version: 66.11
glider: 108
mission: 25
dive: 68
start: 10 4 113 18 42 46
data:
$ID,108
$MISSION,25
$DIVE,68
$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,375
$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,-193589.48
$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,3215
$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,58
$R_STBD_OVSHOOT,44
$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,5
$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,9.5
$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,3
$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,1.0
$PM_XMITPROFILE,1.0
$PM_XMITRAW,0.0
$PM_NDIVE,4.0
$GPS1,041013,183604,4711.628,-12635.880,37,1.0,37,17.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.84
$_SM_ANGLEo,-69.5
$GPS2,041013,184219,4711.716,-12635.844,16,1.2,16,17.1
$SPEED_LIMITS,0.139,0.199
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,43.6,149569,-15.8,-8.049,-22.04,2046
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,23,-1.11,-107.1,338,2357,1551,1378,0.0,0.0,0,62,0.00,0.00,-34.90,0.000,16386,0.000,0.000,338,2357,2393,2454,2333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,66,-1.11,-107.1,338,2358,2459,2336,3.1,-1.3,6,125,9.93,1.98,-36.62,0.000,18692,0.239,0.064,2849,3595,3450,3501,3400,0,0,0,0,0,0,25.69,25.94,26.22
$GC,356,-1.11,-107.1,2849,3595,3507,3408,47.8,-14.6,48,363,0.00,1.90,0.00,0.000,1030,0.000,0.029,2852,2279,3458,3508,3408,0,0,0,0,0,0,28.83,26.20,28.83
$GC,681,-1.11,-107.1,2851,2277,3514,3413,92.7,-12.9,65,688,0.00,2.03,0.00,0.000,260,0.000,0.046,2844,3602,3464,3515,3413,0,0,0,0,0,0,28.83,26.29,28.83
$GC,918,-1.11,-107.1,2844,3602,3514,3414,123.6,-13.2,76,925,0.00,1.88,0.00,0.000,1030,0.000,0.028,2851,2291,3464,3515,3414,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1234,-1.11,-107.1,2851,2291,3516,3414,161.2,-11.2,92,1241,0.00,1.98,0.00,0.000,260,0.000,0.046,2843,3592,3465,3516,3414,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1469,-1.11,-107.1,2843,3592,3515,3414,188.5,-12.4,103,1475,0.00,1.85,0.00,0.000,1030,0.000,0.030,2843,2294,3464,3515,3414,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1783,-1.11,-107.1,2843,2293,3514,3414,226.5,-11.7,119,1791,0.00,1.95,0.00,0.000,260,0.000,0.047,2836,3591,3463,3513,3414,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1858,-1.11,-107.1,2835,3592,3513,3414,234.7,-12.4,122,1865,0.00,1.88,0.00,0.000,1030,0.000,0.030,2836,2281,3463,3513,3414,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2174,-1.11,-107.1,2834,2280,3512,3414,272.8,-11.3,138,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2280,3463,3513,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2475,-1.11,-107.1,2836,2280,3511,3414,307.5,-11.7,153,2478,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2280,3462,3510,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2777,-1.11,-107.1,2835,2280,3510,3414,342.7,-11.3,168,2783,0.00,1.98,0.00,0.000,260,0.000,0.047,2826,3596,3462,3510,3414,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2806,-1.11,-107.1,1832,3594,3499,3411,345.9,-11.4,169,2814,0.12,1.85,0.00,0.000,3078,0.177,0.030,2857,2293,3462,3510,3414,0,0,0,0,0,0,26.52,26.70,28.83
