version: 66.11
glider: 108
mission: 25
dive: 679
start: 1 26 114 0 40 20
data:
$ID,108
$MISSION,25
$DIVE,679
$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,-195061.59
$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,60
$R_STBD_OVSHOOT,48
$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
$GPS1,260114,003125,4750.164,-12515.006,17,0.8,19,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-75.4
$GPS2,260114,003949,4750.160,-12514.964,19,0.8,20,17.2
$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,209.9,161957,-15.8,-8.049,-22.04,2046
$D_GRID,441
$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,-107.1,340,2282,1616,1511,0.0,0.0,0,76,0.00,0.00,-44.53,0.000,16386,0.000,0.000,340,2282,2755,2773,2738,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-1.11,-107.1,340,2282,2774,2742,3.3,-1.4,8,119,10.27,2.08,-15.60,0.000,18692,0.236,0.058,2828,3597,3450,3470,3430,0,0,0,0,0,0,25.02,25.96,26.50
$GC,210,-1.11,-107.1,1824,3596,3463,3434,28.5,-20.4,28,223,0.00,1.88,0.00,0.000,1030,0.000,0.026,2830,2276,3456,3475,3437,0,0,0,0,0,0,28.83,26.22,28.83
$GC,524,-1.11,-107.1,2829,2273,3478,3437,73.7,-12.7,50,535,0.00,2.00,0.00,0.000,260,0.000,0.044,2822,3598,3457,3478,3437,0,0,0,0,0,0,28.83,26.12,28.83
$GC,766,-1.11,-107.1,2822,3598,3478,3437,105.2,-13.3,61,777,0.00,1.83,0.00,0.000,1030,0.000,0.025,2822,2293,3458,3479,3437,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1088,-1.11,-107.1,2822,2293,3480,3437,146.1,-12.5,77,1099,0.00,2.08,0.00,0.000,516,0.000,0.031,2822,911,3458,3480,3437,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1194,-1.11,-107.1,2822,911,3480,3438,157.1,-12.1,81,1207,0.00,2.15,0.00,0.000,1030,0.000,0.031,2814,2319,3458,3480,3437,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1501,-1.11,-107.1,2814,2318,3480,3437,195.6,-11.7,97,1511,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2318,3458,3480,3437,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1801,-1.11,-107.1,2814,2318,3479,3437,229.8,-11.5,112,1813,0.00,2.12,0.00,0.000,516,0.000,0.030,2814,916,3458,3480,3437,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1853,-1.11,-107.1,2814,916,3480,3437,235.9,-11.6,114,1864,0.15,2.12,0.00,0.000,3078,0.171,0.031,2845,2313,3458,3480,3437,0,0,0,0,0,0,25.89,26.36,28.83
$GC,2184,-1.11,-107.1,2843,2312,3480,3437,271.6,-10.7,130,2195,0.00,2.12,0.00,0.000,516,0.000,0.030,2845,913,3458,3480,3437,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2236,-1.11,-107.1,2845,913,3480,3437,277.2,-10.9,132,2247,0.00,2.15,0.00,0.000,1030,0.000,0.031,2838,2306,3458,3479,3437,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2567,-1.11,-107.1,2838,2305,3480,3437,311.1,-9.8,148,2578,0.00,2.12,0.00,0.000,516,0.000,0.030,2838,910,3458,3480,3437,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2608,-1.11,-107.1,2838,910,3480,3437,314.2,-9.7,149,2619,0.00,2.15,0.00,0.000,1030,0.000,0.031,2829,2313,3458,3480,3437,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2928,-1.11,-107.1,2828,2314,3480,3437,346.4,-10.1,165,2940,0.00,2.15,0.00,0.000,516,0.000,0.030,2829,910,3458,3480,3437,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3005,-1.11,-107.1,2828,910,3480,3436,353.8,-10.4,168,3016,0.00,2.12,0.00,0.000,1030,0.000,0.031,2820,2304,3459,3482,3437,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3332,-1.11,-107.1,2819,2304,3479,3436,390.2,-11.3,184,3343,0.00,2.10,0.00,0.000,516,0.000,0.030,2819,917,3457,3479,3436,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3474,-1.11,-107.1,2819,917,3479,3437,405.5,-11.4,190,3486,0.12,2.12,0.00,0.000,3078,0.176,0.032,2841,2309,3458,3480,3436,0,0,0,0,0,0,25.94,26.34,28.83
$GC,3796,-1.11,-107.1,2841,2308,3479,3436,437.9,-8.8,206,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2308,3457,3479,3436,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3832,begin apogee
$GC,3841,-0.25,0.0,2842,2020,3479,3436,441.3,-8.5,208,3991,0.85,0.00,135.18,0.728,10246,0.132,0.000,3113,2019,3008,3080,2936,0,0,0,0,0,0,25.44,28.83,24.06
$STATE,3993,end apogee,CONTROL_FINISHED_OK
$STATE,3993,begin climb
