version: 66.11
glider: 108
mission: 25
dive: 16
start: 9 24 113 20 6 35
data:
$ID,108
$MISSION,25
$DIVE,16
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1030
$D_NO_BLEED,20
$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,170
$T_MISSION,190
$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,150
$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,500
$N_FILEKB,8
$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,-193521.61
$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,3230
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,47
$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,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,100
$MINV_24V,22
$MINV_10V,9.5
$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,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,86
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$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,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$GPS1,240913,195934,4746.505,-12512.487,31,1.2,31,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-68.4
$GPS2,240913,200600,4746.427,-12512.384,18,1.7,18,17.2
$SPEED_LIMITS,0.170,0.244
$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,228.6,160838,-16.2,-9.804,-21.91,2290
$D_GRID,604
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.72,-146.0,333,2268,1031,888,0.0,0.0,0,94,0.00,0.00,-70.70,0.000,16386,0.000,0.000,334,2266,2947,2949,2946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.72,-146.0,333,2266,2952,2947,3.5,-4.4,12,130,10.60,2.05,-13.20,0.000,18692,0.246,0.068,2983,3584,3611,3603,3619,0,0,0,0,0,0,25.79,26.01,26.31
$GC,282,-0.75,-146.0,2982,3585,3602,3631,29.7,-11.7,42,289,0.00,2.00,0.00,0.000,1030,0.000,0.033,2983,2220,3617,3603,3631,0,0,0,0,0,0,28.83,26.20,28.83
$GC,608,-0.78,-146.0,2982,2219,3603,3642,62.5,-10.3,68,613,0.00,2.12,0.00,0.000,260,0.000,0.049,2973,3597,3622,3603,3642,0,0,0,0,0,0,28.83,26.32,28.83
$GC,761,-0.83,-146.0,2973,3597,3603,3645,78.7,-11.4,75,767,0.00,1.98,0.00,0.000,1030,0.000,0.033,2973,2249,3624,3603,3645,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1075,-0.87,-146.0,2972,2247,3603,3645,108.5,-8.5,91,1081,0.00,2.05,0.00,0.000,260,0.000,0.050,2963,3585,3624,3603,3646,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1109,-0.92,-146.0,2963,3585,3603,3646,110.6,-8.7,92,1115,0.00,1.95,0.00,0.000,1030,0.000,0.034,2963,2250,3624,3603,3645,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1424,-0.96,-146.0,2963,2249,3603,3645,136.6,-7.3,108,1430,0.12,2.05,0.00,0.000,4356,0.092,0.048,2887,3587,3624,3603,3645,0,0,0,0,0,0,26.57,26.53,28.83
$GC,1514,-0.92,-146.0,1856,3586,3595,3642,145.9,-11.0,112,1520,0.17,1.95,0.00,0.000,3078,0.147,0.034,2936,2250,3623,3603,3643,0,0,0,0,0,0,26.44,26.60,28.83
$GC,1833,-0.92,-146.0,2935,2250,3603,3642,177.5,-10.0,128,1834,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2250,3622,3603,3642,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2135,-0.92,-146.0,2934,2250,3602,3640,207.1,-10.1,143,2140,0.00,2.03,0.00,0.000,260,0.000,0.051,2928,3597,3621,3603,3640,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2188,-0.92,-146.0,2927,3597,3603,3640,211.9,-10.4,145,2193,0.00,1.98,0.00,0.000,1030,0.000,0.034,2928,2241,3621,3603,3640,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2502,-0.92,-146.0,2927,2239,3603,3639,243.9,-9.3,161,2507,0.00,2.08,0.00,0.000,516,0.000,0.041,2928,848,3620,3603,3638,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2529,-0.