version: 66.11
glider: 108
mission: 25
dive: 678
start: 1 25 114 22 15 46
data:
$ID,108
$MISSION,25
$DIVE,678
$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,-195060.25
$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,55
$R_STBD_OVSHOOT,50
$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
$GPS1,250114,220804,4750.502,-12514.230,33,0.9,34,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-75.2
$GPS2,250114,221518,4750.481,-12514.193,17,1.4,17,17.2
$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,215.9,163096,-15.8,-8.049,-22.04,2046
$D_GRID,416
$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,24,-1.11,-107.1,334,2281,1617,1511,0.0,0.0,0,66,0.00,0.00,-34.58,0.000,16386,0.000,0.000,334,2281,2476,2514,2439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-1.11,-107.1,334,2281,2517,2443,3.1,-2.1,6,128,10.27,2.20,-30.30,0.000,18948,0.236,0.047,2839,886,3450,3472,3429,0,0,0,0,0,0,25.11,26.07,26.55
$GC,363,-1.11,-107.1,2838,886,3480,3433,46.2,-13.6,46,374,0.00,2.17,0.00,0.000,1030,0.000,0.031,2831,2311,3456,3479,3433,0,0,0,0,0,0,28.83,26.22,28.83
$GC,694,-1.11,-107.1,2831,2310,3480,3433,88.4,-11.5,63,704,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2310,3456,3480,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,994,-1.11,-107.1,2831,2310,3480,3433,121.8,-11.0,78,1005,0.00,1.88,0.00,0.000,260,0.000,0.043,2822,3590,3456,3481,3432,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1237,-1.11,-107.1,2821,3590,3480,3433,150.9,-12.6,89,1248,0.00,1.85,0.00,0.000,1030,0.000,0.025,2822,2258,3457,3480,3434,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1557,-1.11,-107.1,2821,2256,3479,3433,191.7,-12.1,105,1568,0.00,1.98,0.00,0.000,260,0.000,0.042,2812,3582,3456,3480,3433,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1655,-1.11,-107.1,1760,3581,3468,3430,203.6,-13.2,109,1668,0.12,1.83,0.00,0.000,3078,0.171,0.026,2844,2302,3457,3481,3433,0,0,0,0,0,0,26.05,26.48,28.83
$GC,1982,-1.11,-107.1,2844,2301,3480,3433,240.4,-11.2,125,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2301,3457,3481,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2283,-1.11,-107.1,2844,2301,3481,3433,273.9,-11.0,140,2294,0.00,2.08,0.00,0.000,516,0.000,0.031,2852,913,3456,3481,3432,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2362,-1.11,-107.1,2852,913,3481,3434,281.8,-11.0,143,2373,0.00,2.10,0.00,0.000,1030,0.000,0.031,2845,2300,3457,3481,3433,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2683,-1.11,-107.1,2845,2300,3480,3433,317.3,-10.6,159,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2300,3457,3481,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2983,-1.11,-107.1,2845,2300,3480,3433,349.0,-10.7,174,2995,0.00,2.10,0.00,0.000,516,0.000,0.030,2845,912,3457,3480,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3059,-1.11,-107.1,2845,912,3480,3433,356.8,-10.8,177,3070,0.00,2.12,0.00,0.000,1030,0.000,0.031,2837,2310,3456,3480,3433,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3385,-1.11,-107.1,2836,2309,3480,3434,390.5,-9.8,193,3395,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2309,3456,3480,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3644,begin apogee
$GC,3654,-0.25,0.0,2837,2023,3479,3433,417.3,-9.8,206,3801,0.88,0.00,132.48,0.737,10246,0.132,0.000,3114,2023,3008,3080,2937,0,0,0,0,0,0,25.46,28.83,24.10
$STATE,3803,end apogee,CONTROL_FINISHED_OK
$STATE,3803,begin climb
$GC,3807,1.11,107.1,3114,2023,3075,2933,421.7,0.0,213,3955,1.25,2.25,129.23,0.656,10756,0.076,0.033,3563,652,2566,2647,2485,0,0,0,0,0,0,25.29,25.17,24.03
