version: 66.11
glider: 108
mission: 25
dive: 680
start: 1 26 114 3 8 18
data:
$ID,108
$MISSION,25
$DIVE,680
$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,-195062.94
$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,53
$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
$GPS1,260114,030004,4749.852,-12515.916,24,0.8,25,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-74.3
$GPS2,260114,030747,4749.876,-12515.896,20,1.0,20,17.2
$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,202.1,160693,-15.8,-8.049,-22.04,2046
$D_GRID,469
$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,-107.1,332,2276,1618,1511,0.0,0.0,0,64,0.00,0.00,-32.65,0.000,16386,0.000,0.000,331,2276,2419,2457,2382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.11,-107.1,331,2276,2462,2385,3.0,-1.3,6,126,10.38,2.08,-34.17,0.000,18692,0.239,0.059,2827,3587,3450,3471,3430,0,0,0,0,0,0,25.03,25.96,26.53
$GC,361,-1.11,-107.1,1832,3586,3465,3433,52.4,-17.8,45,372,0.00,1.88,0.00,0.000,1030,0.000,0.026,2827,2263,3456,3477,3436,0,0,0,0,0,0,28.83,26.29,28.83
$GC,687,-1.11,-107.1,2827,2260,3478,3436,96.7,-13.0,61,698,0.00,2.00,0.00,0.000,260,0.000,0.044,2819,3591,3457,3478,3436,0,0,0,0,0,0,28.83,26.15,28.83
$GC,930,-1.11,-107.1,2818,3591,3478,3436,128.2,-12.6,72,941,0.00,1.83,0.00,0.000,1030,0.000,0.025,2821,2281,3457,3478,3436,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1253,-1.11,-107.1,2821,2281,3479,3436,169.5,-12.2,88,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2281,3457,3479,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1553,-1.11,-107.1,2821,2281,3479,3436,205.0,-11.9,103,1563,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2281,3458,3480,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1853,-1.11,-107.1,2821,2280,3480,3436,241.4,-12.6,118,1864,0.00,1.95,0.00,0.000,260,0.000,0.042,2814,3588,3458,3480,3436,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1888,-1.11,-107.1,2813,3589,3480,3436,245.3,-12.7,119,1899,0.00,1.80,0.00,0.000,1030,0.000,0.025,2820,2296,3458,3480,3436,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2213,-1.11,-107.1,2820,2295,3480,3436,284.8,-11.4,135,2224,0.00,2.08,0.00,0.000,516,0.000,0.030,2824,910,3458,3480,3436,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2259,-1.11,-107.1,2824,910,3480,3436,288.3,-11.5,136,2270,0.00,2.12,0.00,0.000,1030,0.000,0.031,2817,2309,3457,3479,3436,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2565,-1.11,-107.1,2816,2308,3479,3436,325.3,-11.4,152,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2308,3457,3479,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,-1.11,-107.1,2817,2308,3480,3436,359.3,-11.3,167,2877,0.00,1.88,0.00,0.000,260,0.000,0.042,2808,3586,3457,3478,3436,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2910,-1.11,-107.1,2807,3586,3479,3435,363.0,-11.4,168,2923,0.12,1.80,0.00,0.000,3078,0.173,0.026,2840,2295,3457,3478,3436,0,0,0,0,0,0,26.02,26.48,28.83
$GC,3218,-1.11,-107.1,2840,2295,3479,3436,393.8,-9.2,184,3228,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2295,3457,3479,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3518,-1.11,-107.1,2840,2295,3479,3435,423.3,-10.1,199,3529,0.00,2.08,0.00,0.000,516,0.000,0.031,2849,910,3457,3479,3435,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3590,-1.11,-107.1,2848,910,3479,3435,430.5,-10.1,202,3601,0.00,2.12,0.00,0.000,1030,0.000,0.031,2842,2308,3457,3479,3435,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3922,-1.11,-107.1,2841,2307,3478,3435,465.2,-9.7,218,3933,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2307,3456,3478,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3978,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3978,begin apogee
$GC,3988,-0.25,0.0,2841,2021,3478,3435,470.8,-9.2,221,4137,0.85,0.00,132.93,0.741,10246,0.131,0.000,3111,2013,3006,3078,2935,0,0,0,0,0,0,25.44,28.83,24.03
$STATE,4139,end apogee,CONTROL_FINISHED_OK
$STATE,4139,begin climb
$GC,4143,1.11,107.1,3111,2013,3075,2933,473.8,0.0,228,4286,1.27,0.00,134.25,0.675,10246,0.076,0.000,3560,2013,2572,2654,2490,0,0,0,0,0,0,25.28,28.83,23.96
