version: 66.11
glider: 108
mission: 25
dive: 230
start: 11 4 113 14 41 19
data:
$ID,108
$MISSION,25
$DIVE,230
$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,-193794.69
$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,3200
$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,50
$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
$GPS1,041113,143504,4749.147,-12516.524,28,1.8,28,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-73.7
$GPS2,041113,144053,4749.158,-12516.520,17,1.3,18,17.2
$SPEED_LIMITS,0.139,0.199
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,54.8,9309,-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,-107.1,327,2313,1552,1379,0.0,0.0,0,74,0.00,0.00,-44.47,0.000,16386,0.000,0.000,327,2315,2638,2677,2599,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.11,-107.1,327,2315,2682,2603,3.1,-1.6,8,123,9.80,2.20,-23.17,0.000,19204,0.236,0.047,2848,905,3450,3496,3404,0,0,0,0,0,0,25.74,26.11,26.39
$GC,133,-1.11,-107.1,2848,905,3499,3406,8.0,-11.6,15,145,0.00,2.15,0.00,0.000,1030,0.000,0.032,2841,2314,3453,3500,3407,0,0,0,0,0,0,28.83,26.13,28.83
$GC,461,-1.11,-107.1,2841,2313,3505,3410,74.6,-18.8,48,472,0.00,1.92,0.00,0.000,260,0.000,0.043,2831,3597,3457,3505,3410,0,0,0,0,0,0,28.83,26.31,28.83
$GC,665,-1.11,-107.1,2831,3597,3504,3411,104.5,-15.0,57,677,0.00,1.88,0.00,0.000,1030,0.000,0.025,2834,2272,3458,3505,3412,0,0,0,0,0,0,28.83,26.47,28.83
$GC,972,-1.11,-107.1,2834,2271,3506,3412,146.4,-13.5,73,982,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2271,3459,3506,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1273,-1.11,-107.1,2834,2271,3507,3412,183.9,-12.2,88,1284,0.00,2.03,0.00,0.000,516,0.000,0.031,2838,907,3459,3507,3412,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1317,-1.11,-107.1,2838,907,3507,3412,187.7,-12.2,89,1329,0.00,2.10,0.00,0.000,1030,0.000,0.030,2831,2315,3459,3507,3412,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1623,-1.11,-107.1,2830,2315,3507,3412,228.8,-12.9,105,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2315,3459,3506,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1922,-1.11,-107.1,2830,2315,3507,3412,266.3,-12.4,120,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2315,3459,3507,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2223,-1.11,-107.1,2830,2315,3507,3412,303.8,-12.7,135,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2315,3459,3507,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2523,-1.11,-107.1,2830,2315,3507,3411,342.1,-12.7,150,2534,0.00,1.88,0.00,0.000,260,0.000,0.044,2821,3586,3459,3507,3412,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2573,-1.11,-107.1,2820,3587,3506,3411,348.5,-12.8,152,2584,0.00,1.80,0.00,0.000,1030,0.000,0.026,2821,2298,3459,3506,3412,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2902,-1.11,-107.1,2821,2300,3506,3412,390.9,-12.5,168,2913,0.00,2.03,0.00,0.000,516,0.000,0.031,2821,917,3459,3506,3412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2952,-1.11,-107.1,2820,917,3506,3411,397.1,-12.5,170,2963,0.00,2.08,0.00,0.000,1030,0.000,0.031,2814,2304,3458,3506,3411,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3281,-1.11,-107.1,2814,2304,3505,3411,439.8,-12.9,186,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2302,3458,3505,3411,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3521,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3521,begin apogee
$GC,3527,-0.25,0.0,2813,2030,3505,3410,470.1,-12.6,198,3680,0.93,0.00,137.32,0.738,10246,0.141,0.000,3112,2024,3003,3096,2911,0,0,0,0,0,0,26.41,28.83,24.58
$STATE,3682,end apogee,CONTROL_FINISHED_OK
$STATE,3682,begin climb
$GC,3685,1.11,107.1,3111,2024,3093,2908,474.7,0.0,205,3836,1.27,2.20,135.40,0.666,10756,0.079,0.031,3568,644,2562,2666,2459,0,0,0,0,0,0,25.32,25.03,24.43
