version: 66.11
glider: 108
mission: 25
dive: 232
start: 11 4 113 19 23 26
data:
$ID,108
$MISSION,25
$DIVE,232
$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,-193797.19
$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,80
$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
$GPS1,041113,191735,4750.188,-12514.769,97,1.0,97,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-70.3
$GPS2,041113,192300,4750.191,-12514.803,18,1.0,19,17.2
$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,82.8,6488,-15.8,-8.049,-22.04,2046
$D_GRID,381
$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,-107.1,330,2328,1553,1374,0.0,0.0,0,76,0.00,0.00,-46.83,0.000,16386,0.000,0.000,330,2331,2707,2734,2680,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.11,-107.1,330,2329,2741,2680,3.2,-2.2,8,124,9.90,2.15,-19.50,0.000,18948,0.242,0.043,2849,907,3450,3495,3406,0,0,0,0,0,0,25.77,26.15,26.44
$GC,232,-1.11,-107.1,1856,906,3492,3408,28.9,-21.7,33,244,0.00,2.12,0.00,0.000,1030,0.000,0.031,2842,2307,3456,3503,3410,0,0,0,0,0,0,28.83,26.25,28.83
$GC,552,-1.11,-107.1,2842,2307,3505,3412,83.2,-14.2,54,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2307,3458,3505,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,852,-1.11,-107.1,2842,2307,3507,3413,121.8,-13.3,69,863,0.00,2.12,0.00,0.000,516,0.000,0.030,2844,893,3460,3507,3413,0,0,0,0,0,0,28.83,26.48,28.83
$GC,890,-1.11,-107.1,2844,894,3507,3413,125.6,-13.1,70,901,0.00,2.12,0.00,0.000,1030,0.000,0.031,2837,2305,3460,3507,3413,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1209,-1.11,-107.1,2836,2305,3507,3413,168.4,-13.4,86,1220,0.00,2.10,0.00,0.000,516,0.000,0.030,2837,905,3460,3507,3413,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1248,-1.11,-107.1,2837,905,3507,3413,172.4,-13.7,87,1259,0.00,2.10,0.00,0.000,1030,0.000,0.031,2830,2312,3460,3507,3413,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1567,-1.11,-107.1,2830,2312,3507,3413,214.9,-12.5,103,1578,0.00,1.88,0.00,0.000,260,0.000,0.043,2820,3586,3460,3507,3413,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1616,-1.11,-107.1,2820,3587,3507,3413,221.5,-13.0,105,1627,0.00,1.83,0.00,0.000,1030,0.000,0.026,2820,2279,3460,3507,3413,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1945,-1.11,-107.1,2820,2279,3507,3413,267.0,-13.7,121,1956,0.00,1.95,0.00,0.000,260,0.000,0.043,2811,3590,3460,3507,3413,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1978,-1.11,-107.1,1832,3589,3497,3410,271.0,-13.5,122,1990,0.12,1.80,0.00,0.000,3078,0.180,0.026,2842,2301,3459,3506,3413,0,0,0,0,0,0,26.39,26.67,28.83
$GC,2304,-1.11,-107.1,2841,2301,3507,3413,311.0,-11.9,138,2314,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2301,3460,3507,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2604,-1.11,-107.1,2841,2301,3507,3413,346.2,-11.5,153,2614,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2301,3460,3507,3413,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2901,begin apogee
$GC,2908,-0.25,0.0,2843,2028,3506,3413,382.3,-12.0,168,3057,0.82,0.00,134.07,0.701,10246,0.138,0.000,3112,2027,3003,3096,2911,0,0,0,0,0,0,26.41,28.83,24.65
$STATE,3059,end apogee,CONTROL_FINISHED_OK
$STATE,3059,begin climb
$GC,3062,1.11,107.1,3112,2027,3093,2908,387.2,0.0,175,3213,1.25,2.22,131.07,0.663,10756,0.080,0.033,3562,649,2562,2665,2459,0,0,0,0,0,0,25.36,25.08,24.49
