version: 66.11
glider: 108
mission: 25
dive: 131
start: 10 15 113 23 43 1
data:
$ID,108
$MISSION,25
$DIVE,131
$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,-193670.5
$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,70
$R_STBD_OVSHOOT,55
$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
$GPS1,151013,233701,4749.617,-12515.069,15,1.7,15,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-72.2
$GPS2,151013,234235,4749.572,-12515.076,18,1.5,18,17.2
$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,248.3,161219,-15.8,-8.049,-22.04,2046
$D_GRID,469
$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,-107.1,332,2310,1543,1385,0.0,0.0,0,69,0.00,0.00,-39.97,0.000,16386,0.000,0.000,333,2310,2524,2574,2474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.11,-107.1,333,2310,2579,2477,3.0,-2.1,7,126,9.57,2.00,-32.12,0.000,18692,0.232,0.063,2846,3588,3448,3495,3402,0,0,0,0,0,0,26.00,26.26,26.55
$GC,302,-1.11,-107.1,2845,3588,3503,3412,38.1,-17.8,42,313,0.00,1.85,0.00,0.000,1030,0.000,0.026,2850,2280,3457,3503,3412,0,0,0,0,0,0,28.83,26.43,28.83
$GC,631,-1.11,-107.1,2850,2279,3509,3414,81.0,-12.8,62,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2279,3461,3508,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,931,-1.11,-107.1,2850,2279,3510,3415,116.4,-11.6,77,942,0.00,2.03,0.00,0.000,516,0.000,0.032,2851,909,3463,3510,3416,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1026,-1.11,-107.1,1832,908,3499,3412,126.9,-11.7,81,1037,0.00,2.08,0.00,0.000,1030,0.000,0.031,2845,2299,3462,3510,3415,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1350,-1.11,-107.1,2845,2299,3510,3415,163.8,-10.4,97,1361,0.00,1.90,0.00,0.000,260,0.000,0.044,2835,3581,3462,3510,3415,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1419,-1.11,-107.1,2835,3580,3509,3415,171.7,-11.2,100,1430,0.00,1.83,0.00,0.000,1030,0.000,0.026,2835,2277,3462,3509,3415,0,0,0,0,0,0,28.83,26.67,28.83
$GC,1749,-1.11,-107.1,2835,2276,3509,3415,210.9,-12.2,116,1760,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2276,3463,3512,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-1.11,-107.1,2835,2276,3509,3415,249.5,-12.8,131,2060,0.00,1.95,0.00,0.000,260,0.000,0.044,2825,3583,3461,3508,3415,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2079,-1.11,-107.1,2825,3583,3507,3415,253.4,-13.0,132,2091,0.12,1.80,0.00,0.000,3078,0.177,0.026,2856,2295,3461,3508,3415,0,0,0,0,0,0,26.51,26.73,28.83
$GC,2409,-1.11,-107.1,2856,2295,3507,3415,291.5,-11.4,148,2419,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2295,3461,3508,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2709,-1.11,-107.1,2856,2295,3506,3415,323.7,-10.4,163,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2295,3461,3507,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3010,-1.11,-107.1,2856,2295,3506,3415,354.0,-10.2,178,3021,0.00,1.92,0.00,0.000,260,0.000,0.044,2849,3593,3460,3505,3415,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3084,-1.11,-107.1,1888,3592,3495,3412,361.9,-10.9,181,3095,0.00,1.80,0.00,0.000,1030,0.000,0.027,2849,2299,3460,3505,3415,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3408,-1.11,-107.1,2849,2298,3505,3414,397.0,-10.6,197,3419,0.00,2.03,0.00,0.000,516,0.000,0.031,2849,912,3459,3504,3415,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3471,-1.11,-107.1,2849,912,3505,3414,402.3,-10.6,199,3483,0.00,2.08,0.00,0.000,1030,0.000,0.033,2840,2300,3459,3505,3414,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3777,-1.11,-107.1,2839,2300,3504,3414,435.3,-9.8,215,3788,0.00,1.90,0.00,0.000,260,0.000,0.044,2830,3596,3459,3504,3414,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3880,-1.11,-107.1,2829,3596,3504,3414,444.7,-10.6,219,3892,0.00,1.85,0.00,0.000,1030,0.000,0.026,2829,2300,3459,3504,3414,0,0,0,0,0,0,28.83,26.79,28.83
$STATE,4104,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4104,begin apogee
$GC,4111,-0.25,0.0,2830,2027,3504,3413,470.7,-10.8,231,4293,0.93,0.00,169.90,0.662,10246,0.141,0.000,3133,2026,3006,3100,2912,0,0,0,0,0,0,26.56,28.83,24.60
