version: 66.11
glider: 108
mission: 25
dive: 128
start: 10 15 113 18 0 14
data:
$ID,108
$MISSION,25
$DIVE,128
$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,-193666.75
$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,74
$R_STBD_OVSHOOT,53
$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,14.0
$GPS1,151013,175430,4750.928,-12512.581,30,1.2,30,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-73.7
$GPS2,151013,175947,4750.923,-12512.568,18,1.1,18,17.2
$SPEED_LIMITS,0.139,0.199
$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,225.2,165247,-15.8,-8.049,-22.04,2046
$D_GRID,312
$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,-1.11,-107.1,336,2318,1543,1381,0.0,0.0,0,76,0.00,0.00,-47.20,0.000,16386,0.000,0.000,336,2318,2732,2765,2700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.11,-107.1,336,2318,2769,2703,3.1,-2.0,8,124,9.65,1.92,-20.48,0.000,18692,0.233,0.058,2847,3592,3449,3494,3405,0,0,0,0,0,0,25.91,26.15,26.45
$GC,353,-1.11,-107.1,1872,3591,3491,3408,45.6,-13.8,46,365,0.00,1.85,0.00,0.000,1030,0.000,0.026,2847,2290,3456,3502,3411,0,0,0,0,0,0,28.83,26.39,28.83
$GC,664,-1.11,-107.1,2847,2289,3507,3414,86.2,-12.1,63,674,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2289,3460,3507,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,963,-1.11,-107.1,2847,2289,3508,3414,126.1,-13.1,78,974,0.00,1.98,0.00,0.000,260,0.000,0.044,2837,3599,3461,3508,3414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1093,-1.11,-107.1,2837,3599,3508,3414,143.2,-12.6,84,1104,0.00,1.85,0.00,0.000,1030,0.000,0.025,2837,2282,3461,3508,3414,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1423,-1.11,-107.1,2837,2280,3508,3414,181.7,-11.4,100,1434,0.00,2.03,0.00,0.000,516,0.000,0.031,2837,909,3460,3507,3414,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1473,-1.11,-107.1,2836,909,3508,3414,187.9,-12.1,102,1484,0.00,2.08,0.00,0.000,1030,0.000,0.031,2828,2304,3461,3508,3414,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1802,-1.11,-107.1,2828,2304,3507,3413,228.3,-12.7,118,1813,0.00,2.05,0.00,0.000,516,0.000,0.030,2828,918,3460,3507,3414,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1917,-1.11,-107.1,2828,917,3507,3414,241.9,-12.2,123,1929,0.15,2.08,0.00,0.000,3078,0.169,0.032,2858,2312,3460,3506,3414,0,0,0,0,0,0,26.48,26.66,28.83
$GC,2242,-1.11,-107.1,2858,2311,3506,3414,275.1,-9.1,139,2253,0.00,2.08,0.00,0.000,516,0.000,0.031,2858,911,3459,3505,3414,0,0,0,0,0,0,28.83,26.69,28.83
$GC,2356,-1.11,-107.1,1888,911,3495,3411,285.1,-9.1,144,2367,0.00,2.08,0.00,0.000,1030,0.000,0.032,2851,2301,3460,3506,3414,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,2658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2658,begin apogee
$GC,2665,-0.25,0.0,2851,2025,3504,3414,313.6,-9.6,159,2807,0.85,0.00,129.32,0.662,10246,0.135,0.000,3129,2024,3006,3101,2912,0,0,0,0,0,0,26.53,28.83,24.71
$STATE,2809,end apogee,CONTROL_FINISHED_OK
$STATE,2809,begin climb
$GC,2811,1.11,107.1,3129,2024,3098,2910,317.0,0.0,166,2955,1.25,2.25,126.07,0.607,10756,0.077,0.034,3581,644,2566,2669,2463,0,0,0,0,0,0,25.39,25.13,24.50
$GC,2982,1.11,107.1,3581,644,2662,2461,302.8,11.8,174,2993,0.00,2.17,0.00,0.000,1030,0.000,0.030,3581,2017,2561,2662,2461,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3301,1.11,107.1,3580,2016,2654,2455,256.5,13.7,190,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,2016,2554,2654,2455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3602,1.11,107.1,3581,2016,2651,2454,215.8,13.6,205,3612,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,2016,2552,2651,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3902,1.11,107.1,3580,2016,2649,2453,172.6,14.2,220,3913,0.00,2.10,0.00,0.000,516,0.000,0.034,3588,648,2551,2649,2453,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3986,1.11,107.1,3588,648,2648,2453,162.7,14.4,223,3998,0.00,2.10,0.00,0.000,1030,0.000,0.031,3588,2033,2550,2648,2453,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4291,1.11,107.1,3588,2033,2647,2451,120.0,12.7,239,4302,0.00,0.00,0.00,0.000,6,0.000,0.000,3588,2033,2549,2647,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4591,1.11,107.1,3588,2033,2646,2450,86.2,11.0,254,4602,0.00,2.08,0.00,0.000,260,0.000,0.042,3588,3429,2548,2646,2450,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4786,1.11,107.1,3588,3429,2646,2449,64.1,11.4,263,4797,0.00,2.00,0.00,0.000,1030,0.000,0.026,3597,2028,2547,2645,2449,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5101,1.20,138.0,3596,2028,2644,2449,34.8,6.5,287,5148,0.00,2.15,32.40,0.576,8708,0.000,0.034,3607,641,2443,2539,2347,0,0,0,0,0,0,28.83,26.23,25.60
$GC,5377,1.22,143.0,2848,641,2473,2335,16.9,7.8,325,5391,0.00,2.12,1.62,0.094,9222,0.000,0.031,3606,2032,2425,2519,2331,0,0,0,0,0,0,28.83,26.40,26.27
$STATE,5559,end climb,SURFACE_DEPTH_REACHED
$STATE,5559,begin surface coast
$FINISH,1.7,1.024216
$STATE,5620,end surface coast,CONTROL_FINISHED_OK
$STATE,5621,begin surface
$SM_CCo,5644,101.25,0.059,0,0,1480,375.06
$SM_GC,2.82,8.55,0.38,101.25,0.044,0.049,0.059,331,2322,1480,-8.93,-1.24,375.06,0,0,0,0,0,0,26.46,26.48,26.32
$IRIDIUM_FIX,4732.49,-12514.75,151013,161641
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.65
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.70
$XPDR_PINGS,0
$SC_FREEKB,3897056
$PM_FREEKB,4640392
$24V_AH,24.5,14.919
$10V_AH,9.6,21.502
$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,20.450,37.675,289.425,101.250,0.000,0.000,0.000,169.000,0.000,0.000,19.702,1124.511,3138.673,423.808,1197.778,188.575,0.000,1221.590,0.000,838.237,0.000,0.536,0.000
$DEVICE_MAMPS,233.325,58.140,662.490,58.905,0.000,0.000,0.000,122.400,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5614.000,125.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.857,9.516,0.000,0.000
$MEM,258744
$DATA_FILE_SIZE,13413,371
$CAP_FILE_SIZE,84797,0
$CFSIZE,260034560,232071168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,126.6,1
$GPS,151013,193701,4750.620,-12513.131,13,1.1,14,17.2