$GC,4584,1.11,107.1,3560,2013,2632,2477,427.2,13.7,251,4594,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2013,2554,2632,2477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4884,1.11,107.1,3560,2013,2630,2476,386.5,13.1,266,4895,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2013,2552,2629,2476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5185,1.11,107.1,3560,2013,2629,2475,348.6,12.6,281,5195,0.00,0.00,0.00,0.000,6,0.000,0.000,3560,2013,2552,2629,2475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5486,1.11,107.1,3560,2013,2628,2474,312.8,11.5,296,5497,0.00,2.12,0.00,0.000,260,0.000,0.040,3560,3423,2551,2629,2474,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5540,1.11,107.1,3560,3423,2628,2473,306.5,11.9,298,5553,0.00,2.03,0.00,0.000,1030,0.000,0.025,3570,2018,2550,2628,2473,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5868,1.11,107.1,3570,2019,2627,2472,267.3,11.9,314,5879,0.00,2.12,0.00,0.000,516,0.000,0.034,3579,641,2549,2627,2472,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5943,1.11,107.1,3579,641,2626,2472,258.6,12.1,317,5954,0.00,2.12,0.00,0.000,1030,0.000,0.030,3579,2023,2549,2626,2472,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6270,1.11,107.1,3579,2022,2625,2472,218.7,11.9,333,6281,0.00,2.10,0.00,0.000,260,0.000,0.041,3580,3437,2548,2625,2472,0,0,0,0,0,0,28.83,26.24,28.83
$GC,6304,1.11,107.1,2816,3436,2572,2464,215.0,11.9,334,6315,0.12,2.03,0.00,0.000,5126,0.165,0.025,3559,2022,2548,2625,2472,0,0,0,0,0,0,26.05,26.46,28.83
$GC,6630,1.11,107.1,3559,2020,2624,2471,178.3,11.0,350,6641,0.00,2.12,0.00,0.000,516,0.000,0.034,3567,634,2547,2624,2471,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6665,1.11,107.1,2760,634,2571,2462,175.0,10.8,351,6676,0.00,2.15,0.00,0.000,1030,0.000,0.029,3567,2035,2547,2624,2471,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6990,1.11,107.1,3566,2034,2624,2472,139.3,11.1,367,7001,0.00,2.05,0.00,0.000,260,0.000,0.041,3567,3425,2547,2624,2471,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7148,1.11,107.1,3567,3425,2623,2470,120.0,12.6,374,7159,0.00,2.03,0.00,0.000,1030,0.000,0.025,3576,2023,2547,2624,2470,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7475,1.11,107.1,3576,2022,2624,2470,86.5,8.2,390,7486,0.00,2.12,0.00,0.000,516,0.000,0.034,3586,635,2546,2623,2470,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7546,1.11,107.7,3586,635,2623,2470,80.7,8.0,393,7557,0.00,2.12,0.00,0.000,1030,0.000,0.028,3586,2030,2546,2623,2469,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7877,1.29,166.6,3586,2029,2623,2470,59.5,5.1,409,7963,0.00,2.17,72.28,0.591,8452,0.000,0.040,3586,3421,2326,2406,2246,0,0,0,0,0,0,28.83,25.70,24.49
$GC,8198,1.29,166.6,3586,3421,2399,2239,29.9,10.1,434,8209,0.00,2.05,0.00,0.000,1030,0.000,0.024,3596,2015,2318,2399,2238,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8522,1.41,205.2,3596,2015,2397,2238,4.4,6.1,490,8537,0.12,0.00,6.47,0.057,10754,0.097,0.000,3654,2011,2263,2347,2180,0,0,0,0,0,0,26.36,28.83,28.83
$STATE,8538,end climb,SURFACE_DEPTH_REACHED
$STATE,8538,begin surface coast
$FINISH,1.7,1.007114
$STATE,8613,end surface coast,CONTROL_FINISHED_OK
$STATE,8613,begin surface
$SM_CCo,8641,75.85,0.057,0,0,1581,350.04
$SM_GC,2.55,8.88,0.43,75.85,0.049,0.047,0.057,337,2303,1581,-8.87,-1.64,350.04,0,0,0,0,0,0,26.06,26.29,25.93
$IRIDIUM_FIX,4732.49,-12512.13,260114,000020
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.49
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3720640
$PM_FREEKB,1563504
$24V_AH,24.0,69.132
$10V_AH,9.3,67.004
$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,21.750,53.750,345.925,75.850,0.000,0.000,0.000,210.500,0.000,0.000,21.901,1514.964,5136.688,481.632,1568.955,480.513,0.000,1534.368,0.000,1115.103,0.000,0.535,0.000
$DEVICE_MAMPS,238.680,58.905,740.520,56.610,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8629.000,201.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.691,10.121,0.000,0.000
$MEM,258740
$DATA_FILE_SIZE,16731,505
$CAP_FILE_SIZE,117000,0
$CFSIZE,260034560,186183680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.052,  8.1,1
$GPS,260114,053447,4749.535,-12516.639,18,1.0,18,17.2