version: 66.11
glider: 108
mission: 25
dive: 746
start: 2 8 114 18 35 1
data:
$ID,108
$MISSION,25
$DIVE,746
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,660
$D_ABORT,700
$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,220
$T_MISSION,250
$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,9
$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,-195936.23
$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,82
$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,0
$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
$GPS1,080214,182831,4724.044,-12621.221,27,0.8,28,17.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.38
$_SM_ANGLEo,-62.1
$GPS2,080214,183434,4724.079,-12621.270,34,1.1,34,17.2
$SPEED_LIMITS,0.173,0.212
$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,52.0,102188,-20.2,-10.000,-25.29,1647
$D_GRID,1000
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.33,-107.1,341,2317,1627,1499,0.0,0.0,0,68,0.00,0.00,-44.40,0.000,16386,0.000,0.000,340,2317,2707,2730,2684,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.33,-107.1,341,2317,2730,2691,3.0,-2.2,8,112,9.80,1.92,-20.20,0.000,19204,0.227,0.057,2762,3593,3450,3473,3428,0,0,0,0,0,0,24.92,26.04,26.65
$GC,251,-1.33,-107.1,2762,3593,3476,3434,40.0,-23.5,34,256,0.00,1.83,0.00,0.000,1030,0.000,0.027,2770,2301,3455,3477,3433,0,0,0,0,0,0,28.83,26.32,28.83
$GC,576,-1.33,-107.1,2770,2297,3480,3434,105.5,-17.1,52,581,0.00,1.95,0.00,0.000,260,0.000,0.045,2762,3588,3457,3480,3434,0,0,0,0,0,0,28.83,26.15,28.83
$GC,601,-1.33,-107.1,2762,3588,3479,3434,109.8,-16.9,53,607,0.00,1.83,0.00,0.000,1030,0.000,0.026,2770,2283,3457,3480,3434,0,0,0,0,0,0,28.83,26.42,28.83
$GC,928,-1.33,-107.1,2770,2283,3481,3434,161.9,-15.7,69,934,0.00,2.08,0.00,0.000,516,0.000,0.031,2778,908,3457,3480,3434,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1018,-1.33,-107.1,1760,907,3467,3431,174.3,-14.2,73,1023,0.00,2.12,0.00,0.000,1030,0.000,0.032,2771,2305,3458,3481,3435,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1339,-1.33,-107.1,2771,2304,3481,3434,221.7,-14.6,89,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2304,3458,3481,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1638,-1.33,-107.1,2771,2304,3481,3435,262.7,-13.8,104,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2304,3457,3481,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1938,-1.33,-107.1,2771,2304,3481,3434,304.5,-14.3,119,1940,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2304,3457,3481,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,-1.33,-107.1,2771,2304,3481,3435,346.4,-14.1,134,2245,0.00,1.90,0.00,0.000,260,0.000,0.044,2762,3586,3457,3481,3434,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2305,-1.33,-107.1,2761,3586,3481,3434,356.3,-14.6,137,2311,0.00,1.80,0.00,0.000,1030,0.000,0.027,2769,2301,3457,3481,3434,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2631,-1.33,-107.1,2768,2301,3481,3435,400.3,-13.4,153,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3458,3481,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,-1.33,-107.1,2768,2301,3480,3435,440.4,-13.2,168,2933,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3458,3481,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3231,-1.33,-107.1,2768,2301,3480,3434,480.1,-13.2,183,3232,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2301,3457,3479,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3532,-1.33,-107.1,2768,2301,3479,3435,519.0,-13.0,198,3539,0.00,2.10,0.00,0.000,516,0.000,0.032,2771,911,3456,3478,3435,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3558,-1.33,-107.1,2771,911,3478,3435,522.6,-13.1,199,3564,0.00,2.12,0.00,0.000,1030,0.000,0.033,2764,2301,3456,3478,3435,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3884,-1.33,-107.1,2764,2300,3477,3434,565.0,-13.2,215,3889,0.00,2.10,0.00,0.000,516,0.000,0.032,2764,915,3456,3477,3435,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3985,-1.33,-107.1,2764,915,3477,3434,576.5,-13.5,219,3991,0.00,2.12,0.00,0.000,1030,0.000,0.034,2756,2303,3455,3476,3435,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4299,-1.33,-107.1,2756,2303,3475,3434,622.0,-13.8,233,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2303,3455,3475,3435,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4605,-0.25,0.0,2756,2035,3474,3434,662.3,-13.2,243,4757,1.20,0.00,140.32,0.809,10246,0.151,0.000,3116,2023,3006,3075,2937,0,0,0,0,0,0,25.16,28.83,23.84
$STATE,4758,end apogee,CONTROL_FINISHED_OK
$STATE,4758,begin climb
$GC,4762,1.33,107.1,3116,2023,3071,2932,666.9,0.0,248,4921,1.45,2.30,142.57,0.745,10756,0.076,0.034,3633,646,2565,2645,2485,0,0,0,0,0,0,25.20,25.06,23.84
