version: 66.11
glider: 108
mission: 25
dive: 118
start: 10 14 113 23 19 19
data:
$ID,108
$MISSION,25
$DIVE,118
$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,-193654.25
$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,72
$R_STBD_OVSHOOT,56
$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
$GPS1,141013,231304,4748.387,-12518.913,39,0.9,39,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-73.5
$GPS2,141013,231853,4748.379,-12518.917,16,1.7,16,17.2
$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,32.3,32498,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.11,-107.1,337,2316,1541,1383,0.0,0.0,0,58,0.00,0.00,-29.02,0.000,16386,0.000,0.000,336,2316,2237,2294,2181,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-1.11,-107.1,336,2316,2302,2181,3.1,-1.1,5,129,9.68,2.15,-43.90,0.000,18948,0.233,0.044,2864,894,3449,3495,3403,0,0,0,0,0,0,25.86,26.14,26.41
$GC,224,-1.11,-107.1,2864,894,3503,3409,24.1,-21.5,33,236,0.00,2.15,0.00,0.000,1030,0.000,0.033,2857,2303,3455,3502,3408,0,0,0,0,0,0,28.83,26.22,28.83
$GC,544,-1.11,-107.1,2857,2303,3506,3410,69.6,-11.2,57,555,0.00,1.92,0.00,0.000,260,0.000,0.044,2847,3588,3458,3506,3410,0,0,0,0,0,0,28.83,26.36,28.83
$GC,564,-1.11,-107.1,2847,3588,3505,3410,69.6,-11.2,57,575,0.00,1.85,0.00,0.000,1030,0.000,0.026,2847,2279,3457,3505,3410,0,0,0,0,0,0,28.83,26.44,28.83
$GC,883,-1.11,-107.1,2847,2278,3508,3411,108.3,-11.5,73,894,0.00,2.03,0.00,0.000,516,0.000,0.031,2849,917,3460,3508,3412,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1008,-1.11,-107.1,2848,918,3509,3412,121.4,-11.7,78,1020,0.00,2.08,0.00,0.000,1030,0.000,0.032,2841,2304,3460,3509,3412,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1314,-1.11,-107.1,2841,2304,3509,3412,159.9,-11.9,94,1325,0.00,2.08,0.00,0.000,516,0.000,0.031,2841,915,3460,3509,3412,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1368,-1.11,-107.1,2841,915,3509,3413,166.0,-12.0,96,1379,0.00,2.08,0.00,0.000,1030,0.000,0.033,2833,2301,3460,3509,3412,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1692,-1.11,-107.1,2832,2301,3508,3412,204.6,-11.6,112,1702,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2301,3460,3508,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1992,-1.11,-107.1,2832,2301,3507,3412,240.3,-12.0,127,2003,0.00,2.08,0.00,0.000,516,0.000,0.031,2832,909,3459,3507,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2042,-1.11,-107.1,2832,909,3507,3412,246.2,-12.2,129,2053,0.12,2.10,0.00,0.000,3078,0.178,0.033,2853,2309,3459,3507,3412,0,0,0,0,0,0,26.48,26.65,28.83
$GC,2372,-1.11,-107.1,2854,2309,3506,3412,283.1,-10.9,145,2382,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2309,3459,3506,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2672,-1.11,-107.1,2854,2309,3505,3412,314.5,-10.2,160,2683,0.00,2.08,0.00,0.000,516,0.000,0.031,2854,909,3458,3505,3412,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2752,-1.11,-107.1,2854,909,3505,3411,322.0,-10.6,163,2763,0.00,2.08,0.00,0.000,1030,0.000,0.033,2847,2301,3458,3505,3411,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3074,-1.11,-107.1,2847,2301,3504,3410,356.6,-10.4,179,3085,0.00,1.90,0.00,0.000,260,0.000,0.045,2837,3593,3457,3504,3411,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3117,-1.11,-107.1,2837,3593,3503,3411,360.1,-10.6,180,3129,0.00,1.80,0.00,0.000,1030,0.000,0.027,2837,2302,3457,3504