version: 66.11
glider: 108
mission: 25
dive: 116
start: 10 14 113 17 3 1
data:
$ID,108
$MISSION,25
$DIVE,116
$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,-193650.23
$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,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,73
$R_STBD_OVSHOOT,49
$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
$GPS1,141013,165658,4747.673,-12521.786,41,1.0,41,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-74.5
$GPS2,141013,170235,4747.689,-12521.818,19,1.3,19,17.2
$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,55.6,36219,-15.8,-8.049,-22.04,2046
$D_GRID,652
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.11,-107.1,335,2310,1542,1383,0.0,0.0,0,67,0.00,0.00,-39.05,0.000,16386,0.000,0.000,335,2310,2507,2558,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-1.11,-107.1,334,2310,2562,2459,3.2,-1.7,7,123,9.88,2.20,-30.62,0.000,18948,0.240,0.048,2852,909,3451,3498,3405,0,0,0,0,0,0,25.77,26.08,26.34
$GC,295,-1.11,-107.1,2851,909,3506,3410,41.5,-19.4,41,302,0.00,2.12,0.00,0.000,1030,0.000,0.034,2845,2304,3457,3505,3410,0,0,0,0,0,0,28.83,26.21,28.83
$GC,610,-1.11,-107.1,2844,2303,3508,3412,89.5,-13.2,59,617,0.00,2.15,0.00,0.000,516,0.000,0.031,2845,890,3460,3508,3412,0,0,0,0,0,0,28.83,26.36,28.83
$GC,741,-1.11,-107.1,2844,890,3509,3413,103.7,-10.6,65,748,0.00,2.15,0.00,0.000,1030,0.000,0.033,2838,2314,3461,3509,3413,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1062,-1.11,-107.1,2837,2314,3509,3413,137.5,-10.4,81,1069,0.00,1.90,0.00,0.000,260,0.000,0.045,2827,3583,3461,3509,3413,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1096,-1.11,-107.1,2827,3583,3509,3414,140.4,-10.5,82,1103,0.00,1.83,0.00,0.000,1030,0.000,0.027,2828,2289,3461,3509,3413,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1412,-1.11,-107.1,2827,2289,3509,3414,177.9,-12.0,98,1420,0.12,1.95,0.00,0.000,2308,0.183,0.043,2855,3586,3461,3509,3414,0,0,0,0,0,0,26.39,26.53,28.83
$GC,1478,-1.11,-107.1,2856,3586,3509,3414,185.2,-11.1,101,1486,0.00,1.85,0.00,0.000,1030,0.000,0.027,2858,2298,3461,3509,3414,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1805,-1.11,-107.1,2858,2297,3510,3414,220.4,-11.0,117,1811,0.00,2.05,0.00,0.000,516,0.000,0.031,2858,905,3461,3510,3413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1839,-1.11,-107.1,2858,905,3510,3414,223.4,-11.2,118,1846,0.00,2.10,0.00,0.000,1030,0.000,0.032,2851,2313,3461,3509,3414,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2155,-1.11,-107.1,2851,2313,3509,3414,262.6,-12.1,134,2162,0.00,2.08,0.00,0.000,516,0.000,0.031,2851,916,3461,3508,3414,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2235,-1.11,-107.1,2851,916,3509,3413,270.5,-12.2,137,2243,0.00,2.08,0.00,0.000,1030,0.000,0.033,2841,2303,3461,3509,3414,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2540,-1.11,-107.1,2841,2302,3508,3413,309.0,-12.0,153,2547,0.00,2.08,0.00,0.000,516,0.000,0.031,2841,903,3460,3508,3413,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2594,-1.11,-107.1,2841,904,3507,3413,314.2,-11.6,155,2601,0.00,2.10,0.00,0.000,1030,0.000,0.033,2833,2309,3460,3508,3413,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2909,-1.11,-107.1,2832,2309,3506,3413,352.1,-11.7,171,2917,0.00,2.08,0.00,0.000,516,0.000,0.031,2833,916,3460,3507,3413,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2944,-1.11,-107.1,2832,916,3507,3413,355.0,-11.8,172,2952,0.12,2.08,0.00,0.000,3078,0.179,0.034,2854,2302,3460,3507,3413,0,0,0,0,0,0,26.51,26.68,28.83
