version: 66.11
glider: 108
mission: 25
dive: 233
start: 11 4 113 21 21 46
data:
$ID,108
$MISSION,25
$DIVE,233
$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,-193798.44
$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,90
$R_STBD_OVSHOOT,48
$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,3
$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
$GPS1,041113,211519,4750.756,-12513.981,19,2.0,19,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-68.6
$GPS2,041113,212120,4750.788,-12514.025,24,2.0,25,17.2
$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,93.4,5124,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.11,-107.1,335,2302,1551,1374,0.0,0.0,0,76,0.00,0.00,-46.35,0.000,16386,0.000,0.000,335,2302,2693,2725,2661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-1.11,-107.1,335,2302,2730,2666,3.3,-2.6,8,123,9.68,1.95,-20.85,0.000,18692,0.233,0.057,2828,3591,3448,3494,3403,0,0,0,0,0,0,25.75,26.09,26.40
$GC,134,-1.11,-107.1,2828,3591,3496,3406,8.4,-11.3,15,145,0.00,1.85,0.00,0.000,1030,0.000,0.026,2835,2295,3451,3497,3406,0,0,0,0,0,0,28.83,26.19,28.83
$GC,467,-1.11,-107.1,2835,2293,3502,3408,68.8,-14.9,48,478,0.00,2.05,0.00,0.000,516,0.000,0.031,2838,910,3455,3502,3408,0,0,0,0,0,0,28.83,26.35,28.83
$GC,592,-1.11,-107.1,2837,910,3504,3409,85.8,-15.3,53,604,0.00,2.10,0.00,0.000,1030,0.000,0.031,2831,2311,3456,3504,3409,0,0,0,0,0,0,28.83,26.40,28.83
$GC,898,-1.11,-107.1,2830,2310,3504,3410,129.0,-13.4,69,909,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2310,3457,3505,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1198,-1.11,-107.1,2831,2310,3505,3410,169.0,-13.2,84,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2310,3457,3505,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1498,-1.11,-107.1,2831,2310,3505,3410,207.7,-12.6,99,1509,0.00,1.88,0.00,0.000,260,0.000,0.043,2821,3584,3457,3505,3410,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1551,-1.11,-107.1,2821,3585,3505,3410,214.4,-13.0,101,1562,0.00,1.80,0.00,0.000,1030,0.000,0.026,2823,2292,3457,3505,3410,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1875,-1.11,-107.1,2822,2292,3505,3410,254.7,-12.0,117,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2292,3457,3505,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2176,-1.11,-107.1,2822,2292,3505,3410,289.4,-11.5,132,2187,0.00,1.92,0.00,0.000,260,0.000,0.042,2816,3589,3457,3505,3410,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2256,-1.11,-107.1,2814,3589,3505,3410,298.4,-12.6,135,2267,0.00,1.80,0.00,0.000,1030,0.000,0.026,2815,2299,3457,3505,3410,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,2354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2354,begin apogee
$GC,2361,-0.25,0.0,2816,2024,3504,3410,312.1,-12.5,140,2506,0.93,0.00,132.45,0.668,10246,0.143,0.000,3114,2020,3006,3098,2915,0,0,0,0,0,0,26.38,28.83,24.70
$STATE,2508,end apogee,CONTROL_FINISHED_OK
$STATE,2508,begin climb
$GC,2510,1.11,107.1,3114,2020,3094,2909,316.7,0.0,147,2650,1.25,0.00,131.07,0.648,10246,0.079,0.000,3554,2020,2571,2676,2466,0,0,0,0,0,0,25.37,28.83,24.50
$GC,2941,1.11,107.1,3553,2020,2652,2451,271.5,12.7,169,2951,0.00,2.17,0.00,0.000,260,0.000,0.040,3553,3429,2551,2652,2451,0,0,0,0,0,0,28.83,25.98,28.83
$GC,3033,1.11,107.1,3553,3429,2651,2450,258.8,13.9,173,3043,0.00,2.05,0.00,0.000,1030,0.000,0.025,3563,2027,2550,2651,2449,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3362,1.11,107.1,3563,2027,2649,2448,216.5,12.4,189,3372,0.00,0.00,0.00,0.000,6,0.000,0.000,3564,2027,2549,2649,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3662,1.11,107.1,3564,2027,2648,2448,179.8,11.9,204,3673,0.00,2.10,0.00,0.000,516,0.000,0.034,3573,636,2548,2649,2447,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3705,1.11,107.1,3573,636,2648,2448,176.3,11.9,205,3717,0.00,2.10,0.00,0.000,1030,0.000,0.029,3573,2027,2547,2648,2447,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4011,1.11,107.1,3573,2027,2647,2447,136.9,12.6,221,4022,0.00,2.08,0.00,0.000,260,0.000,0.040,3573,3424,2547,2647,2447,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4061,1.11,107.1,3573,3425,2647,2447,130.3,13.2,223,4072,0.00,2.03,0.00,0.000,1030,0.000,0.025,3583,2018,2547,2647,2447,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4391,1.11,107.1,3583,2018,2646,2446,91.8,11.0,239,4402,0.00,2.05,0.00,0.000,516,0.000,0.034,3593,640,2546,2646,2446,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4441,1.11,107.1,3593,640,2646,2446,86.4,11.0,241,4452,0.15,2.08,0.00,0.000,5126,0.160,0.029,3554,2031,2546,2646,2446,0,0,0,0,0,0,26.35,26.58,28.83
$GC,4771,1.18,128.7,3554,2031,2645,2445,61.0,7.0,257,4805,0.00,2.15,20.25,0.588,8452,0.000,0.040,3544,3426,2481,2578,2385,0,0,0,0,0,0,28.83,26.34,25.70
$GC,4910,1.18,128.7,3544,3426,2574,2383,48.3,10.2,264,4921,0.00,2.05,0.00,0.000,1030,0.000,0.025,3552,2018,2478,2574,2383,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5231,1.37,194.5,3552,2018,2571,2382,29.1,4.7,295,5331,0.22,2.20,82.80,0.550,10500,0.072,0.039,3651,3415,2211,2317,2105,0,0,0,0,0,0,26.48,25.66,25.09
$STATE,5453,end climb,SURFACE_DEPTH_REACHED
$STATE,5453,begin surface coast
$FINISH,1.7,1.024952
$STATE,5486,end surface coast,CONTROL_FINISHED_OK
$STATE,5486,begin surface
$SM_CCo,5511,78.85,0.056,0,0,1479,375.06
$SM_GC,2.50,8.82,1.70,78.85,0.044,0.025,0.056,341,2320,1479,-8.87,1.95,375.06,0,0,0,0,0,0,26.03,26.12,26.01
$IRIDIUM_FIX,4742.09,-12515.06,041113,191903
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.15
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3863552
$PM_FREEKB,4035476
$24V_AH,24.5,25.813
$10V_AH,10.1,30.106
$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,21.050,40.425,366.575,78.850,0.000,0.000,0.000,196.700,0.000,0.000,25.673,965.467,3199.693,483.800,1111.466,197.538,0.000,1264.939,0.000,714.171,0.000,0.535,0.000
$DEVICE_MAMPS,232.560,57.375,667.845,55.845,0.000,0.000,0.000,120.105,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5483.000,136.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.487,9.808,0.000,0.000
$MEM,258712
$DATA_FILE_SIZE,10139,336
$CAP_FILE_SIZE,81054,0
$CFSIZE,260034560,223117312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.147,329.7,1
$GPS,041113,225652,4750.991,-12513.602,69,0.9,69,17.2