$GC,3994,1.11,107.1,3563,652,2640,2484,408.1,10.0,223,4005,0.00,2.20,0.00,0.000,1030,0.000,0.029,3563,2032,2561,2639,2484,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4325,1.11,107.1,3563,2031,2632,2478,369.4,11.7,239,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2031,2555,2632,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4628,1.11,107.1,3563,2031,2630,2476,334.6,11.8,254,4639,0.00,2.17,0.00,0.000,516,0.000,0.034,3572,648,2553,2630,2477,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4692,1.11,107.1,3572,648,2629,2477,328.2,12.1,256,4705,0.00,2.15,0.00,0.000,1030,0.000,0.030,3572,2032,2553,2630,2477,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4998,1.11,107.1,3572,2032,2629,2476,291.6,11.2,272,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,3573,2032,2552,2628,2476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5298,1.11,107.1,3572,2032,2629,2475,257.3,11.4,287,5309,0.00,2.15,0.00,0.000,516,0.000,0.034,3580,648,2552,2629,2475,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5379,1.11,107.1,3580,648,2629,2475,249.0,11.7,290,5390,0.00,2.12,0.00,0.000,1030,0.000,0.031,3580,2031,2551,2628,2475,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5701,1.11,107.1,3580,2030,2628,2474,210.5,11.3,306,5712,0.00,2.08,0.00,0.000,260,0.000,0.041,3580,3439,2551,2628,2474,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5746,1.11,107.1,3580,3438,2627,2474,206.7,11.5,307,5759,0.12,2.03,0.00,0.000,5126,0.161,0.025,3559,2021,2550,2627,2474,0,0,0,0,0,0,26.06,26.47,28.83
$GC,6054,1.11,107.1,3559,2021,2627,2473,171.9,10.9,323,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2021,2550,2627,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6353,1.11,107.1,3559,2021,2627,2473,140.0,10.5,338,6364,0.00,2.12,0.00,0.000,516,0.000,0.034,3567,630,2550,2627,2473,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6430,1.11,107.1,3567,630,2626,2473,133.1,9.9,341,6441,0.00,2.15,0.00,0.000,1030,0.000,0.030,3568,2028,2550,2627,2473,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6755,1.11,107.1,3566,2028,2626,2473,99.7,10.2,357,6766,0.00,2.15,0.00,0.000,516,0.000,0.034,3576,644,2549,2626,2473,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6787,1.11,107.1,3576,644,2626,2473,96.6,10.3,358,6798,0.00,2.12,0.00,0.000,1030,0.000,0.030,3577,2025,2549,2626,2473,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7119,1.11,107.1,3576,2025,2625,2473,65.0,8.9,374,7130,0.00,2.08,0.00,0.000,260,0.000,0.041,3576,3434,2549,2625,2473,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7366,1.17,125.5,3576,3434,2625,2472,42.0,7.1,390,7393,0.00,2.03,17.67,0.607,9222,0.000,0.025,3587,2014,2497,2572,2423,0,0,0,0,0,0,28.83,26.49,24.59
$GC,7697,1.35,187.4,2784,2012,2504,2410,22.6,4.9,426,7789,0.12,2.22,74.88,0.565,10500,0.094,0.041,3645,3438,2241,2325,2157,0,0,0,0,0,0,26.44,25.65,24.64
$STATE,7904,end climb,SURFACE_DEPTH_REACHED
$STATE,7904,begin surface coast
$FINISH,1.7,1.014460
$STATE,7965,end surface coast,CONTROL_FINISHED_OK
$STATE,7965,begin surface
$SM_CCo,7993,72.93,0.057,0,0,1582,350.04
$SM_GC,2.55,8.93,1.67,72.93,0.049,0.024,0.057,342,2321,1582,-8.87,2.43,350.04,0,0,0,0,0,0,25.91,26.15,25.83
$IRIDIUM_FIX,4735.69,-12512.13,250114,202040
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.41
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3721280
$PM_FREEKB,1563504
$24V_AH,24.0,68.982
$10V_AH,9.4,66.893
$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,21.700,54.375,354.250,72.925,0.000,0.000,0.000,194.375,0.000,0.000,18.558,1406.474,4704.097,485.093,1461.871,444.121,0.000,1461.863,0.000,1033.271,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,46.665,737.460,57.375,0.000,0.000,0.000,122.400,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7976.000,183.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.030,9.984,0.000,0.000
$MEM,258764
$DATA_FILE_SIZE,16766,473
$CAP_FILE_SIZE,108221,0
$CFSIZE,260034560,186314752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.033,358.8,1
$GPS,260114,003125,4750.164,-12515.006,17,0.8,19,17.2