version: 66.11
glider: 108
mission: 25
dive: 668
start: 1 25 114 3 15 51
data:
$ID,108
$MISSION,25
$DIVE,668
$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,-195044.53
$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,52
$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
$GPS1,250114,030652,4749.832,-12517.625,28,0.9,38,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-74.1
$GPS2,250114,031524,4749.893,-12517.556,18,1.0,18,17.2
$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,72.0,9807,-15.8,-8.049,-22.04,2046
$D_GRID,464
$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,-107.1,331,2314,1617,1510,0.0,0.0,0,60,0.00,0.00,-27.85,0.000,16386,0.000,0.000,331,2314,2291,2326,2256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-1.11,-107.1,331,2314,2334,2255,3.0,-1.8,5,132,10.35,2.22,-41.72,0.000,18948,0.236,0.047,2839,919,3449,3470,3428,0,0,0,0,0,0,25.03,26.01,26.51
$GC,170,-1.11,-107.1,1808,919,3464,3429,11.9,-19.8,21,182,0.00,2.15,0.00,0.000,1030,0.000,0.032,2832,2300,3453,3476,3430,0,0,0,0,0,0,28.83,26.06,28.83
$GC,503,-1.11,-107.1,2832,2299,3478,3433,71.3,-13.0,51,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2299,3456,3479,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,803,-1.11,-107.1,2832,2299,3480,3433,110.4,-12.4,66,814,0.00,1.90,0.00,0.000,260,0.000,0.044,2822,3587,3456,3479,3433,0,0,0,0,0,0,28.83,26.13,28.83
$GC,977,-1.11,-107.1,2822,3587,3479,3433,134.5,-13.9,74,988,0.00,1.83,0.00,0.000,1030,0.000,0.026,2822,2285,3456,3480,3433,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1308,-1.11,-107.1,2822,2282,3480,3433,177.9,-13.2,90,1319,0.00,2.08,0.00,0.000,516,0.000,0.031,2822,900,3456,3480,3433,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1368,-1.11,-107.1,2822,900,3480,3433,184.6,-13.3,92,1379,0.00,2.17,0.00,0.000,1030,0.000,0.032,2814,2309,3456,3480,3433,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1689,-1.11,-107.1,2814,2309,3480,3433,226.8,-12.5,108,1699,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2309,3456,3479,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1989,-1.11,-107.1,2814,2309,3480,3433,263.2,-12.1,123,2000,0.00,2.12,0.00,0.000,516,0.000,0.031,2815,912,3456,3480,3433,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2088,-1.11,-107.1,1768,911,3467,3430,274.4,-12.3,127,2099,0.12,2.12,0.00,0.000,3078,0.180,0.031,2837,2303,3456,3480,3433,0,0,0,0,0,0,25.91,26.32,28.83
$GC,2415,-1.11,-107.1,2837,2302,3480,3433,312.3,-10.9,143,2426,0.00,1.90,0.00,0.000,260,0.000,0.043,2829,3593,3456,3480,3433,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2455,-1.11,-107.1,2829,3593,3480,3433,316.0,-11.0,144,2466,0.00,1.80,0.00,0.000,1030,0.000,0.025,2829,2296,3456,3480,3433,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2776,-1.11,-107.1,2829,2296,3480,3433,354.5,-11.7,160,2787,0.00,2.08,0.00,0.000,516,0.000,0.031,2830,911,3456,3480,3433,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2856,-1.11,-107.1,2831,911,3480,3433,363.0,-11.9,163,2866,0.00,2.12,0.00,0.000,1030,0.000,0.031,2821,2302,3456,3480,3433,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3177,-1.11,-107.1,2821,2301,3479,3433,402.2,-12.0,179,3187,0.00,1.90,0.00,0.000,260,0.000,0.043,2811,3592,3456,3479,3433,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3271,-1.11,-107.1,2811,3593,3479,3433,414.4,-13.4,183,3282,0.12,1.83,0.00,0.000,3078,0.168,0.025,2842,2285,3455,3478,3433,0,0,0,0,0,0,26.03,26.48,28.83
$GC,3602,-1.11,-107.1,2842,2285,3479,3433,450.7,-10.6,199,3614,0.00,2.08,0.00,0.000,516,0.000,0.031,2851,909,3456,3479,3433,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3716,-1.11,-107.1,2850,909,3479,3433,462.3,-10.1,204,3727,0.00,2.15,0.00,0.000,1030,0.000,0.031,2844,2308,3455,3479,3432,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,3743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3743,begin apogee
$GC,3752,-0.25,0.0,2843,2022,3479,3432,465.4,-9.9,205,3905,0.85,0.00,135.68,0.745,10246,0.132,0.000,3113,2021,3004,3076,2933,0,0,0,0,0,0,25.38,28.83,24.01
$STATE,3907,end apogee,CONTROL_FINISHED_OK
$STATE,3907,begin climb
$GC,3911,1.11,107.1,3113,2020,3074,2932,469.1,0.0,212,4056,1.25,0.00,130.43,0.685,10758,0.079,0.000,3553,2020,2572,2655,2490,0,0,0,0,0,0,25.25,28.83,23.90
