version: 66.11
glider: 108
mission: 25
dive: 135
start: 10 16 113 10 32 27
data:
$ID,108
$MISSION,25
$DIVE,135
$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,-193675.5
$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,43
$R_STBD_OVSHOOT,57
$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
$GPS1,161013,102628,4747.730,-12520.478,37,0.9,37,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-72.2
$GPS2,161013,103200,4747.707,-12520.468,17,1.2,18,17.2
$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,224.9,153657,-15.8,-8.049,-22.04,2046
$D_GRID,718
$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,-107.1,337,2271,1544,1387,0.0,0.0,0,73,0.00,0.00,-44.42,0.000,16386,0.000,0.000,336,2272,2648,2684,2612,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.11,-107.1,337,2272,2690,2614,3.2,-2.6,8,127,9.77,2.05,-23.92,0.000,18692,0.239,0.060,2842,3577,3450,3495,3406,0,0,0,0,0,0,25.87,26.15,26.44
$GC,355,-1.11,-107.1,1872,3576,3493,3411,48.9,-17.8,46,367,0.00,1.88,0.00,0.000,1030,0.000,0.026,2850,2253,3459,3504,3414,0,0,0,0,0,0,28.83,26.37,28.83
$GC,662,-1.11,-107.1,2850,2251,3509,3416,87.9,-12.5,62,673,0.00,2.03,0.00,0.000,260,0.000,0.043,2842,3593,3462,3510,3415,0,0,0,0,0,0,28.83,26.41,28.83
$GC,867,-1.11,-107.1,2841,3593,3510,3417,117.0,-15.7,71,879,0.00,1.83,0.00,0.000,1030,0.000,0.026,2849,2292,3462,3509,3416,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1174,-1.11,-107.1,2849,2292,3510,3417,154.9,-10.1,87,1185,0.00,2.05,0.00,0.000,516,0.000,0.031,2852,905,3463,3510,3417,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1207,-1.11,-107.1,2852,905,3510,3417,158.0,-10.2,88,1218,0.00,2.08,0.00,0.000,1030,0.000,0.031,2845,2300,3463,3510,3417,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1531,-1.11,-107.1,2845,2300,3509,3417,196.3,-11.8,104,1542,0.00,1.90,0.00,0.000,260,0.000,0.044,2835,3592,3462,3509,3416,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1616,-1.11,-107.1,2834,3592,3509,3417,204.7,-12.2,107,1628,0.00,1.80,0.00,0.000,1030,0.000,0.027,2835,2299,3463,3509,3417,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1920,-1.11,-107.1,2835,2299,3509,3417,239.8,-10.7,123,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2299,3463,3509,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2220,-1.11,-107.1,2834,2299,3508,3417,271.7,-11.4,138,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2299,3462,3508,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2521,-1.11,-107.1,2835,2300,3507,3417,306.6,-11.2,153,2531,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2299,3462,3507,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2820,-1.11,-107.1,2835,2299,3506,3417,338.2,-10.5,168,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2300,3461,3506,3417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3120,-1.11,-107.1,2835,2299,3505,3416,370.6,-10.9,183,3131,0.00,2.03,0.00,0.000,516,0.000,0.031,2838,914,3460,3505,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3153,-1.11,-107.1,1872,914,3495,3413,373.9,-11.0,184,3164,0.00,2.08,0.00,0.000,1030,0.000,0.033,2831,2310,3461,3506,3416,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3477,-1.11,-107.1,2831,2310,3505,3416,413.1,-12.3,200,3488,0.00,2.08,0.00,0.000,516,0.000,0.031,2832,916,3460,3505,3415,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3496,-1.11,-107.1,2831,916,3505,3415,413.1,-12.3,200,3508,0.12,2.08,0.00,0.000,3078,0.170,0.033,2854,2308,3460,3505,3415,0,0,0,0,0,0,26.55,26.72,28.83