$GC,3261,-1.11,-107.1,2854,2302,3506,3413,390.5,-10.3,188,3263,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2302,3460,3507,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3562,-1.11,-107.1,2853,2301,3505,3412,421.7,-10.0,203,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2302,3458,3505,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3863,-1.11,-107.1,2854,2302,3505,3411,451.6,-10.0,218,3870,0.00,2.05,0.00,0.000,516,0.000,0.032,2856,917,3457,3504,3411,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3897,-1.11,-107.1,2854,917,3504,3411,454.5,-10.1,219,3904,0.00,2.08,0.00,0.000,1030,0.000,0.034,2848,2305,3458,3505,3411,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4212,-1.11,-107.1,2847,2305,3504,3410,488.5,-10.1,235,4220,0.00,1.90,0.00,0.000,260,0.000,0.046,2838,3595,3457,3504,3410,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4282,-1.11,-107.1,1856,3593,3493,3407,495.5,-10.3,238,4289,0.00,1.83,0.00,0.000,1030,0.000,0.028,2838,2292,3457,3505,3410,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4602,-1.11,-107.1,2838,2292,3503,3410,528.3,-9.6,254,4609,0.00,2.03,0.00,0.000,516,0.000,0.031,2838,913,3456,3503,3409,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4651,-1.11,-107.1,2838,914,3503,3409,532.7,-9.7,256,4659,0.00,2.08,0.00,0.000,1030,0.000,0.034,2828,2302,3456,3503,3409,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4972,-1.11,-107.1,2828,2302,3502,3408,567.4,-9.9,272,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2302,3455,3502,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5274,-1.11,-107.1,2828,2302,3501,3408,597.0,-9.8,287,5277,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2302,3455,3502,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5582,-1.11,-107.1,2828,2302,3500,3407,628.7,-10.6,298,5590,0.00,2.08,0.00,0.000,516,0.000,0.032,2828,903,3454,3501,3407,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5667,-1.11,-107.1,2828,903,3501,3407,635.9,-10.9,300,5675,0.12,2.10,0.00,0.000,3078,0.175,0.034,2851,2308,3454,3501,3407,0,0,0,0,0,0,26.60,26.76,28.83
$STATE,5831,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5831,begin apogee
$GC,5838,-0.25,0.0,2852,2024,3500,3406,653.9,-9.6,306,5987,0.85,0.00,139.52,0.791,10246,0.135,0.000,3133,2023,3006,3102,2911,0,0,0,0,0,0,26.59,28.83,24.45
$STATE,5989,end apogee,CONTROL_FINISHED_OK
$STATE,5989,begin climb
$GC,5992,1.11,107.1,3133,2023,3096,2908,656.9,0.0,311,6146,1.27,2.25,137.48,0.754,10756,0.070,0.035,3589,635,2566,2666,2466,0,0,0,0,0,0,25.25,24.90,24.22
$GC,6165,1.11,107.1,3589,634,2658,2463,645.0,9.4,316,6178,0.00,2.22,0.00,0.000,1030,0.000,0.031,3589,2022,2559,2656,2462,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6481,1.11,107.1,3589,2021,2647,2457,591.1,15.5,328,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2021,2552,2647,2457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6782,1.11,107.1,3589,2021,2644,2455,542.5,16.7,343,6792,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2021,2549,2644,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7081,1.11,107.1,3589,2021,2643,2454,495.9,15.0,358,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2021,2548,2643,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7383,1.11,107.1,3589,2021,2639,2453,452.2,14.4,373,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,3590,2021,2547,2641,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7681,1.11,107.1,3589,2021,2640,