version: 66.11
glider: 108
mission: 25
dive: 667
start: 1 25 114 0 24 40
data:
$ID,108
$MISSION,25
$DIVE,667
$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,-195043.28
$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,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
$GPS1,250114,001523,4749.191,-12519.103,42,1.1,42,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.67
$_SM_ANGLEo,-74.9
$GPS2,250114,002413,4749.188,-12519.099,21,0.9,21,17.2
$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,60.3,12088,-15.8,-8.049,-22.04,2046
$D_GRID,509
$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,-107.1,332,2319,1615,1512,0.0,0.0,0,66,0.00,0.00,-34.33,0.000,16386,0.000,0.000,332,2319,2465,2500,2430,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-1.11,-107.1,332,2319,2506,2433,3.2,-1.8,6,127,10.40,2.25,-29.80,0.000,18948,0.238,0.046,2840,911,3451,3473,3429,0,0,0,0,0,0,25.03,26.02,26.51
$GC,165,-1.11,-107.1,2840,911,3477,3432,13.5,-19.4,20,177,0.00,2.17,0.00,0.000,1030,0.000,0.032,2833,2299,3454,3477,3432,0,0,0,0,0,0,28.83,26.05,28.83
$GC,493,-1.11,-107.1,2833,2298,3480,3434,69.4,-12.9,49,504,0.00,2.17,0.00,0.000,516,0.000,0.031,2838,902,3457,3480,3434,0,0,0,0,0,0,28.83,26.17,28.83
$GC,563,-1.11,-107.1,2838,903,3480,3434,78.3,-12.5,52,574,0.00,2.17,0.00,0.000,1030,0.000,0.034,2831,2302,3457,3480,3434,0,0,0,0,0,0,28.83,26.19,28.83
$GC,894,-1.11,-107.1,2831,2302,3481,3434,121.8,-13.2,68,904,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2302,3457,3481,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1194,-1.11,-107.1,2831,2302,3481,3434,160.2,-12.6,83,1204,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2302,3457,3481,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1494,-1.11,-107.1,2831,2302,3481,3434,196.5,-11.8,98,1504,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2302,3457,3481,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1795,-1.11,-107.1,2830,2302,3481,3434,232.8,-11.8,113,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2302,3458,3482,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2095,-1.11,-107.1,2831,2301,3481,3434,267.8,-11.5,128,2106,0.00,2.15,0.00,0.000,516,0.000,0.031,2837,897,3457,3481,3434,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2136,-1.11,-107.1,2838,897,3482,3434,271.4,-11.4,129,2147,0.00,2.17,0.00,0.000,1030,0.000,0.032,2831,2309,3458,3482,3434,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2457,-1.11,-107.1,2830,2308,3482,3434,308.1,-10.9,145,2468,0.00,1.90,0.00,0.000,260,0.000,0.043,2821,3594,3457,3481,3434,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2502,-1.11,-107.1,2820,3594,3480,3434,311.6,-11.1,146,2514,0.00,1.83,0.00,0.000,1030,0.000,0.026,2821,2293,3457,3481,3434,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2807,-1.11,-107.1,2821,2293,3481,3434,347.6,-11.2,162,2818,0.00,2.08,0.00,0.000,516,0.000,0.031,2824,914,3457,3481,3434,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2924,-1.11,-107.1,2824,914,3481,3434,360.2,-11.3,167,2935,0.00,2.15,0.00,0.000,1030,0.000,0.032,2817,2312,3458,3482,3434,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3251,-1.11,-107.1,2817,2311,3480,3434,396.4,-11.0,183,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2311,3457,3480,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3552,-1.11,-107.1,2817,2311,3480,3434,429.6,-11.3,198,3563,0.00,1.90,0.00,0.000,260,0.000,0.044,2808,3596,3457,3480,3434,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3604,-1.11,-107.1,2808,3595,3479,3434,435.7,-11.6,200,3615,0.12,1.88,0.00,0.000,3078,0.169,0.026,2840,2296,3456,3479,3434,0,0,0,0,0,0,26.01,26.47,28.83
$GC,3935,-1.11,-107.1,2840,2296,3480,3434,468.5,-9.6,216,3946,0.00,2.10,0.00,0.000,516,0.000,0.030,2849,907,3456,3480,3433,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3996,-1.11,-107.1,2849,907,3479,3434,473.6,-9.8,218,4007,0.00,2.15,0.00,0.000,1030,0.000,0.031,2842,2309,3456,3480,3433,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4318,-1.11,-107.1,2842,2308,3479,3433,504.7,-8.9,234,4329,0.00,2.15,0.00,0.000,516,0.000,0.031,2848,898,3456,3479,3433,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,4365,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4365,begin apogee
$GC,4376,-0.25,0.0,2843,2035,3479,3433,509.4,-9.1,236,4527,0.85,0.00,134.62,0.766,10246,0.134,0.000,3110,2035,3005,3076,2934,0,0,0,0,0,0,25.33,28.83,23.96
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4533,1.11,107.1,3110,2035,3074,2932,513.4,0.0,243,4687,1.27,2.22,134.02,0.700,10500,0.078,0.040,3554,3418,2563,2644,2483,0,0,0,0,0,0,25.23,24.99,23.83