$GC,3817,-1.11,-107.1,2854,2307,3504,3415,452.2,-11.7,216,3828,0.00,1.90,0.00,0.000,260,0.000,0.045,2846,3593,3459,3504,3415,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3918,-1.11,-107.1,2846,3593,3504,3415,462.8,-11.7,220,3929,0.00,1.80,0.00,0.000,1030,0.000,0.028,2846,2302,3459,3504,3415,0,0,0,0,0,0,28.83,26.77,28.83
$GC,4237,-1.11,-107.1,2847,2302,3504,3414,500.9,-11.7,236,4249,0.00,2.05,0.00,0.000,516,0.000,0.032,2846,905,3459,3504,3414,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4267,-1.11,-107.1,2846,905,3504,3414,504.6,-11.7,237,4279,0.00,2.10,0.00,0.000,1030,0.000,0.033,2837,2310,3459,3504,3414,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4597,-1.11,-107.1,2837,2310,3503,3413,544.5,-12.2,253,4608,0.00,1.88,0.00,0.000,260,0.000,0.045,2827,3584,3458,3503,3413,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4707,-1.11,-107.1,2827,3584,3502,3413,558.9,-13.2,258,4718,0.12,1.85,0.00,0.000,3078,0.170,0.028,2860,2270,3457,3502,3413,0,0,0,0,0,0,26.57,26.79,28.83
$GC,5037,-1.11,-107.1,2859,2270,3502,3411,592.1,-8.9,274,5048,0.00,2.00,0.00,0.000,516,0.000,0.031,2863,913,3456,3502,3411,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5081,-1.11,-107.1,2862,913,3502,3411,594.6,-8.7,275,5093,0.00,2.10,0.00,0.000,1030,0.000,0.034,2856,2311,3456,3502,3411,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5390,-1.11,-107.1,2856,2311,3501,3410,619.3,-7.3,287,5400,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2311,3455,3501,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5686,-1.11,-107.1,2856,2311,3500,3410,643.2,-8.2,297,5697,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,2311,3455,3501,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5989,-1.11,-107.1,2856,2310,3500,3409,671.1,-9.6,307,6000,0.00,2.08,0.00,0.000,516,0.000,0.033,2856,912,3454,3499,3409,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6047,-1.11,-107.1,2856,912,3501,3408,675.1,-9.5,308,6058,0.00,2.08,0.00,0.000,1030,0.000,0.034,2849,2300,3453,3499,3408,0,0,0,0,0,0,28.83,26.76,28.83
$GC,6369,-1.11,-107.1,2849,2299,3499,3408,704.3,-8.2,319,6379,0.00,2.05,0.00,0.000,516,0.000,0.031,2852,913,3453,3499,3408,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6412,-1.11,-107.1,2851,913,3498,3407,707.8,-8.3,320,6423,0.00,2.08,0.00,0.000,1030,0.000,0.034,2845,2302,3452,3498,3407,0,0,0,0,0,0,28.83,26.76,28.83
$STATE,6533,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6534,begin apogee
$GC,6540,-0.25,0.0,2844,2033,3498,3408,718.9,-8.6,324,6737,0.88,0.00,183.93,0.728,10246,0.138,0.000,3132,2033,3006,3100,2912,0,0,0,0,0,0,26.56,28.83,24.44
$STATE,6739,end apogee,CONTROL_FINISHED_OK
$STATE,6739,begin climb
$GC,6742,1.11,107.1,3131,2032,3096,2908,721.2,0.0,330,6894,1.25,2.25,136.77,0.778,10756,0.073,0.033,3581,638,2566,2667,2466,0,0,0,0,0,0,25.18,24.85,24.16
$GC,6947,1.11,107.1,3581,638,2654,2461,700.6,13.5,337,6958,0.00,2.22,0.00,0.000,1030,0.000,0.031,3581,2024,2557,2654,2461,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7271,1.11,107.1,3581,2023,2646,2456,648.3,15.0,348,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,2023,2551,2646,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7572,1.11,107.1,3581,2023,2644,2454,605.0,14.4,358,7583,0.00,0.00,0.00,0.000,6,0.000,0.000,3581,2023,2548,2644,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7871,1.11,107.1,3581,2023,2640,2453,560.3,14.8,372,7882,0.00,2.15,0.00,0.000,516,0.000,0.035,3591,635,2546,2640,2453,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7904,1.11,107.1,2816,635,2588,2444,556.1,14.7,373,7916,0.00,2.15,0.00,0.000,1030,0.000,0.031,3584,2030,2547,2640,2454,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8229,1.11,107.1,3583,2030,2640,2452,510.4,13.1,389,8239,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