$GC,3997,1.11,107.1,3112,2020,3075,2933,444.8,0.0,215,4145,1.25,0.00,133.35,0.662,10758,0.077,0.000,3553,2019,2571,2654,2489,0,0,0,0,0,0,25.29,28.83,24.01
$GC,4439,1.11,107.1,3553,2019,2633,2477,400.5,11.9,238,4450,0.00,2.15,0.00,0.000,516,0.000,0.035,3563,638,2555,2633,2477,0,0,0,0,0,0,28.83,26.04,28.83
$GC,4500,1.11,107.1,3562,638,2631,2477,394.2,11.5,240,4511,0.00,2.17,0.00,0.000,1030,0.000,0.028,3563,2029,2553,2631,2476,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4821,1.11,107.1,3562,2026,2630,2475,355.4,11.6,256,4831,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2026,2552,2629,2475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5121,1.11,107.1,3562,2026,2629,2474,320.0,11.9,271,5132,0.00,2.17,0.00,0.000,516,0.000,0.034,3571,638,2551,2629,2474,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5195,1.11,107.1,2784,638,2575,2465,311.4,11.9,274,5206,0.00,2.15,0.00,0.000,1030,0.000,0.029,3571,2037,2551,2629,2474,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5522,1.11,107.1,3571,2036,2628,2473,271.6,12.3,290,5533,0.00,2.17,0.00,0.000,516,0.000,0.033,3578,646,2550,2628,2473,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5577,1.11,107.1,3578,646,2628,2473,265.2,12.3,292,5588,0.00,2.15,0.00,0.000,1030,0.000,0.030,3578,2038,2550,2628,2473,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5903,1.11,107.1,3578,2038,2626,2472,224.5,12.1,308,5914,0.00,2.08,0.00,0.000,260,0.000,0.041,3578,3434,2549,2626,2472,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5956,1.11,107.1,3578,3434,2626,2472,217.7,12.8,310,5967,0.00,2.03,0.00,0.000,1030,0.000,0.025,3587,2020,2549,2626,2472,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6287,1.11,107.1,3587,2020,2626,2472,176.6,11.6,326,6298,0.00,2.10,0.00,0.000,516,0.000,0.034,3597,640,2548,2626,2471,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6343,1.11,107.1,3597,640,2625,2471,170.7,11.5,328,6354,0.15,2.15,0.00,0.000,5126,0.151,0.030,3558,2027,2548,2626,2471,0,0,0,0,0,0,25.98,26.39,28.83
$GC,6670,1.11,107.1,3557,2026,2625,2471,136.0,10.5,344,6681,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2026,2548,2625,2471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,1.11,107.1,3558,2026,2624,2471,105.8,9.4,359,6981,0.00,2.17,0.00,0.000,516,0.000,0.034,3565,638,2547,2624,2471,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7198,1.11,107.1,3565,638,2624,2471,87.2,9.2,369,7210,0.00,2.15,0.00,0.000,1030,0.000,0.030,3565,2038,2547,2624,2471,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7504,1.14,114.9,3565,2037,2624,2470,61.7,7.7,385,7515,0.00,2.05,0.00,0.000,260,0.000,0.040,3565,3427,2546,2624,2469,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7751,1.31,173.7,3565,3427,2623,2469,44.2,5.1,401,7851,0.15,2.03,81.10,0.583,11270,0.082,0.026,3635,2019,2295,2376,2214,0,0,0,0,0,0,26.32,26.48,24.48
$GC,8158,1.34,182.4,3634,2021,2368,2207,6.8,7.6,458,8171,0.00,2.20,2.67,0.063,8452,0.000,0.040,3635,3425,2264,2347,2181,0,0,1,0,0,0,28.83,25.96,25.87
$STATE,8191,end climb,SURFACE_DEPTH_REACHED
$STATE,8191,begin surface coast
$FINISH,3.3,1.024149
$STATE,8200,end surface coast,CONTROL_FINISHED_OK
$STATE,8201,begin surface
$SM_CCo,8229,76.50,0.058,0,0,1582,350.04
$SM_GC,2.61,8.85,1.67,76.50,0.047,0.025,0.058,332,2322,1582,-8.88,2.21,350.04,0,0,0,0,0,0,25.97,26.26,25.87
$IRIDIUM_FIX,4732.49,-12512.13,250114,222249
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.41
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3720960
$PM_FREEKB,1563504
$24V_AH,24.0,69.058
$10V_AH,9.3,66.948
$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,21.800,67.275,352.300,76.500,0.000,0.000,0.000,252.000,0.000,0.000,21.806,1473.085,4773.125,486.243,1602.198,478.346,0.000,1581.127,0.000,1119.913,0.000,0.535,0.000
$DEVICE_MAMPS,235.620,58.140,727.515,58.140,0.000,0.000,0.000,120.870,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8213.000,189.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.844,10.034,0.000,0.000
$MEM,258748
$DATA_FILE_SIZE,16763,464
$CAP_FILE_SIZE,116330,0
$CFSIZE,260034560,186245120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.058,348.2,1
$GPS,260114,030004,4749.852,-12515.916,24,0.8,25,17.2