$STATE,4295,end apogee,CONTROL_FINISHED_OK
$STATE,4295,begin climb
$GC,4297,1.11,107.1,3132,2026,3097,2909,473.1,0.0,240,4441,1.23,2.30,129.20,0.675,10756,0.073,0.034,3577,644,2566,2668,2465,0,0,0,0,0,0,25.29,25.02,24.38
$GC,4514,1.11,107.1,3577,644,2654,2459,448.4,14.9,251,4526,0.00,2.20,0.00,0.000,1030,0.000,0.031,3575,2030,2556,2654,2459,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4844,1.11,107.1,3574,2030,2648,2454,397.4,15.2,267,4855,0.00,2.15,0.00,0.000,260,0.000,0.043,3575,3439,2550,2647,2454,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4917,1.11,107.1,2816,3438,2595,2444,386.1,16.1,270,4928,0.00,2.08,0.00,0.000,1030,0.000,0.026,3582,2026,2550,2647,2453,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5241,1.11,107.1,3582,2026,2645,2452,337.4,13.9,286,5251,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2026,2548,2644,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5542,1.11,107.1,3583,2026,2644,2450,296.0,13.7,301,5553,0.00,2.17,0.00,0.000,260,0.000,0.042,3575,3438,2547,2644,2450,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5595,1.11,107.1,3575,3437,2643,2450,288.9,13.8,303,5606,0.00,2.05,0.00,0.000,1030,0.000,0.026,3583,2027,2546,2643,2450,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5920,1.11,107.1,3582,2027,2641,2449,244.7,13.0,319,5931,0.00,2.10,0.00,0.000,516,0.000,0.035,3593,631,2545,2641,2449,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5958,1.11,107.1,3592,631,2640,2449,240.9,12.9,320,5969,0.00,2.12,0.00,0.000,1030,0.000,0.031,3593,2036,2544,2640,2449,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6277,1.11,107.1,3593,2036,2640,2448,200.2,12.1,336,6287,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2036,2544,2640,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6577,1.11,107.1,3593,2036,2640,2448,162.2,12.7,351,6587,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2036,2544,2640,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6878,1.11,107.1,3593,2036,2640,2447,123.8,13.3,366,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,3593,2036,2543,2639,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7177,1.11,107.1,3592,2036,2639,2447,83.9,13.4,381,7188,0.00,2.15,0.00,0.000,516,0.000,0.035,3602,629,2543,2640,2447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7279,1.11,107.1,3602,629,2640,2447,73.5,11.6,385,7290,0.00,2.10,0.00,0.000,1030,0.000,0.031,3601,2028,2543,2639,2447,0,0,0,0,0,0,28.83,26.68,28.83
$GC,7598,1.11,107.1,3600,2028,2640,2447,40.5,9.3,406,7609,0.00,2.08,0.00,0.000,260,0.000,0.043,3600,3423,2543,2640,2447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7748,1.19,132.5,3600,3424,2640,2446,28.0,6.8,420,7780,0.00,2.03,19.98,0.581,9222,0.000,0.026,3608,2019,2462,2558,2367,0,0,0,0,0,0,28.83,26.72,25.78
$GC,8087,1.32,176.4,2816,2016,2486,2348,6.0,5.8,482,8118,0.00,2.22,18.12,0.060,8452,0.000,0.041,3607,3439,2288,2390,2187,0,0,0,0,0,0,28.83,26.49,26.46
$STATE,8123,end climb,SURFACE_DEPTH_REACHED
$STATE,8124,begin surface coast
$FINISH,1.8,1.011974
$STATE,8185,end surface coast,CONTROL_FINISHED_OK
$STATE,8185,begin surface
$SM_CCo,8208,86.25,0.058,0,0,1478,375.06
$SM_GC,2.60,8.32,1.70,86.25,0.029,0.026,0.058,331,2320,1478,-8.91,1.89,375.06,0,0,0,0,0,0,26.52,26.58,26.39
$IRIDIUM_FIX,4735.69,-12509.51,151013,212127
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.52
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3896096
$PM_FREEKB,4640392
$24V_AH,24.4,15.119
$10V_AH,9.7,21.640
$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,20.175,56.775,337.200,86.250,0.000,0.000,0.000,178.775,0.000,0.000,20.340,1450.377,4967.722,484.233,1494.249,238.253,0.000,1476.497,0.000,1046.514,0.000,0.535,0.000
$DEVICE_MAMPS,231.795,62.730,674.730,58.140,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8182.000,193.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.847,9.827,0.000,0.000
$MEM,258744
$DATA_FILE_SIZE,16724,499
$CAP_FILE_SIZE,112743,0
$CFSIZE,260034560,231882752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.091,161.0,1
$GPS,161013,020234,4749.134,-12516.230,31,0.9,31,17.2