version: 66.11
glider: 108
mission: 25
dive: 683
start: 1 26 114 11 36 57
data:
$ID,108
$MISSION,25
$DIVE,683
$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,-195066.69
$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,73
$R_STBD_OVSHOOT,55
$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
$GPS1,260114,112751,4748.486,-12518.617,18,1.1,39,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-73.6
$GPS2,260114,113629,4748.467,-12518.619,16,1.0,16,17.2
$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,215.7,156378,-15.8,-8.049,-22.04,2046
$D_GRID,601
$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,-107.1,332,2313,1617,1510,0.0,0.0,0,72,0.00,0.00,-40.83,0.000,16386,0.000,0.000,332,2313,2631,2656,2607,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-1.11,-107.1,332,2313,2661,2612,3.2,-1.9,7,127,10.32,1.98,-23.40,0.000,18692,0.236,0.060,2832,3580,3450,3470,3431,0,0,0,0,0,0,25.04,25.94,26.49
$GC,360,-1.11,-107.1,1840,3578,3464,3433,51.1,-19.7,46,372,0.00,1.85,0.00,0.000,1030,0.000,0.026,2834,2287,3456,3477,3436,0,0,0,0,0,0,28.83,26.27,28.83
$GC,667,-1.11,-107.1,2834,2284,3477,3436,97.0,-13.8,62,677,0.00,1.95,0.00,0.000,260,0.000,0.043,2827,3582,3457,3478,3436,0,0,0,0,0,0,28.83,26.12,28.83
$GC,910,-1.11,-107.1,2826,3582,3478,3436,125.7,-12.4,73,921,0.00,1.80,0.00,0.000,1030,0.000,0.027,2827,2298,3457,3478,3436,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1232,-1.11,-107.1,2826,2298,3479,3436,166.3,-12.2,89,1243,0.00,1.95,0.00,0.000,260,0.000,0.041,2817,3595,3457,3478,3436,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1312,-1.11,-107.1,2817,3595,3479,3436,175.3,-12.4,92,1323,0.00,1.83,0.00,0.000,1030,0.000,0.025,2817,2285,3457,3479,3436,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1632,-1.11,-107.1,2817,2284,3479,3436,212.8,-11.1,108,1643,0.00,2.05,0.00,0.000,516,0.000,0.031,2817,922,3457,3479,3436,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1677,-1.11,-107.1,2817,922,3479,3437,216.1,-11.1,109,1690,0.12,2.12,0.00,0.000,3078,0.178,0.031,2838,2310,3457,3479,3436,0,0,0,0,0,0,25.91,26.32,28.83
$GC,1983,-1.11,-107.1,2838,2310,3480,3437,251.9,-11.4,125,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2310,3457,3479,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2284,-1.11,-107.1,2838,2309,3480,3436,286.5,-11.5,140,2295,0.00,2.12,0.00,0.000,516,0.000,0.031,2839,915,3457,3479,3436,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2390,-1.11,-107.1,2838,915,3479,3436,297.1,-11.6,144,2402,0.00,2.15,0.00,0.000,1030,0.000,0.031,2831,2306,3457,3479,3436,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2697,-1.11,-107.1,2831,2306,3479,3436,329.7,-9.6,160,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2306,3457,3479,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2997,-1.11,-107.1,2831,2306,3479,3435,359.3,-9.9,175,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2306,3457,3479,3436,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3297,-1.11,-107.1,2831,2306,3479,3436,390.7,-10.4,190,3308,0.00,2.12,0.00,0.000,516,0.000,0.031,2832,910,3457,3478,3436,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3401,-1.11,-107.1,2832,910,3479,3436,400.2,-10.4,194,3412,0.00,2.15,0.00,0.000,1030,0.000,0.031,2823,2313,3457,3479,3435,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3722,-1.11,-107.1,2822,2312,3477,3436,436.5,-11.6,210,3733,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