version: 66.11
glider: 108
mission: 25
dive: 666
start: 1 24 114 21 30 38
data:
$ID,108
$MISSION,25
$DIVE,666
$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,-195042.03
$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,81
$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
$GPS1,240114,212133,4748.678,-12520.364,22,1.2,24,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-75.1
$GPS2,240114,213011,4748.612,-12520.377,20,0.8,20,17.2
$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,49.4,13981,-15.8,-8.049,-22.04,2046
$D_GRID,537
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,25,-1.11,-107.1,328,2327,1615,1508,0.0,0.0,0,65,0.00,0.00,-32.50,0.000,16386,0.000,0.000,328,2328,2416,2455,2377,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.11,-107.1,328,2328,2459,2380,3.1,-1.7,6,126,10.30,1.90,-32.08,0.000,18692,0.233,0.057,2828,3580,3449,3470,3429,0,0,0,0,0,0,25.01,25.91,26.51
$GC,214,-1.11,-107.1,2828,3580,3475,3435,23.5,-20.5,30,226,0.00,1.88,0.00,0.000,1030,0.000,0.026,2836,2267,3455,3476,3435,0,0,0,0,0,0,28.83,26.20,28.83
$GC,527,-1.11,-107.1,2836,2266,3479,3435,72.7,-11.8,53,538,0.00,2.08,0.00,0.000,516,0.000,0.031,2838,901,3457,3479,3435,0,0,0,0,0,0,28.83,26.17,28.83
$GC,660,-1.11,-107.1,2838,901,3479,3435,88.6,-11.9,59,671,0.00,2.15,0.00,0.000,1030,0.000,0.031,2831,2299,3457,3479,3435,0,0,0,0,0,0,28.83,26.21,28.83
$GC,991,-1.11,-107.1,2831,2298,3480,3435,130.6,-12.3,75,1002,0.00,2.15,0.00,0.000,516,0.000,0.030,2832,896,3457,3479,3435,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1062,-1.11,-107.1,2832,896,3480,3434,139.0,-11.7,78,1073,0.00,2.17,0.00,0.000,1030,0.000,0.031,2825,2308,3457,3480,3435,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1393,-1.11,-107.1,2825,2308,3480,3435,180.9,-12.7,94,1403,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2308,3457,3480,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1693,-1.11,-107.1,2825,2307,3480,3435,217.9,-12.1,109,1704,0.00,1.90,0.00,0.000,260,0.000,0.043,2815,3596,3457,3480,3435,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1737,-1.11,-107.1,2815,3597,3480,3435,221.7,-12.1,110,1749,0.00,1.83,0.00,0.000,1030,0.000,0.025,2815,2285,3457,3480,3435,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2043,-1.11,-107.1,2815,2285,3480,3435,261.2,-12.2,126,2053,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2285,3458,3480,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2344,-1.11,-107.1,2815,2285,3480,3434,298.1,-12.5,141,2355,0.00,2.05,0.00,0.000,516,0.000,0.031,2815,920,3457,3480,3435,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2399,-1.11,-107.1,1808,919,3469,3432,304.7,-12.7,143,2410,0.15,2.15,0.00,0.000,3078,0.171,0.031,2844,2313,3457,3480,3435,0,0,0,0,0,0,25.82,26.32,28.83
$GC,2726,-1.11,-107.1,2843,2312,3480,3435,341.4,-10.9,159,2737,0.00,2.15,0.00,0.000,516,0.000,0.031,2848,915,3457,3480,3435,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2781,-1.11,-107.1,2848,915,3480,3434,347.3,-11.2,161,2792,0.00,2.12,0.00,0.000,1030,0.000,0.031,2841,2302,3457,3480,3435,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3109,-1.11,-107.1,2841,2302,3479,3435,386.2,-11.8,177,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2302,3457,3480,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3409,-1.11,-107.1,2841,2302,3479,3434,421.7,-11.7,192,3419,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2302,3457,3479,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3709,-1.11,-107.1,2841,2302,3478,3434,457.5,-12.2,207,3720,0.00,1.90,0.00,0.000,260,0.000,0.044,2831,3590,3456,3479,3434,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3760,-1.11,-107.1,2831,3590,3478,3434,464.0,-12.5,209,3772,0.00,1.83,0.00,0.000,1030,0.000,0.026,2831,2308,3456,3478,3434,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4092,-1.11,-107.1,2831,2308,3478,3435,502.9,-11.3,225,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2308,3456,3479,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4389,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4389,begin apogee
$GC,4398,-0.25,0.0,2831,2019,3477,3433,537.2,-11.5,240,4549,0.90,0.00,136.07,0.793,10246,0.134,0.000,3114,2014,3007,3078,2936,0,0,0,0,0,0,25.31,28.83,23.92
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4556,1.11,107.1,3113,2014,3075,2932,542.8,0.0,247,4702,1.25,0.00,134.15,0.715,10502,0.077,0.000,3553,2014,2569,2652,2487,0,0,0,0,0,0,25.18,28.83,23.77