,3411,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3423,-1.11,-107.1,2837,2302,3504,3410,393.9,-10.5,196,3434,0.00,2.03,0.00,0.000,516,0.000,0.031,2837,915,3457,3504,3411,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3503,-1.11,-107.1,2837,915,3504,3410,401.3,-10.5,199,3514,0.00,2.08,0.00,0.000,1030,0.000,0.033,2829,2308,3456,3503,3410,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3823,-1.11,-107.1,2829,2308,3503,3409,433.7,-9.7,215,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2308,3455,3502,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4123,-1.11,-107.1,2829,2308,3502,3408,465.1,-10.9,230,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2308,3455,3502,3409,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4422,-1.11,-107.1,2829,2308,3501,3408,496.1,-10.3,245,4434,0.00,2.08,0.00,0.000,516,0.000,0.031,2829,907,3454,3501,3408,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4528,-1.11,-107.1,2829,906,3501,3407,505.5,-10.6,249,4540,0.12,2.08,0.00,0.000,3078,0.177,0.034,2853,2301,3453,3500,3407,0,0,0,0,0,0,26.59,26.75,28.83
$GC,4832,-1.11,-107.1,2852,2301,3500,3407,537.4,-9.5,265,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2301,3453,3500,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5132,-1.11,-107.1,2852,2301,3499,3406,562.5,-8.4,280,5143,0.00,1.90,0.00,0.000,260,0.000,0.046,2846,3592,3452,3499,3406,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5246,-1.11,-107.1,2845,3592,3498,3406,573.5,-10.3,285,5257,0.00,1.80,0.00,0.000,1030,0.000,0.028,2845,2303,3452,3498,3406,0,0,0,0,0,0,28.83,26.80,28.83
$STATE,5518,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5518,begin apogee
$GC,5524,-0.25,0.0,2845,2028,3498,3405,603.7,-11.1,298,5674,0.88,0.00,135.15,0.785,10246,0.137,0.000,3132,2027,3006,3100,2912,0,0,0,0,0,0,26.59,28.83,24.49
$STATE,5677,end apogee,CONTROL_FINISHED_OK
$STATE,5677,begin climb
$GC,5679,1.11,107.1,3131,2028,3097,2910,607.9,0.0,303,5829,1.23,2.25,132.55,0.741,10756,0.071,0.034,3579,640,2567,2667,2468,0,0,0,0,0,0,25.29,24.95,24.27
$GC,5888,1.11,107.1,3579,640,2655,2463,586.5,13.7,311,5899,0.00,2.20,0.00,0.000,1030,0.000,0.030,3573,2024,2559,2656,2463,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6218,1.11,107.1,3573,2023,2649,2458,540.2,14.3,327,6229,0.00,2.15,0.00,0.000,260,0.000,0.043,3565,3427,2554,2649,2459,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6290,1.11,107.1,2816,3426,2596,2448,528.4,16.7,330,6301,0.00,2.05,0.00,0.000,1030,0.000,0.026,3573,2028,2552,2648,2457,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6615,1.11,107.1,3572,2028,2646,2456,473.2,16.4,346,6626,0.00,2.12,0.00,0.000,516,0.000,0.036,3583,633,2550,2646,2455,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6709,1.11,107.1,2816,633,2591,2446,458.8,16.2,350,6720,0.00,2.12,0.00,0.000,1030,0.000,0.031,3582,2027,2550,2645,2456,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7033,1.11,107.1,3582,2027,2644,2454,412.0,14.1,366,7044,0.00,2.10,0.00,0.000,260,0.000,0.044,3582,3422,2549,2644,2454,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7087,1.11,107.1,2816,3419,2590,2445,404.5,14.8,368,7098,0.00,2.03,0.00,0.000,1030,0.000,0.027,3590,2026,2548,2644,2453,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7411,1.11,107.1,3589,2026,2643,2453,359.0,13.4,384,7422,0.00,2.10,0.00,0.000,516,0.000,0.037,3599,637,2548,2643