$GC,4346,1.11,107.1,3554,2020,2633,2476,425.4,12.1,235,4357,0.00,2.12,0.00,0.000,516,0.000,0.034,3562,647,2554,2633,2476,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4460,1.11,107.1,3562,647,2631,2476,412.0,11.7,240,4471,0.00,2.17,0.00,0.000,1030,0.000,0.030,3562,2030,2553,2630,2476,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4792,1.11,107.1,3562,2030,2629,2474,373.7,11.3,256,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2030,2552,2629,2475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5092,1.11,107.1,3562,2030,2629,2473,339.1,11.2,271,5103,0.00,2.10,0.00,0.000,260,0.000,0.041,3562,3436,2551,2628,2474,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5201,1.11,107.1,3562,3435,2628,2473,328.4,11.9,275,5213,0.00,2.05,0.00,0.000,1030,0.000,0.025,3572,2021,2551,2628,2474,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5504,1.11,107.1,3572,2022,2628,2472,291.1,11.8,291,5516,0.00,2.12,0.00,0.000,516,0.000,0.034,3582,637,2549,2627,2472,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5605,1.11,107.1,3582,637,2627,2472,280.3,11.8,295,5616,0.00,2.15,0.00,0.000,1030,0.000,0.030,3582,2030,2549,2627,2472,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5932,1.11,107.1,3582,2029,2626,2473,241.0,11.8,311,5943,0.00,2.17,0.00,0.000,516,0.000,0.033,3591,630,2549,2626,2472,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6049,1.11,107.1,3591,630,2625,2472,227.4,12.1,316,6061,0.12,2.15,0.00,0.000,5126,0.158,0.030,3560,2025,2548,2624,2472,0,0,0,0,0,0,26.00,26.36,28.83
$GC,6376,1.11,107.1,3560,2024,2625,2470,192.8,10.1,332,6386,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2024,2547,2624,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,1.11,107.1,3560,2024,2624,2470,162.9,9.6,347,6687,0.00,2.10,0.00,0.000,260,0.000,0.042,3561,3439,2547,2624,2470,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6740,1.11,107.1,3560,3439,2624,2470,157.9,9.8,349,6752,0.00,2.05,0.00,0.000,1030,0.000,0.026,3568,2017,2546,2624,2469,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7046,1.11,107.1,3568,2017,2624,2469,128.3,9.1,365,7057,0.00,2.10,0.00,0.000,516,0.000,0.034,3578,636,2546,2623,2470,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7152,1.11,107.1,3578,636,2624,2470,120.0,9.1,369,7164,0.00,2.15,0.00,0.000,1030,0.000,0.030,3578,2031,2546,2623,2469,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7459,1.11,107.1,3578,2031,2623,2469,89.3,9.3,385,7470,0.00,2.17,0.00,0.000,516,0.000,0.034,3588,639,2546,2623,2469,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7554,1.11,107.1,3587,639,2623,2469,80.7,9.4,389,7565,0.12,2.17,0.00,0.000,5126,0.162,0.030,3556,2043,2546,2623,2469,0,0,0,0,0,0,25.99,26.36,28.83
$GC,7886,1.16,121.7,3555,2043,2623,2469,53.8,7.3,405,7911,0.00,2.08,12.02,0.621,8452,0.000,0.040,3555,3425,2510,2584,2436,0,0,0,0,0,0,28.83,26.17,24.46
$GC,8040,1.28,162.7,3555,3425,2581,2434,43.2,6.0,417,8107,0.15,2.03,53.75,0.594,11270,0.080,0.025,3623,2022,2341,2420,2263,0,0,0,0,0,0,26.23,26.38,24.56
$GC,8419,1.30,170.6,3623,2022,2413,2257,12.0,7.6,467,8432,0.00,2.22,2.70,0.076,8708,0.000,0.034,3632,636,2312,2393,2232,0,0,0,0,0,0,28.83,26.06,25.73
$GC,8531,1.39,201.3,3631,636,2393,2232,4.9,6.5,486,8551,0.00,2.15,9.95,0.057,9218,0.000,0.030,3631,2020,2228,2313,2144,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,8552,end climb,SURFACE_DEPTH_REACHED
$STATE,8552,begin surface coast
$FINISH,1.7,1.023976
$STATE,8615,end surface coast,CONTROL_FINISHED_OK
$STATE,8615,begin surface
$SM_CCo,8642,71.75,0.057,0,0,1582,350.04
$SM_GC,2.68,8.88,0.40,71.75,0.051,0.047,0.057,336,2319,1582,-8.88,-1.10,350.04,0,0,0,0,0,0,25.98,26.26,25.88
$IRIDIUM_FIX,4729.30,-12517.37,250114,000026
$TT8_MAMPS,0.026215,0.026215
$HUMID,55.82
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3724480
$PM_FREEKB,1581140
$24V_AH,23.9,68.305
$10V_AH,9.2,66.440
$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,21.975,71.500,344.525,71.750,0.000,0.000,0.000,249.950,0.000,0.000,18.843,1556.766,4980.377,482.110,1678.628,522.906,0.000,1635.204,0.000,1191.811,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,47.430,745.110,57.375,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8633.000,200.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.761,10.087,0.000,0.000
$MEM,258764
$DATA_FILE_SIZE,16800,500
$CAP_FILE_SIZE,124150,0
$CFSIZE,260034560,186806272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.064, 16.6,1
$GPS,250114,054229,4750.146,-12516.142,29,0.8,30,17.2