$GC,3906,1.11,107.1,3568,644,2654,2455,457.3,12.2,216,3917,0.00,2.17,0.00,0.000,1030,0.000,0.029,3568,2021,2554,2653,2455,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4225,1.11,107.1,3568,2021,2647,2452,413.6,13.1,232,4236,0.00,2.15,0.00,0.000,260,0.000,0.041,3560,3439,2549,2647,2452,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4316,1.11,107.1,3560,3439,2646,2449,401.4,13.5,236,4327,0.00,2.08,0.00,0.000,1030,0.000,0.025,3568,2018,2547,2645,2450,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4645,1.11,107.1,3568,2010,2644,2449,360.7,12.4,252,4656,0.00,2.10,0.00,0.000,516,0.000,0.034,3578,631,2546,2643,2449,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4704,1.11,107.1,3578,631,2644,2449,354.8,12.1,254,4715,0.00,2.15,0.00,0.000,1030,0.000,0.028,3578,2040,2546,2644,2449,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5023,1.11,107.1,3577,2040,2643,2449,315.9,11.5,270,5034,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2040,2546,2643,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5324,1.11,107.1,3578,2040,2642,2448,283.8,10.6,285,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,3578,2041,2545,2642,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,1.11,107.1,3578,2040,2640,2447,249.8,11.3,300,5635,0.00,2.08,0.00,0.000,260,0.000,0.041,3578,3438,2544,2641,2447,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5744,1.11,107.1,3578,3438,2641,2447,236.0,12.8,305,5756,0.12,2.05,0.00,0.000,5126,0.175,0.026,3558,2017,2543,2640,2447,0,0,0,0,0,0,26.35,26.62,28.83
$GC,6065,1.11,107.1,3558,2017,2640,2446,199.8,11.1,321,6076,0.00,2.08,0.00,0.000,516,0.000,0.034,3566,637,2543,2641,2446,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6128,1.11,107.1,3566,637,2640,2446,194.3,11.1,323,6140,0.00,2.10,0.00,0.000,1030,0.000,0.028,3564,2031,2543,2640,2446,0,0,0,0,0,0,28.83,26.62,28.83
$GC,6434,1.11,107.1,3563,2031,2640,2446,160.5,10.6,339,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,2031,2543,2640,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6735,1.11,107.1,3563,2031,2641,2446,127.5,11.2,354,6746,0.00,2.15,0.00,0.000,516,0.000,0.034,3570,627,2542,2639,2446,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6850,1.11,107.1,3570,627,2640,2446,115.7,10.5,359,6861,0.00,2.12,0.00,0.000,1030,0.000,0.031,3568,2028,2542,2640,2445,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7175,1.11,107.1,3570,2028,2640,2446,81.4,10.4,375,7186,0.00,2.12,0.00,0.000,516,0.000,0.034,3576,637,2543,2640,2446,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7204,1.11,107.1,3575,637,2640,2446,78.3,10.4,376,7215,0.00,2.10,0.00,0.000,1030,0.000,0.029,3575,2037,2542,2639,2446,0,0,0,0,0,0,28.83,26.67,28.83
$GC,7534,1.27,158.7,3574,2037,2640,2446,54.3,5.5,392,7609,0.00,2.25,62.47,0.571,8708,0.000,0.033,3585,639,2357,2457,2258,0,0,0,0,0,0,28.83,25.96,25.35
$GC,7743,1.42,210.0,2816,639,2391,2245,43.2,5.5,407,7832,0.22,2.12,72.95,0.552,11270,0.073,0.028,3674,2031,2149,2257,2042,0,0,0,0,0,0,26.13,26.17,24.96
$STATE,8072,end climb,SURFACE_DEPTH_REACHED
$STATE,8072,begin surface coast
$FINISH,1.7,1.012307
$STATE,8104,end surface coast,CONTROL_FINISHED_OK
$STATE,8104,begin surface
$SM_CCo,8127,71.70,0.056,0,0,1479,375.06
$SM_GC,2.68,8.82,0.35,71.70,0.042,0.054,0.056,335,2290,1479,-8.87,-1.87,375.06,0,0,0,0,0,0,26.10,26.12,26.05
$IRIDIUM_FIX,4735.69,-12513.98,041113,121230
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.78
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.00
$XPDR_PINGS,0
$SC_FREEKB,3864512
$PM_FREEKB,4035476
$24V_AH,24.4,25.578
$10V_AH,9.5,29.971
$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,21.175,54.775,408.150,71.700,0.000,0.000,0.000,188.300,0.000,0.000,19.459,1353.847,4960.415,498.974,1488.225,250.467,0.000,1518.623,0.000,1035.752,0.000,0.535,0.000
$DEVICE_MAMPS,236.385,54.315,738.225,55.845,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8109.000,189.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.576,9.883,0.000,0.000
$MEM,258748
$DATA_FILE_SIZE,16798,460
$CAP_FILE_SIZE,108699,0
$CFSIZE,260034560,223240192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.088,313.6,1
$GPS,041113,165921,4749.633,-12515.707,34,1.7,36,17.2