2453,408.3,15.3,388,7693,0.00,2.12,0.00,0.000,260,0.000,0.044,3590,3430,2546,2640,2453,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7740,1.11,107.1,3589,3430,2640,2452,400.2,16.0,390,7751,0.00,2.05,0.00,0.000,1030,0.000,0.028,3598,2021,2546,2640,2453,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8059,1.11,107.1,3598,2021,2640,2452,350.3,14.4,406,8070,0.00,2.10,0.00,0.000,516,0.000,0.036,3609,629,2546,2640,2452,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8143,1.11,107.1,3609,629,2640,2452,340.1,14.8,409,8155,0.00,2.12,0.00,0.000,1030,0.000,0.032,3602,2031,2546,2640,2452,0,0,0,0,0,0,28.83,26.57,28.83
$GC,8449,1.11,107.1,3602,2031,2640,2451,298.1,12.8,425,8459,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2031,2545,2640,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8749,1.11,107.1,3603,2031,2640,2451,259.1,13.0,440,8760,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2031,2545,2639,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9049,1.11,107.1,3602,2031,2639,2450,220.5,12.5,455,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2031,2544,2639,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9349,1.11,107.1,3602,2031,2638,2450,181.7,12.9,470,9359,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2030,2544,2639,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9649,1.11,107.1,3601,2031,2638,2450,144.8,11.9,485,9659,0.00,0.00,0.00,0.000,6,0.000,0.000,3602,2031,2544,2638,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9949,1.11,107.1,3602,2031,2638,2450,109.6,11.2,500,9960,0.00,2.10,0.00,0.000,260,0.000,0.045,3601,3438,2544,2638,2450,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10073,1.11,107.1,3600,3439,2638,2449,96.1,12.6,505,10086,0.15,2.08,0.00,0.000,5126,0.176,0.028,3571,2010,2543,2638,2449,0,0,0,0,0,0,26.53,26.74,28.83
$GC,10379,1.11,107.1,3570,2010,2638,2449,65.7,9.9,521,10390,0.00,2.08,0.00,0.000,516,0.000,0.036,3579,628,2543,2638,2449,0,0,0,0,0,0,28.83,26.70,28.83
$GC,10619,1.11,107.1,3578,628,2638,2449,43.8,8.9,535,10630,0.00,2.10,0.00,0.000,1030,0.000,0.032,3579,2026,2543,2638,2449,0,0,0,0,0,0,28.83,26.72,28.83
$GC,10940,1.32,177.1,3579,2026,2637,2449,26.3,4.5,566,11040,0.15,2.25,83.18,0.559,10756,0.090,0.036,3655,631,2278,2378,2178,0,0,0,0,0,0,26.72,25.80,25.22
$STATE,11192,end climb,SURFACE_DEPTH_REACHED
$STATE,11193,begin surface coast
$FINISH,1.9,1.014529
$STATE,11234,end surface coast,CONTROL_FINISHED_OK
$STATE,11234,begin surface
$SM_CCo,11259,85.85,0.061,0,0,1479,375.06
$SM_GC,2.65,8.85,2.65,85.85,0.047,0.032,0.061,343,2313,1479,-8.91,-1.22,375.06,0,0,0,0,0,0,26.12,26.14,26.05
$IRIDIUM_FIX,4729.30,-12524.44,141013,131358
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.41
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3900896
$PM_FREEKB,4661460
$24V_AH,24.2,14.100
$10V_AH,9.6,20.977
$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,21.525,75.400,360.175,85.850,0.000,0.000,0.000,169.875,0.000,0.000,21.110,1815.735,7330.739,542.459,1704.421,286.708,0.000,1608.043,0.000,1290.091,0.000,0.535,0.000
$DEVICE_MAMPS,240.210,48.195,791.010,61.200,0.000,0.000,0.000,132.345,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11230.000,6097.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.193,8.915,0.000,0.000
$MEM,258780
$DATA_FILE_SIZE,20091,618
$CAP_FILE_SIZE,134673,0
$CFSIZE,260034560,232652800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.030,327.4,1
$GPS,141013,201328,4748.231,-12520.272,35,1.2,35,17.2