$GC,4726,1.11,107.1,3554,3418,2638,2478,500.4,10.4,252,4739,0.00,2.10,0.00,0.000,1030,0.000,0.024,3562,2023,2558,2638,2478,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5031,1.11,107.1,3561,2023,2630,2474,462.3,11.7,268,5043,0.00,2.17,0.00,0.000,516,0.000,0.034,3571,627,2552,2630,2474,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5136,1.11,107.1,3571,627,2629,2474,451.1,12.2,272,5147,0.00,2.20,0.00,0.000,1030,0.000,0.031,3571,2034,2551,2629,2474,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5458,1.11,107.1,3571,2034,2628,2472,410.2,12.5,288,5468,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2034,2550,2628,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5758,1.11,107.1,3571,2033,2626,2472,373.8,11.9,303,5769,0.00,2.10,0.00,0.000,260,0.000,0.041,3569,3439,2549,2627,2472,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5813,1.11,107.1,3569,3439,2626,2472,367.1,12.8,305,5824,0.00,2.05,0.00,0.000,1030,0.000,0.025,3577,2011,2548,2626,2471,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6141,1.11,107.1,3576,2011,2626,2470,327.9,11.2,321,6152,0.00,2.10,0.00,0.000,516,0.000,0.034,3587,642,2547,2625,2470,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6225,1.11,107.1,3587,642,2625,2470,319.3,11.8,324,6238,0.00,2.15,0.00,0.000,1030,0.000,0.031,3587,2024,2547,2625,2470,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6531,1.11,107.1,3586,2024,2624,2469,281.1,11.9,340,6542,0.00,2.10,0.00,0.000,260,0.000,0.042,3586,3440,2546,2624,2469,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6576,1.11,107.1,3587,3439,2623,2469,277.3,11.9,341,6588,0.15,2.05,0.00,0.000,5126,0.161,0.026,3558,2010,2546,2623,2470,0,0,0,0,0,0,25.94,26.44,28.83
$GC,6882,1.11,107.1,3558,2010,2623,2469,241.8,10.6,357,6893,0.00,2.10,0.00,0.000,516,0.000,0.034,3566,644,2546,2623,2469,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6979,1.11,107.1,2720,644,2567,2460,231.9,10.9,361,6991,0.00,2.15,0.00,0.000,1030,0.000,0.031,3566,2037,2546,2623,2469,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7305,1.11,107.1,3565,2036,2622,2469,196.8,10.4,377,7316,0.00,2.08,0.00,0.000,260,0.000,0.041,3566,3426,2545,2622,2469,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7415,1.11,107.1,3565,3426,2622,2469,186.1,11.8,381,7427,0.00,2.03,0.00,0.000,1030,0.000,0.025,3573,2020,2545,2622,2469,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7717,1.11,107.1,3573,2020,2622,2469,151.0,11.1,397,7728,0.00,2.10,0.00,0.000,516,0.000,0.034,3583,642,2545,2622,2469,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7821,1.11,107.1,3583,642,2621,2469,141.4,10.6,401,7832,0.00,2.15,0.00,0.000,1030,0.000,0.031,3583,2028,2545,2621,2469,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8143,1.11,107.1,3583,2028,2622,2469,108.3,9.2,417,8154,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2027,2545,2621,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8443,1.11,107.1,3583,2027,2621,2469,79.9,9.5,432,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2027,2545,2622,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8743,1.11,107.1,3583,2027,2620,2469,51.2,8.8,447,8754,0.00,2.10,0.00,0.000,260,0.000,0.042,3583,3445,2545,2621,2469,0,0,0,0,0,0,28.83,26.18,28.83
$GC,8837,1.12,110.1,3582,3445,2620,2469,44.0,7.9,454,8849,0.12,2.03,0.00,0.000,5126,0.160,0.025,3560,2023,2546,2621,2471,0,0,0,0,0,0,26.05,26.46,28.83
$GC,9159,1.36,190.2,3560,2022,2621,2469,31.2,4.0,485,9279,0.20,2.17,102.53,0.571,10756,0.073,0.032,3656,645,2229,2314,2145,0,0,0,0,0,0,26.48,25.56,24.48
$GC,9408,1.36,190.2,3655,645,2305,2141,10.9,8.2,521,9420,0.00,2.17,0.00,0.000,1030,0.000,0.031,3654,2034,2223,2306,2141,0,0,0,0,0,0,28.83,25.95,28.83
$STATE,9493,end climb,SURFACE_DEPTH_REACHED
$STATE,9493,begin surface coast
$FINISH,1.8,1.005107
$STATE,9540,end surface coast,CONTROL_FINISHED_OK
$STATE,9540,begin surface
$SM_CCo,9568,71.60,0.057,0,0,1581,350.04
$SM_GC,2.65,8.95,0.38,71.60,0.050,0.050,0.057,332,2312,1581,-8.88,-1.24,350.04,0,0,0,0,0,0,25.91,26.12,25.82
$IRIDIUM_FIX,4732.49,-12523.69,240114,212139
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.94
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3724800
$PM_FREEKB,1581140
$24V_AH,23.8,68.229
$10V_AH,9.7,66.382
$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,22.075,75.750,371.175,71.600,0.000,0.000,0.000,265.925,0.000,0.000,22.668,1587.215,5802.971,498.950,1737.556,538.060,0.000,1723.478,0.000,1184.396,0.000,0.535,0.000
$DEVICE_MAMPS,237.915,49.725,765.765,57.375,0.000,0.000,0.000,122.400,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9557.000,233.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.515,9.962,0.000,0.000
$MEM,258768
$DATA_FILE_SIZE,20056,545
$CAP_FILE_SIZE,130230,0
$CFSIZE,260034560,186867712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.082,  4.3,1
$GPS,250114,030652,4749.832,-12517.625,28,0.9,38,17.2