92,-146.0,1936,847,3596,3636,246.1,-9.4,162,2535,0.00,2.12,0.00,0.000,1030,0.000,0.039,2921,2254,3620,3603,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2850,-0.92,-146.0,2920,2254,3602,3637,277.9,-9.5,178,2855,0.00,2.03,0.00,0.000,260,0.000,0.052,2910,3598,3619,3602,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2893,-0.92,-146.0,2910,3598,3602,3637,282.6,-10.0,180,2899,0.00,1.98,0.00,0.000,1030,0.000,0.035,2910,2240,3619,3602,3637,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3217,-0.92,-146.0,2910,2239,3602,3636,314.6,-10.0,196,3218,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2239,3619,3602,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3518,-0.92,-146.0,2910,2239,3600,3635,344.1,-10.0,211,3524,0.00,2.08,0.00,0.000,260,0.000,0.052,2900,3598,3617,3600,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3572,-0.92,-146.0,2899,3598,3600,3635,348.9,-10.5,213,3578,0.12,1.98,0.00,0.000,3078,0.155,0.036,2933,2243,3617,3600,3635,0,0,0,0,0,0,26.62,26.76,28.83
$GC,3887,-0.94,-146.0,2932,2243,3599,3634,379.4,-9.1,229,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2244,3617,3600,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4189,-0.97,-146.0,2933,2243,3599,3632,405.1,-8.4,244,4194,0.00,2.03,0.00,0.000,260,0.000,0.053,2925,3584,3616,3599,3633,0,0,0,0,0,0,28.83,26.73,28.83
$GC,4222,-1.00,-146.0,2924,3583,3599,3632,407.4,-8.5,245,4228,0.00,1.95,0.00,0.000,1030,0.000,0.036,2925,2246,3616,3599,3634,0,0,0,0,0,0,28.83,26.78,28.83
$GC,4537,-1.00,-146.0,2924,2247,3599,3632,435.0,-8.6,261,4543,0.00,2.08,0.00,0.000,516,0.000,0.041,2925,852,3615,3598,3632,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4582,-1.00,-146.0,2925,852,3598,3632,439.0,-8.8,263,4588,0.00,2.15,0.00,0.000,1030,0.000,0.041,2916,2259,3615,3598,3632,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4906,-1.00,-146.0,2915,2259,3597,3631,468.7,-8.9,279,4912,0.00,2.00,0.00,0.000,260,0.000,0.054,2906,3592,3614,3597,3631,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4944,-1.00,-146.0,2905,3592,3596,3631,471.1,-9.1,280,4951,0.00,1.95,0.00,0.000,1030,0.000,0.037,2906,2239,3614,3597,3631,0,0,0,0,0,0,28.83,26.80,28.83
$STATE,5248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5248,begin apogee
$GC,5254,-0.17,0.0,2905,1974,3597,3630,500.5,-9.1,296,5443,0.80,0.00,183.25,0.733,10246,0.128,0.000,3173,1974,3007,3095,2919,0,0,0,0,0,0,26.65,28.83,24.34
$STATE,5446,end apogee,CONTROL_FINISHED_OK
$STATE,5446,begin climb
$GC,5448,0.72,146.0,3172,1974,3090,2914,506.0,0.0,305,5650,0.80,0.00,194.35,0.689,11014,0.060,0.000,3465,1974,2406,2502,2310,0,0,0,0,0,0,24.98,28.83,24.20
$GC,5951,0.69,146.0,3465,1974,2485,2294,461.5,10.7,331,5956,0.00,2.22,0.00,0.000,260,0.000,0.050,3466,3380,2390,2486,2294,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6045,0.61,146.0,3465,3380,2484,2293,451.7,11.7,335,6051,0.17,2.15,0.00,0.000,5126,0.150,0.035,3427,1982,2388,2484,2293,0,0,0,0,0,0,25.85,25.99,28.83
$GC,6359,0.64,169.8,3426,1982,2482,2291,422.9,8.7,351,6386,0.00,0.00,25.27,0.724,8198,0.000,0.000,3426,1982,2315,2418,2213,0,0,0,0,0,0,28.83,28.83,25.27
$GC,6680,0.72,199.8,3426,1982,2408,2198,395.2,8.5,367,6720,0.10,0.00,38.00,0.685,10246,0.105,0.000,3474,1981,2194,2307,2081,0,0,0,0,0,0,26.17,28.83,25.08
$GC,7019,0.72,199.8,3474,1981,2298,2071,358.3,11.5,384,7024,0.00,2.20,0.00,0.000,260,0.000,0.050,3474,3374,2184,2298,2070,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7093,0.67,199.8,3474,3374,2297,2070,350.0,12.8,387,7099,0.15,2.12,0.00,0.000,5126,0.153,0.036,3444,1977,2183,2297,2070,0,0,0,0,0,0,26.03,26.15,28.83