$GC,3127,-1.11,-107.1,2856,2293,3510,3414,379.7,-10.1,185,3134,0.00,2.05,0.00,0.000,516,0.000,0.035,2860,905,3461,3509,3413,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3182,-1.11,-107.1,2860,904,3509,3413,384.3,-10.1,187,3188,0.00,2.10,0.00,0.000,1030,0.000,0.035,2853,2309,3461,3510,3412,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3497,-1.11,-107.1,2852,2309,3509,3412,417.0,-10.1,203,3499,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2309,3461,3509,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3798,-1.11,-107.1,2852,2309,3508,3411,447.4,-10.1,218,3801,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2308,3459,3508,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4099,-1.11,-107.1,2853,2309,3507,3410,477.5,-9.8,233,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2309,3458,3507,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4399,-1.11,-107.1,2853,2309,3506,3409,506.9,-9.8,248,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,2309,3458,3507,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4698,-1.11,-107.1,2852,2310,3506,3409,535.9,-9.7,263,4701,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2310,3457,3505,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5000,-1.11,-107.1,2851,2310,3505,3408,565.6,-10.0,278,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2310,3457,3505,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5299,-1.11,-107.1,2852,2310,3504,3408,595.1,-9.9,293,5305,0.00,2.10,0.00,0.000,516,0.000,0.035,2852,899,3456,3504,3408,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5364,-1.11,-107.1,2852,900,3504,3408,602.0,-10.2,296,5372,0.00,2.12,0.00,0.000,1030,0.000,0.037,2846,2309,3457,3506,3408,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5702,-1.11,-107.1,2844,2309,3504,3408,635.4,-9.7,307,5705,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2308,3455,3502,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6000,-1.11,-107.1,2845,2309,3502,3407,665.6,-10.2,317,6007,0.00,2.12,0.00,0.000,516,0.000,0.035,2845,895,3454,3502,3407,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6055,-1.11,-107.1,2845,895,3501,3406,669.2,-10.2,318,6062,0.00,2.12,0.00,0.000,1030,0.000,0.037,2838,2310,3454,3502,3407,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6371,-1.11,-107.1,2838,2310,3501,3406,703.3,-10.1,329,6374,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2310,3453,3500,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6670,-1.11,-107.1,2837,2310,3500,3406,733.3,-9.9,339,6673,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2310,3453,3500,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6970,-1.11,-107.1,2837,2310,3498,3405,762.4,-9.5,349,6973,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2310,3453,3501,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7270,-1.11,-107.1,2837,2310,3498,3405,790.1,-9.1,359,7273,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2310,3452,3499,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7570,-1.11,-107.1,2837,2310,3498,3404,816.4,-8.5,369,7573,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2310,3450,3497,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,-1.11,-107.1,2837,2310,3498,3404,841.1,-8.0,379,7873,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2310,3450,3497,3404,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8171,-1.11,-107.1,2838,2310,3497,3403,866.2,-8.3,389,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2310,3450,3497,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8470,-1.11,-107.1,2837,2310,3497,3402,892.7,-9.0,399,8477,0.00,1.95,0.00,0.000,260,0.000,0.051,2829,3616,3449,3497,3402,0,0,0,0,0,0,28.83,26.77,28.83
$GC,8499,-1.11,-107.1,2827,3616,3495,3402,892.7,-9.0,399,8509,0.12,1.88,0.00,0.000,3078,0.174,0.032,2859,2304,3448,3495,3402,0,0,0,0,0,0,26.65,26.83,28.83
$GC,8807,-1.11,-107.1,2858,2304,3496,3401,922.3,-8.9,410,8814,0.00,2.08,0.00,0.000,516,0.000,0.037,2862,904,3448,3496,3400,0,0,0,0,0,0,28.83,26.79,28.83
$GC,8846,-1.11,-107.1,1896,903,3484,3397,925.6,-8.9,411,8852,0.00,2.10,0.00,0.000,1030,0.000,0.037,2855,2300,3448,3497,3400,0,0,0,0,0,0,28.83,26.79,28.83