2312,3456,3477,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4023,-1.11,-107.1,2822,2312,3477,3435,470.9,-11.0,225,4034,0.00,2.12,0.00,0.000,516,0.000,0.031,2822,917,3456,3477,3435,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4063,-1.11,-107.1,2822,917,3477,3434,474.4,-11.2,226,4074,0.00,2.12,0.00,0.000,1030,0.000,0.032,2814,2302,3456,3477,3435,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4384,-1.11,-107.1,2813,2302,3477,3435,511.2,-10.9,242,4395,0.00,1.90,0.00,0.000,260,0.000,0.043,2804,3587,3455,3476,3435,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4423,-1.11,-107.1,2804,3588,3476,3435,514.6,-11.0,243,4435,0.15,1.80,0.00,0.000,3078,0.165,0.025,2844,2297,3455,3476,3435,0,0,0,0,0,0,25.91,26.47,28.83
$GC,4745,-1.11,-107.1,2842,2297,3476,3434,543.9,-8.5,259,4756,0.00,2.08,0.00,0.000,516,0.000,0.030,2846,915,3455,3476,3434,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4791,-1.11,-107.1,2845,915,3476,3435,546.5,-8.6,260,4802,0.00,2.12,0.00,0.000,1030,0.000,0.031,2839,2302,3455,3476,3434,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5095,-1.11,-107.1,2838,2302,3476,3434,576.8,-9.6,276,5106,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2302,3455,3476,3434,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5382,begin apogee
$GC,5391,-0.25,0.0,2838,2034,3475,3433,602.6,-8.7,290,5544,0.88,0.00,137.50,0.798,10246,0.131,0.000,3116,2024,3005,3076,2935,0,0,0,0,0,0,25.37,28.83,23.85
$STATE,5546,end apogee,CONTROL_FINISHED_OK
$STATE,5546,begin climb
$GC,5551,1.11,107.1,3115,2024,3074,2932,604.7,0.0,295,5698,1.25,2.25,133.60,0.737,10756,0.076,0.031,3564,649,2567,2647,2487,0,0,0,0,0,0,25.20,24.95,23.74
$GC,5777,1.11,107.1,3564,649,2633,2484,585.3,12.2,304,5789,0.00,2.20,0.00,0.000,1030,0.000,0.030,3564,2024,2558,2633,2484,0,0,0,0,0,0,28.83,25.62,28.83
$GC,6079,1.11,107.1,3564,2023,2629,2478,543.0,13.7,320,6091,0.00,2.12,0.00,0.000,260,0.000,0.041,3564,3428,2553,2629,2478,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6202,1.11,107.1,3564,3428,2628,2477,526.3,14.7,325,6213,0.00,2.03,0.00,0.000,1030,0.000,0.026,3574,2024,2552,2628,2476,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6524,1.11,107.1,3574,2025,2628,2476,485.2,11.6,341,6534,0.00,2.12,0.00,0.000,516,0.000,0.034,3584,645,2551,2627,2476,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6627,1.11,107.1,3584,645,2626,2476,474.1,12.2,345,6638,0.00,2.15,0.00,0.000,1030,0.000,0.031,3584,2034,2550,2625,2476,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6948,1.11,107.1,3584,2033,2624,2475,432.4,12.5,361,6959,0.00,2.10,0.00,0.000,260,0.000,0.041,3584,3437,2549,2624,2474,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6999,1.11,107.1,3584,3437,2624,2474,425.4,13.1,363,7011,0.15,2.03,0.00,0.000,5126,0.160,0.025,3555,2024,2549,2624,2474,0,0,0,0,0,0,25.93,26.41,28.83
$GC,7331,1.11,107.1,3555,2015,2623,2473,388.7,10.7,379,7341,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2015,2548,2624,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7631,1.11,107.1,3555,2015,2623,2473,356.8,10.9,394,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2015,2548,2623,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7931,1.11,107.1,3555,2015,2622,2472,323.6,11.2,409,7942,0.00,0.00,0.00,0.000,6,0.000,0.000,3555,2015,2547,2622,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8231,1.11,107.1,3555,2015,2622,2472,291.7,10.5,424