$GC,5011,1.11,107.1,3552,2014,2631,2476,497.4,12.2,270,5022,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2013,2554,2632,2476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5312,1.11,107.1,3552,2013,2630,2474,460.5,12.0,285,5323,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2013,2552,2630,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5612,1.11,107.1,3552,2014,2629,2473,423.8,12.3,300,5623,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2013,2551,2629,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5913,1.11,107.1,3551,2014,2628,2472,387.2,12.2,315,5923,0.00,0.00,0.00,0.000,6,0.000,0.000,3553,2014,2550,2628,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6214,1.11,107.1,3552,2013,2626,2472,351.2,11.6,330,6225,0.00,2.12,0.00,0.000,260,0.000,0.041,3552,3425,2549,2626,2472,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6250,1.11,107.1,3553,3425,2626,2471,347.3,11.8,331,6261,0.00,2.03,0.00,0.000,1030,0.000,0.025,3563,2018,2548,2626,2471,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6576,1.11,107.1,3562,2018,2626,2470,307.3,11.9,347,6588,0.00,2.12,0.00,0.000,516,0.000,0.034,3572,633,2548,2626,2470,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6699,1.11,107.1,3572,634,2624,2469,293.8,11.9,352,6710,0.00,2.15,0.00,0.000,1030,0.000,0.030,3571,2024,2547,2625,2469,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7020,1.11,107.1,3571,2023,2624,2470,254.9,11.6,368,7031,0.00,2.10,0.00,0.000,260,0.000,0.041,3571,3432,2547,2624,2470,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7079,1.11,107.1,3571,3432,2622,2470,248.9,11.9,370,7091,0.00,2.05,0.00,0.000,1030,0.000,0.025,3579,2010,2547,2624,2470,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7401,1.11,107.1,3579,2010,2624,2469,211.9,11.0,386,7412,0.00,2.12,0.00,0.000,516,0.000,0.034,3589,633,2546,2623,2469,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7461,1.11,107.1,3589,632,2623,2469,206.1,11.2,388,7472,0.12,2.15,0.00,0.000,5126,0.161,0.030,3558,2028,2546,2623,2469,0,0,0,0,0,0,25.98,26.36,28.83
$GC,7782,1.11,107.1,3558,2026,2623,2469,172.2,10.0,404,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2026,2546,2623,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8082,1.11,107.1,3558,2026,2622,2469,142.3,9.9,419,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2027,2545,2622,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8382,1.11,107.1,3558,2027,2623,2469,112.2,9.8,434,8392,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2026,2545,2622,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8683,1.11,107.1,3558,2026,2622,2469,83.6,9.3,449,8693,0.00,2.17,0.00,0.000,516,0.000,0.034,3565,648,2545,2622,2469,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8722,1.11,107.1,3565,648,2622,2469,80.7,9.2,450,8733,0.00,2.15,0.00,0.000,1030,0.000,0.031,3565,2026,2545,2622,2469,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9043,1.12,108.5,3565,2025,2622,2469,51.7,8.0,466,9054,0.00,2.17,0.00,0.000,516,0.000,0.034,3572,635,2545,2622,2469,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9221,1.37,192.8,2752,635,2569,2460,42.0,3.8,481,9347,0.20,2.17,108.15,0.575,11270,0.076,0.030,3648,2039,2220,2305,2136,0,0,0,0,0,0,26.21,26.34,24.44
$STATE,9639,end climb,SURFACE_DEPTH_REACHED
$STATE,9639,begin surface coast
$FINISH,1.8,1.013822
$STATE,9691,end surface coast,CONTROL_FINISHED_OK
$STATE,9691,begin surface
$SM_CCo,9718,70.40,0.058,0,0,1582,350.04
$SM_GC,2.84,8.88,0.35,70.40,0.047,0.051,0.058,335,2305,1582,-8.88,-1.58,350.04,0,0,0,0,0,0,25.91,26.17,25.83
$IRIDIUM_FIX,4732.49,-12519.22,240114,181806
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.61
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3725120
$PM_FREEKB,1581140
$24V_AH,23.8,68.147
$10V_AH,9.2,66.321
$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,21.800,54.475,378.375,70.400,0.000,0.000,0.000,253.500,0.000,0.000,21.039,1551.211,6088.400,467.551,1682.950,510.116,0.000,1644.223,0.000,1177.997,0.000,0.536,0.000
$DEVICE_MAMPS,233.325,57.375,793.305,58.140,0.000,0.000,0.000,124.695,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9707.000,234.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.480,10.050,0.000,0.000
$MEM,258688
$DATA_FILE_SIZE,20063,552
$CAP_FILE_SIZE,123764,0
$CFSIZE,260034560,186945536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,319.5,1
$GPS,250114,001523,4749.191,-12519.103,42,1.1,42,17.2