,2453,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7502,1.11,107.1,3599,637,2642,2453,347.4,13.0,388,7513,0.00,2.10,0.00,0.000,1030,0.000,0.032,3600,2026,2547,2642,2453,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7831,1.11,107.1,3599,2025,2640,2454,308.5,12.0,404,7842,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2025,2546,2639,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8132,1.11,107.1,3599,2025,2640,2453,270.9,12.9,419,8142,0.00,0.00,0.00,0.000,6,0.000,0.000,3600,2025,2546,2640,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8431,1.11,107.1,3599,2025,2640,2452,228.3,14.9,434,8442,0.00,2.12,0.00,0.000,516,0.000,0.037,3607,639,2546,2640,2452,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8481,1.11,107.1,3607,639,2641,2452,220.5,15.3,436,8493,0.12,2.10,0.00,0.000,5126,0.169,0.032,3573,2033,2546,2641,2452,0,0,0,0,0,0,26.48,26.65,28.83
$GC,8811,1.11,107.1,3572,2033,2639,2452,175.9,13.0,452,8822,0.00,2.12,0.00,0.000,516,0.000,0.035,3580,640,2545,2640,2451,0,0,0,0,0,0,28.83,26.65,28.83
$GC,8874,1.11,107.1,3579,639,2640,2452,169.7,12.6,454,8886,0.00,2.10,0.00,0.000,1030,0.000,0.031,3579,2027,2545,2640,2451,0,0,0,0,0,0,28.83,26.67,28.83
$GC,9180,1.11,107.1,3580,2027,2640,2452,130.0,12.0,470,9191,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2027,2545,2640,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9481,1.11,107.1,3579,2027,2640,2452,96.0,10.7,485,9492,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2027,2546,2640,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9780,1.11,107.1,3579,2027,2640,2450,63.4,8.5,500,9792,0.00,2.12,0.00,0.000,516,0.000,0.035,3589,630,2545,2640,2450,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9799,1.11,107.1,3589,629,2640,2450,63.4,8.5,500,9810,0.00,2.10,0.00,0.000,1030,0.000,0.031,3588,2029,2545,2640,2450,0,0,0,0,0,0,28.83,26.71,28.83
$GC,10118,1.24,150.6,3588,2028,2640,2450,36.6,5.9,524,10180,0.00,2.20,51.67,0.571,8452,0.000,0.043,3588,3428,2392,2488,2296,0,0,0,0,0,0,28.83,26.08,25.50
$GC,10383,1.30,169.6,3588,3428,2480,2288,16.8,7.1,561,10402,0.12,2.05,8.43,0.092,11270,0.096,0.026,3646,2020,2317,2416,2219,0,0,0,0,0,0,26.25,26.33,26.17
$STATE,10532,end climb,SURFACE_DEPTH_REACHED
$STATE,10532,begin surface coast
$FINISH,1.9,1.017265
$STATE,10573,end surface coast,CONTROL_FINISHED_OK
$STATE,10573,begin surface
$SM_CCo,10595,90.12,0.061,0,0,1480,375.06
$SM_GC,2.68,8.70,0.43,90.12,0.044,0.047,0.061,335,2307,1480,-8.93,-1.50,375.06,0,0,0,0,0,0,26.36,26.38,26.24
$IRIDIUM_FIX,4732.49,-12521.83,141013,202021
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.81
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3900256
$PM_FREEKB,4661456
$24V_AH,24.3,14.252
$10V_AH,9.6,21.097
$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,20.975,79.200,327.800,90.125,0.000,0.000,0.000,191.400,0.000,0.000,17.475,1772.723,6667.567,491.462,1822.741,282.513,0.000,1704.952,0.000,1292.565,0.000,0.535,0.000
$DEVICE_MAMPS,232.560,46.665,784.890,61.200,0.000,0.000,0.000,125.460,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10560.000,258.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.351,9.851,0.000,0.000
$MEM,258752
$DATA_FILE_SIZE,20096,596
$CAP_FILE_SIZE,140204,0
$CFSIZE,260034560,232501248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.013,118.4,1
$GPS,151013,021852,4749.115,-12517.565,40,0.8,40,17.2