$GC,7408,0.70,199.8,3442,1977,2296,2068,312.9,11.6,403,7409,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1977,2182,2296,2068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7710,0.74,199.8,3442,1977,2295,2067,280.9,10.3,418,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1975,2180,2295,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8010,0.79,206.9,3442,1976,2294,2066,251.1,9.5,433,8021,0.12,2.17,4.55,0.685,10500,0.093,0.050,3505,3374,2165,2281,2049,0,0,0,0,0,0,26.50,26.39,25.55
$GC,8083,0.74,206.9,3505,3374,2281,2049,242.5,12.0,436,8089,0.17,2.15,0.00,0.000,5126,0.157,0.037,3465,1958,2165,2281,2049,0,0,0,0,0,0,26.31,26.45,28.83
$GC,8402,0.75,221.4,3465,1958,2280,2049,209.9,9.2,452,8431,0.00,2.17,21.45,0.689,8708,0.000,0.047,3474,570,2103,2221,1986,0,0,0,0,0,0,28.83,26.16,25.62
$GC,8468,0.76,226.3,2624,570,2161,1976,203.8,9.6,455,8479,0.00,2.17,4.62,0.656,9222,0.000,0.039,3474,1975,2086,2204,1968,0,0,0,0,0,0,28.83,26.22,25.35
$GC,8787,0.76,226.3,3474,1975,2200,1968,166.4,12.2,471,8792,0.00,2.15,0.00,0.000,260,0.000,0.050,3474,3385,2084,2200,1968,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8872,0.73,226.3,3473,3386,2200,1967,155.8,12.7,475,8877,0.00,2.15,0.00,0.000,1030,0.000,0.036,3483,1970,2083,2200,1967,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9196,0.74,231.8,3483,1970,2199,1966,120.7,9.6,491,9204,0.00,0.00,6.10,0.676,8198,0.000,0.000,3483,1970,2064,2182,1947,0,0,0,0,0,0,28.83,28.83,25.75
$GC,9495,0.75,242.0,3483,1970,2179,1944,89.3,9.3,506,9516,0.00,2.28,14.27,0.647,8452,0.000,0.049,3483,3379,2020,2140,1901,0,0,0,0,0,0,28.83,26.23,25.72
$GC,9595,0.75,242.0,3483,3379,2138,1898,80.3,10.7,510,9601,0.00,2.15,0.00,0.000,1030,0.000,0.035,3493,1967,2018,2138,1898,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9900,0.81,260.0,3493,1966,2135,1897,48.3,9.0,527,9932,0.00,2.17,24.73,0.587,8708,0.000,0.044,3504,563,1945,2066,1825,0,0,0,0,0,0,28.83,26.10,25.63
$GC,9957,0.91,304.8,3503,563,2068,1825,43.8,7.8,532,10027,0.00,2.22,56.03,0.539,9222,0.000,0.038,3504,1985,1765,1885,1646,0,0,0,0,1,0,28.83,26.15,25.00
$GC,10329,1.08,348.8,3503,1985,1873,1637,15.4,7.8,582,10356,0.17,2.22,20.38,0.093,10500,0.075,0.049,3591,3379,1585,1706,1465,0,0,0,0,0,0,26.10,26.03,25.98
$STATE,10430,end climb,SURFACE_DEPTH_REACHED
$STATE,10430,begin surface coast
$FINISH,1.3,1.023283
$STATE,10446,end surface coast,CONTROL_FINISHED_OK
$STATE,10446,begin surface
$SM_CCo,10467,64.97,0.060,0,0,968,500.17
$SM_GC,2.45,8.62,1.77,64.97,0.044,0.034,0.060,340,2233,968,-8.97,1.33,500.17,0,0,0,0,0,0,26.13,26.16,26.07
$IRIDIUM_FIX,4729.30,-12512.90,240913,161605
$TT8_MAMPS,0.024717,0.024717
$HUMID,59.52
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3932896
$24V_AH,24.2,2.731
$10V_AH,10.0,11.395
$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,22.150,79.400,593.000,64.975,0.000,0.000,0.000,234.450,0.000,0.000,20.006,1753.472,6640.267,717.087,1514.545,304.779,0.000,1684.593,0.000,1262.398,0.000,0.536,0.000
$DEVICE_MAMPS,245.565,68.085,732.870,60.435,0.000,0.000,0.000,126.225,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10458.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.372,0.000,0.000,0.000
$MEM,258920
$DATA_FILE_SIZE,20106,603
$CAP_FILE_SIZE,131304,0
$CFSIZE,260034560,241840128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.014,287.6,1
$GPS,240913,230328,4745.949,-12514.219,39,0.8,39,17.2