$GC,9178,-1.11,-107.1,2854,2300,3495,3400,956.7,-9.3,422,9180,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2300,3447,3495,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9476,-1.11,-107.1,2854,2300,3495,3400,984.2,-9.0,432,9479,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2300,3447,3495,3399,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9564,begin apogee
$GC,9570,-0.25,0.0,2855,2027,3494,3399,992.4,-9.1,435,9742,0.85,0.00,158.88,0.878,10246,0.138,0.000,3134,2028,3005,3101,2910,0,0,0,0,0,0,26.65,28.83,24.27
$STATE,9744,end apogee,CONTROL_FINISHED_OK
$STATE,9744,begin climb
$GC,9747,1.11,107.1,3133,2026,3098,2907,995.7,0.0,440,9904,1.25,0.00,145.82,0.896,10246,0.069,0.000,3575,2026,2572,2675,2469,0,0,0,0,0,0,25.10,28.83,23.94
$GC,10197,1.11,107.1,3575,2026,2649,2455,937.9,14.7,456,10208,0.00,0.00,0.00,0.000,6,0.000,0.000,3575,2026,2553,2651,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10497,1.11,107.1,3575,2026,2646,2453,894.0,14.9,466,10508,0.00,2.17,0.00,0.000,516,0.000,0.041,3585,630,2549,2646,2453,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10556,1.11,107.1,3584,630,2645,2453,887.8,14.9,467,10567,0.00,2.17,0.00,0.000,1030,0.000,0.035,3582,2026,2549,2645,2453,0,0,0,0,0,0,28.83,26.09,28.83
$GC,10876,1.11,107.1,3582,2026,2644,2452,836.3,15.5,478,10887,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2026,2548,2644,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11178,1.11,107.1,3582,2026,2642,2452,791.1,14.9,488,11189,0.00,2.17,0.00,0.000,516,0.000,0.040,3590,637,2547,2642,2452,0,0,0,0,0,0,28.83,26.34,28.83
$GC,11220,1.11,107.1,2832,636,2590,2443,785.1,14.9,489,11231,0.00,2.15,0.00,0.000,1030,0.000,0.034,3583,2033,2546,2641,2452,0,0,0,0,0,0,28.83,26.37,28.83
$GC,11555,1.11,107.1,3582,2033,2640,2451,736.5,14.3,500,11565,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2033,2545,2640,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11856,1.11,107.1,3582,2033,2640,2450,693.5,14.2,510,11866,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2033,2545,2640,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12157,1.11,107.1,3582,2033,2640,2450,651.0,14.0,520,12167,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2033,2545,2640,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12456,1.11,107.1,3582,2033,2640,2449,608.3,14.3,530,12466,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2033,2544,2640,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12755,1.11,107.1,3582,2033,2639,2450,565.3,14.2,544,12766,0.00,2.17,0.00,0.000,516,0.000,0.039,3590,637,2545,2640,2450,0,0,0,0,0,0,28.83,26.60,28.83
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$STATE,17459,end climb,SURFACE_DEPTH_REACHED
$STATE,17460,begin surface coast
$FINISH,1.9,1.024019
$STATE,17482,end surface coast,CONTROL_FINISHED_OK
$STATE,17482,begin surface
$SM_CCo,17507,52.78,0.060,0,0,1479,375.06
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$IRIDIUM_FIX,4654.38,-12638.89,041013,131355
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.89
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3916256
$PM_FREEKB,5777804
$24V_AH,23.9,9.152
$10V_AH,10.1,16.728
$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,21.850,87.700,505.650,52.775,0.000,0.000,0.000,207.250,0.000,0.000,17.834,2410.219,12267.188,638.121,2258.048,355.986,0.000,2061.701,0.000,1691.002,0.000,0.535,0.000
$DEVICE_MAMPS,238.680,64.260,895.815,60.435,0.000,0.000,0.000,130.815,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.522,8.895,0.000,0.000
$MEM,258720
$DATA_FILE_SIZE,30019,814
$CAP_FILE_SIZE,182256,0
$CFSIZE,260034560,236916736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.097,241.1,1
$GPS,041013,233658,4711.932,-12634.580,44,0.9,45,17.1