$GC,3328,1.11,107.1,3561,649,2654,2455,365.1,12.3,188,3339,0.00,2.15,0.00,0.000,1030,0.000,0.028,3555,2027,2554,2654,2454,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3647,1.11,107.1,3555,2027,2649,2452,322.2,14.0,204,3658,0.00,2.12,0.00,0.000,260,0.000,0.040,3551,3428,2550,2649,2452,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3787,1.11,107.1,3551,3428,2648,2450,302.7,15.0,210,3798,0.00,2.05,0.00,0.000,1030,0.000,0.025,3560,2019,2549,2648,2450,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4107,1.11,107.1,3560,2018,2646,2449,258.9,13.1,226,4118,0.00,2.08,0.00,0.000,516,0.000,0.034,3569,643,2547,2646,2449,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4140,1.11,107.1,3569,643,2646,2449,254.9,13.1,227,4151,0.00,2.10,0.00,0.000,1030,0.000,0.030,3568,2029,2547,2646,2449,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4464,1.11,107.1,3569,2029,2645,2449,214.6,11.9,243,4475,0.00,2.08,0.00,0.000,260,0.000,0.040,3569,3425,2547,2645,2449,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4513,1.11,107.1,3569,3425,2645,2449,207.7,13.1,245,4524,0.00,2.03,0.00,0.000,1030,0.000,0.025,3577,2020,2547,2645,2449,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4843,1.11,107.1,3576,2020,2644,2448,167.1,11.6,261,4854,0.00,2.12,0.00,0.000,260,0.000,0.040,3577,3423,2545,2644,2447,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4913,1.11,107.1,3577,3423,2644,2448,158.2,12.7,264,4924,0.00,2.00,0.00,0.000,1030,0.000,0.024,3586,2020,2546,2644,2448,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5242,1.11,107.1,3586,2020,2643,2447,118.3,11.9,280,5253,0.00,2.08,0.00,0.000,516,0.000,0.034,3596,636,2545,2643,2448,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5292,1.11,107.1,3596,636,2643,2447,112.7,11.6,282,5304,0.12,2.10,0.00,0.000,5126,0.171,0.029,3561,2040,2544,2642,2447,0,0,0,0,0,0,26.38,26.61,28.83
$GC,5622,1.13,111.6,3561,2040,2642,2446,81.3,7.8,298,5633,0.00,2.12,0.00,0.000,516,0.000,0.033,3568,647,2544,2642,2447,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5647,1.14,116.2,3568,647,2642,2446,81.3,7.8,298,5663,0.00,2.08,3.60,0.483,9222,0.000,0.031,3561,2027,2535,2634,2436,0,0,0,0,0,0,28.83,26.63,25.56
$GC,5981,1.14,116.2,3561,2027,2634,2436,54.4,8.2,315,5992,0.00,2.05,0.00,0.000,260,0.000,0.041,3563,3422,2535,2634,2436,0,0,0,0,0,0,28.83,26.58,28.83
$GC,6223,1.44,217.3,3561,3422,2633,2436,37.4,3.0,336,6374,0.25,2.00,136.95,0.550,11270,0.070,0.025,3669,2006,2120,2228,2012,0,0,0,0,0,0,26.59,26.68,24.89
$STATE,6529,end climb,SURFACE_DEPTH_REACHED
$STATE,6529,begin surface coast
$FINISH,1.6,1.014585
$STATE,6554,end surface coast,CONTROL_FINISHED_OK
$STATE,6555,begin surface
$SM_CCo,6577,68.60,0.056,0,0,1479,375.06
$SM_GC,2.55,8.88,0.43,68.60,0.043,0.047,0.056,338,2291,1479,-8.87,-1.78,375.06,0,0,0,0,0,0,25.98,26.01,25.96
$IRIDIUM_FIX,4729.30,-12517.37,041113,171752
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.55
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3863872
$PM_FREEKB,4035476
$24V_AH,24.5,25.740
$10V_AH,10.0,30.066
$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,21.350,54.300,405.700,68.600,0.000,0.000,0.000,164.675,0.000,0.000,19.598,1135.969,3865.157,486.589,1267.413,221.685,0.000,1374.704,0.000,870.975,0.000,0.535,0.000
$DEVICE_MAMPS,241.740,47.430,700.740,55.845,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6556.000,153.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.102,9.706,0.000,0.000
$MEM,258708
$DATA_FILE_SIZE,13485,384
$CAP_FILE_SIZE,95422,0
$CFSIZE,260034560,223145984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.176,347.6,1
$GPS,041113,211519,4750.756,-12513.981,19,2.0,19,17.2