,8243,0.00,2.12,0.00,0.000,516,0.000,0.035,3563,645,2547,2622,2473,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8282,1.11,107.1,3563,645,2622,2472,286.4,10.5,426,8293,0.00,2.15,0.00,0.000,1030,0.000,0.031,3563,2033,2546,2621,2472,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8613,1.11,107.1,3563,2032,2621,2472,249.0,11.3,442,8624,0.00,2.08,0.00,0.000,260,0.000,0.041,3563,3424,2546,2621,2472,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8649,1.11,107.1,3563,3423,2621,2471,245.2,11.7,443,8660,0.00,2.03,0.00,0.000,1030,0.000,0.026,3573,2019,2546,2621,2471,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8975,1.11,107.1,3572,2018,2621,2471,206.9,11.2,459,8986,0.00,2.12,0.00,0.000,516,0.000,0.034,3583,634,2546,2621,2471,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9010,1.11,107.1,3582,634,2621,2471,203.6,11.0,460,9021,0.00,2.15,0.00,0.000,1030,0.000,0.030,3583,2029,2546,2621,2471,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9337,1.11,107.1,3582,2028,2621,2471,166.6,11.5,476,9348,0.00,2.08,0.00,0.000,260,0.000,0.041,3583,3429,2545,2620,2471,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9372,1.11,107.1,2816,3427,2565,2462,162.7,11.7,477,9383,0.15,2.03,0.00,0.000,5126,0.163,0.026,3554,2021,2545,2620,2471,0,0,0,0,0,0,25.93,26.45,28.83
$GC,9698,1.11,107.1,3555,2021,2620,2470,130.8,9.0,493,9709,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2021,2545,2620,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9998,1.11,107.1,3556,2021,2620,2469,104.2,9.1,508,10009,0.00,2.15,0.00,0.000,260,0.000,0.041,3554,3430,2545,2620,2470,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10145,1.11,107.1,3554,3430,2620,2469,90.3,10.4,514,10157,0.00,2.03,0.00,0.000,1030,0.000,0.026,3563,2022,2544,2620,2469,0,0,0,0,0,0,28.83,26.45,28.83
$GC,10451,1.19,132.2,3562,2022,2620,2469,65.1,6.8,530,10485,0.00,0.00,26.25,0.615,8198,0.000,0.000,3563,2022,2470,2544,2396,0,0,0,0,0,0,28.83,28.83,24.52
$GC,10775,1.25,154.1,3562,2021,2537,2391,44.1,6.9,550,10817,0.12,2.20,29.75,0.599,10500,0.093,0.038,3624,3436,2377,2454,2300,0,0,0,0,0,0,26.39,25.93,24.65
$GC,10974,1.25,154.1,3624,3436,2449,2295,25.2,10.0,568,10986,0.12,2.05,0.00,0.000,5126,0.180,0.025,3604,2023,2372,2449,2295,0,0,0,0,0,0,25.73,26.18,28.83
$STATE,11218,end climb,SURFACE_DEPTH_REACHED
$STATE,11218,begin surface coast
$FINISH,1.7,1.011958
$STATE,11288,end surface coast,CONTROL_FINISHED_OK
$STATE,11288,begin surface
$SM_CCo,11315,88.75,0.059,0,0,1580,350.04
$SM_GC,2.86,8.70,0.43,88.75,0.045,0.044,0.059,336,2316,1580,-8.87,-1.44,350.04,0,0,0,0,0,0,26.04,26.29,25.86
$IRIDIUM_FIX,4732.49,-12514.75,260114,080823
$TT8_MAMPS,0.027713,0.027713
$HUMID,57.60
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3719680
$PM_FREEKB,1563504
$24V_AH,23.7,69.382
$10V_AH,9.4,67.201
$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,21.975,79.175,327.100,88.750,0.000,0.000,0.000,256.550,0.000,0.000,17.143,1910.879,6952.379,490.790,1971.333,592.907,0.000,1816.708,0.000,1421.735,0.000,0.535,0.000
$DEVICE_MAMPS,235.620,59.670,797.895,58.905,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11293.000,260.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.127,10.136,0.000,0.000
$MEM,258764
$DATA_FILE_SIZE,23414,626
$CAP_FILE_SIZE,148642,0
$CFSIZE,260034560,185942016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028,332.4,1
$GPS,260114,144823,4748.041,-12520.034,26,0.8,26,17.2