1.11,107.1,3569,652,2631,2477,530.1,13.1,297,5582,0.00,2.17,0.00,0.000,1030,0.000,0.031,3570,2033,2554,2631,2477,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5891,1.11,107.1,3570,2032,2629,2476,486.6,12.8,313,5902,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2032,2552,2629,2476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6191,1.11,107.1,3569,2032,2628,2475,451.1,11.6,328,6203,0.00,2.17,0.00,0.000,516,0.000,0.033,3579,652,2551,2628,2475,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6263,1.11,107.1,3579,652,2628,2475,442.9,11.3,331,6274,0.00,2.15,0.00,0.000,1030,0.000,0.031,3578,2034,2551,2628,2475,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6594,1.11,107.1,3578,2034,2627,2473,404.4,11.7,347,6604,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2034,2550,2627,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6894,1.11,107.1,3578,2034,2626,2473,370.4,11.1,362,6904,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2034,2549,2626,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7194,1.11,107.1,3578,2033,2625,2473,337.9,10.7,377,7204,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2034,2549,2625,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7494,1.11,107.1,3579,2033,2624,2472,304.8,11.3,392,7505,0.00,2.17,0.00,0.000,516,0.000,0.034,3588,651,2548,2624,2472,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7579,1.11,107.1,3588,652,2624,2472,296.5,11.6,395,7591,0.12,2.15,0.00,0.000,5126,0.160,0.031,3557,2038,2548,2624,2472,0,0,0,0,0,0,25.97,26.34,28.83
$GC,7884,1.11,107.1,3557,2037,2624,2471,260.5,11.4,411,7895,0.00,2.17,0.00,0.000,516,0.000,0.034,3564,654,2547,2624,2471,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7994,1.11,107.1,3564,653,2624,2471,250.1,11.6,415,8006,0.00,2.12,0.00,0.000,1030,0.000,0.030,3563,2027,2547,2624,2470,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8296,1.11,107.1,3563,2027,2623,2471,214.7,10.7,431,8307,0.00,2.08,0.00,0.000,260,0.000,0.041,3563,3422,2546,2623,2470,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8342,1.11,107.1,3562,3423,2623,2470,211.3,10.8,432,8355,0.00,2.00,0.00,0.000,1030,0.000,0.026,3571,2027,2546,2623,2470,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8647,1.11,107.1,3570,2027,2623,2470,177.8,10.0,448,8658,0.00,2.12,0.00,0.000,516,0.000,0.034,3580,644,2546,2623,2470,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8708,1.11,107.1,3580,643,2622,2470,172.6,10.1,450,8718,0.00,2.15,0.00,0.000,1030,0.000,0.031,3581,2023,2546,2623,2470,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9029,1.11,107.1,3580,2022,2622,2470,137.4,11.4,466,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2023,2546,2622,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9329,1.11,107.1,3580,2022,2622,2470,104.7,10.5,481,9339,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2022,2545,2622,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9630,1.11,107.1,3580,2022,2622,2470,76.8,8.1,496,9640,0.00,2.15,0.00,0.000,516,0.000,0.034,3590,646,2546,2622,2470,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9872,1.18,129.3,3589,646,2622,2469,60.6,6.9,507,9907,0.00,2.15,22.62,0.616,9222,0.000,0.031,3590,2037,2479,2553,2405,0,0,0,0,0,0,28.83,26.33,24.53
$GC,10203,1.27,160.9,3589,2037,2546,2402,40.6,6.5,532,10252,0.00,0.00,40.45,0.599,8710,0.000,0.000,3590,2037,2351,2430,2273,0,0,0,0,0,0,28.83,28.83,24.60
$GC,10559,1.27,160.9,3589,2037,2421,2268,12.3,8.1,582,10571,0.00,2.20,0.00,0.000,516,0.000,0.033,3599,640,2344,2421,2268,0,0,0,0,0,0,28.83,26.08,28.83
$STATE,10681,end climb,SURFACE_DEPTH_REACHED
$STATE,10681,begin surface coast
$FINISH,1.8,1.023867
$STATE,10750,end surface coast,CONTROL_FINISHED_OK
$STATE,10750,begin surface
$SM_CCo,10779,85.65,0.059,0,0,1581,350.04
$SM_GC,2.60,8.68,2.65,85.65,0.044,0.030,0.059,331,2319,1581,-8.89,-1.24,350.04,0,0,0,0,0,0,26.03,26.19,25.85
$IRIDIUM_FIX,4729.30,-12524.44,240114,141417
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.81
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3725440
$PM_FREEKB,1581140
$24V_AH,23.7,68.061
$10V_AH,9.2,66.262
$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,21.575,75.025,334.650,85.650,0.000,0.000,0.000,254.725,0.000,0.000,21.346,1849.270,6566.183,485.871,1929.079,547.390,0.000,1779.234,0.000,1375.380,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,55.845,813.960,58.905,0.000,0.000,0.000,124.695,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10772.000,245.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.251,10.152,0.000,0.000
$MEM,258736
$DATA_FILE_SIZE,20027,617
$CAP_FILE_SIZE,141741,0
$CFSIZE,260034560,186998784
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,261.2,1
$GPS,240114,212133,4748.678,-12520.364,22,1.2,24,17.2