$GC,4997,1.33,107.1,3633,646,2634,2480,644.6,13.1,256,5002,0.00,2.20,0.00,0.000,1030,0.000,0.031,3627,2024,2556,2634,2479,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5333,1.33,107.1,3627,2023,2630,2475,599.7,13.1,267,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,2023,2552,2629,2475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,1.33,107.1,3626,2023,2627,2474,560.5,12.9,282,5640,0.00,2.17,0.00,0.000,516,0.000,0.036,3634,642,2550,2627,2474,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5704,1.33,107.1,3633,642,2626,2474,551.4,13.5,285,5710,0.00,2.15,0.00,0.000,1030,0.000,0.032,3634,2029,2550,2626,2474,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6026,1.33,107.1,3633,2029,2624,2473,506.8,13.5,301,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,3634,2028,2548,2624,2473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6327,1.33,107.1,3633,2028,2623,2472,467.3,13.0,316,6332,0.00,2.20,0.00,0.000,516,0.000,0.035,3643,636,2547,2623,2472,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6456,1.33,107.1,3642,636,2623,2472,450.8,12.9,322,6462,0.00,2.15,0.00,0.000,1030,0.000,0.031,3640,2031,2547,2623,2472,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6778,1.33,107.1,3640,2030,2622,2471,409.7,12.6,338,6784,0.00,2.08,0.00,0.000,260,0.000,0.043,3640,3425,2546,2622,2471,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6833,1.33,107.1,3640,3425,2621,2470,403.6,12.5,340,6838,0.00,2.03,0.00,0.000,1030,0.000,0.028,3648,2022,2546,2622,2470,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7150,1.33,107.1,3648,2022,2621,2470,362.9,12.4,356,7156,0.00,2.12,0.00,0.000,516,0.000,0.035,3658,635,2545,2621,2470,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7218,1.33,107.1,3658,635,2621,2470,354.6,12.2,359,7224,0.00,2.15,0.00,0.000,1030,0.000,0.030,3654,2030,2545,2621,2470,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7544,1.33,107.1,3654,2029,2620,2469,314.3,12.5,375,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3654,2029,2544,2620,2469,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7845,1.33,107.1,3654,2029,2619,2469,276.3,12.7,390,7850,0.00,2.10,0.00,0.000,260,0.000,0.044,3654,3435,2544,2620,2469,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7894,1.33,107.1,2944,3433,2559,2458,270.0,13.0,392,7900,0.15,2.05,0.00,0.000,5126,0.178,0.028,3625,2019,2544,2619,2469,0,0,0,0,0,0,25.87,26.43,28.83
$GC,8215,1.33,107.1,3625,2010,2619,2469,233.4,11.4,408,8220,0.00,2.12,0.00,0.000,260,0.000,0.041,3623,3424,2544,2619,2469,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8251,1.33,107.1,3623,3424,2619,2469,230.3,11.5,409,8256,0.00,2.03,0.00,0.000,1030,0.000,0.027,3630,2019,2544,2619,2469,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8566,1.33,107.1,3630,2018,2619,2469,189.5,12.6,425,8572,0.00,2.12,0.00,0.000,516,0.000,0.035,3640,626,2544,2619,2469,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8673,1.33,107.1,3641,626,2619,2469,175.5,13.3,430,8679,0.00,2.17,0.00,0.000,1030,0.000,0.031,3640,2034,2544,2619,2469,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8999,1.33,107.1,3639,2034,2618,2469,137.7,10.3,446,9004,0.00,2.08,0.00,0.000,260,0.000,0.043,3640,3427,2543,2618,2469,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9018,1.33,107.1,3639,3427,2618,2469,137.7,10.3,446,9025,0.00,2.03,0.00,0.000,1030,0.000,0.027,3648,2018,2543,2618,2469,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9326,1.43,140.0,3649,2005,2618,2469,109.6,7.9,462,9371,0.00,2.20,38.45,0.636,8708,0.000,0.035,3658,639,2435,2512,2359,0,0,0,0,0,0,28.83,25.95,24.40
$GC,9591,1.46,149.4,3657,639,2505,2356,83.3,9.4,475,9610,0.00,2.17,11.05,0.641,9222,0.000,0.031,3658,2035,2398,2476,2320,0,0,0,0,0,0,28.83,26.14,24.53
$GC,9912,1.46,150.4,3657,2034,2472,2316,53.5,9.9,491,9917,0.00,2.10,0.00,0.000,260,0.000,0.041,3658,3440,2393,2471,2316,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9932,1.46,151.5,3657,3440,2471,2316,53.5,9.9,491,9939,0.00,2.05,0.00,0.000,1030,0.000,0.026,3668,2020,2393,2471,2316,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10243,1.46,151.5,3668,2020,2470,2316,15.6,10.8,530,10250,0.00,2.10,0.00,0.000,516,0.000,0.034,3678,643,2393,2470,2316,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10296,1.52,168.6,3678,643,2469,2316,10.7,8.9,539,10310,0.00,2.15,8.75,0.070,9222,0.000,0.031,3676,2038,2321,2403,2239,0,0,0,0,0,0,28.83,26.28,25.84
$STATE,10350,end climb,SURFACE_DEPTH_REACHED
$STATE,10350,begin surface coast
$FINISH,1.6,1.027788
$STATE,10387,end surface coast,CONTROL_FINISHED_OK
$STATE,10387,begin surface
$SM_CCo,10411,80.65,0.057,0,0,1581,350.04
$SM_GC,2.65,8.85,0.35,80.65,0.044,0.046,0.057,340,2336,1581,-8.86,-1.41,350.04,0,0,0,0,0,0,26.08,26.41,25.89
$IRIDIUM_FIX,4707.04,-12623.60,080214,181816
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.39
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.60
$XPDR_PINGS,0
$24V_AH,23.8,75.934
$10V_AH,10.5,73.113
$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,21.450,75.600,341.150,80.650,0.000,0.000,0.000,0.000,0.000,0.000,35.302,1681.576,6888.873,486.804,1243.500,290.339,0.000,1186.099,0.000,1174.215,0.000,0.535,0.000
$DEVICE_MAMPS,227.205,56.610,809.370,56.610,0.000,0.000,0.000,0.000,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,258788
$DATA_FILE_SIZE,20107,555
$CAP_FILE_SIZE,97858,0
$CFSIZE,260034560,180383744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.029,287.3,1
$GPS,080214,213134,4724.516,-12619.870,54,1.1,54,17.2