,2030,2546,2640,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8530,1.11,107.1,3583,2029,2640,2451,473.0,12.5,404,8540,0.00,0.00,0.00,0.000,6,0.000,0.000,3584,2029,2545,2640,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8829,1.11,107.1,3584,2030,2639,2450,430.5,13.8,419,8841,0.00,2.10,0.00,0.000,260,0.000,0.043,3574,3427,2544,2639,2450,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8938,1.11,107.1,3573,3427,2640,2449,414.6,14.6,424,8949,0.00,2.03,0.00,0.000,1030,0.000,0.027,3581,2020,2544,2639,2449,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9268,1.11,107.1,3581,2019,2638,2449,373.6,12.3,440,9279,0.00,2.08,0.00,0.000,516,0.000,0.035,3592,639,2543,2638,2449,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9468,1.11,107.1,3591,638,2637,2449,349.5,12.8,449,9479,0.00,2.10,0.00,0.000,1030,0.000,0.031,3585,2031,2543,2638,2448,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9787,1.11,107.1,3584,2031,2636,2449,307.0,13.0,465,9797,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2030,2543,2637,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10087,1.11,107.1,3584,2030,2636,2448,267.1,13.3,480,10098,0.00,2.12,0.00,0.000,516,0.000,0.034,3591,640,2542,2636,2448,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10157,1.11,107.1,3591,640,2636,2448,257.2,14.0,483,10168,0.00,2.10,0.00,0.000,1030,0.000,0.031,3592,2028,2541,2636,2447,0,0,0,0,0,0,28.83,26.67,28.83
$GC,10486,1.11,107.1,3591,2028,2636,2448,210.4,14.3,499,10497,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2028,2542,2636,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10787,1.11,107.1,3591,2028,2636,2448,167.1,14.7,514,10797,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2028,2542,2636,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11087,1.11,107.1,3591,2028,2636,2448,123.9,14.0,529,11097,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2028,2542,2636,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11387,1.11,107.1,3591,2028,2636,2448,82.4,14.5,544,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2028,2541,2636,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11686,1.11,107.1,3591,2028,2636,2448,49.2,8.9,559,11699,0.00,0.00,0.00,0.000,6,0.000,0.000,3592,2028,2542,2636,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11998,1.60,270.4,3591,2028,2636,2446,30.3,-0.2,590,12234,0.28,2.25,217.43,0.527,10500,0.075,0.043,3703,3416,1899,1999,1800,0,0,0,0,0,0,26.69,25.24,24.72
$STATE,12241,end climb,SURFACE_DEPTH_REACHED
$STATE,12241,begin surface coast
$FINISH,1.8,1.023411
$STATE,12263,end surface coast,CONTROL_FINISHED_OK
$STATE,12263,begin surface
$SM_CCo,12287,45.70,0.058,0,0,1479,375.06
$SM_GC,2.71,9.23,1.75,45.70,0.049,0.027,0.058,335,2289,1479,-8.93,1.87,375.06,0,0,0,0,0,0,25.56,25.58,25.61
$IRIDIUM_FIX,4732.49,-12521.83,161013,070734
$TT8_MAMPS,0.028462,0.028462
$HUMID,56.45
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3894816
$PM_FREEKB,4640392
$24V_AH,24.2,15.443
$10V_AH,9.7,21.872
$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,21.650,73.450,538.125,45.700,0.000,0.000,0.000,174.075,0.000,0.000,19.246,1827.580,8004.200,601.564,1941.990,294.107,0.000,1918.752,0.000,1379.707,0.000,0.537,0.000
$DEVICE_MAMPS,238.680,60.435,778.005,58.140,0.000,0.000,0.000,126.225,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12264.000,291.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.901,10.069,0.000,0.000
$MEM,258760
$DATA_FILE_SIZE,23388,626
$CAP_FILE_SIZE,148705,0
$CFSIZE,260034560,231579648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065,249.4,1
$GPS,161013,135922,4746.992,-12522.857,35,0.9,35,17.2