version: 66.11
glider: 108
mission: 25
dive: 248
start: 11 5 113 22 0 44
data:
$ID,108
$MISSION,25
$DIVE,248
$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,-193817.19
$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,53
$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
$GPS1,051113,215404,4749.411,-12518.526,32,0.9,32,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-70.9
$GPS2,051113,220017,4749.475,-12518.491,17,0.9,17,17.2
$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,182.3,157587,-15.8,-8.049,-22.04,2046
$D_GRID,519
$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,-107.1,334,2312,1548,1371,0.0,0.0,0,76,0.00,0.00,-46.83,0.000,16386,0.000,0.000,334,2315,2693,2729,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-1.11,-107.1,334,2318,2736,2660,3.1,-1.6,8,131,9.62,1.98,-24.05,0.000,18692,0.230,0.060,2828,3576,3450,3495,3405,0,0,0,0,0,0,25.71,26.10,26.41
$GC,355,-1.11,-107.1,1856,3575,3491,3407,50.2,-19.9,46,367,0.00,1.83,0.00,0.000,1030,0.000,0.025,2835,2287,3456,3502,3410,0,0,0,0,0,0,28.83,26.35,28.83
$GC,663,-1.11,-107.1,2835,2287,3505,3411,93.3,-13.6,62,674,0.00,1.95,0.00,0.000,260,0.000,0.042,2828,3591,3458,3505,3412,0,0,0,0,0,0,28.83,26.39,28.83
$GC,777,-1.11,-107.1,2827,3591,3505,3412,110.7,-15.8,67,788,0.00,1.83,0.00,0.000,1030,0.000,0.026,2833,2290,3459,3505,3413,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1101,-1.11,-107.1,2833,2291,3507,3413,152.5,-12.1,83,1111,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2290,3460,3507,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1402,-1.11,-107.1,2833,2290,3507,3413,187.2,-11.6,98,1413,0.00,1.92,0.00,0.000,260,0.000,0.042,2825,3584,3460,3507,3413,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1435,-1.11,-107.1,2825,3585,3507,3413,190.8,-11.9,99,1446,0.00,1.80,0.00,0.000,1030,0.000,0.025,2826,2292,3459,3507,3412,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1760,-1.11,-107.1,2825,2291,3507,3413,231.4,-12.7,115,1771,0.00,2.03,0.00,0.000,516,0.000,0.030,2826,913,3460,3507,3413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1818,-1.11,-107.1,2825,913,3507,3413,237.7,-12.5,117,1830,0.00,2.10,0.00,0.000,1030,0.000,0.030,2818,2313,3460,3507,3413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2138,-1.11,-107.1,2818,2313,3507,3413,279.8,-13.1,133,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2313,3460,3507,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2438,-1.11,-107.1,2818,2313,3507,3413,319.6,-13.2,148,2449,0.00,1.88,0.00,0.000,260,0.000,0.044,2809,3593,3459,3506,3413,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2518,-1.11,-107.1,2808,3593,3507,3413,329.5,-14.0,151,2530,0.12,1.80,0.00,0.000,3078,0.179,0.026,2841,2302,3459,3506,3413,0,0,0,0,0,0,26.39,26.70,28.83
$GC,2839,-1.11,-107.1,2841,2302,3506,3412,370.4,-12.0,167,2850,0.00,2.05,0.00,0.000,516,0.000,0.031,2849,908,3459,3506,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2902,-1.11,-107.1,2849,908,3506,3412,376.4,-12.0,169,2914,0.00,2.10,0.00,0.000,1030,0.000,0.031,2842,2316,3459,3506,3413,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3208,-1.11,-107.1,2842,2315,3505,3412,413.1,-11.3,185,3219,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2315,3458,3504,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3509,-1.11,-107.1,2842,2315,3505,3413,446.1,-10.4,200,3520,0.00,1.88,0.00,0.000,260,0.000,0.044,2832,3593,3458,3505,3412,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3604,-1.11,-107.1,1824,3592,3493,3409,455.7,-10.7,204,3615,0.00,1.80,0.00,0.000,1030,0.000,0.026,2833,2299,3458,3504,3412,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3929,-1.11,-107.1,2832,2299,3504,3412,489.5,-9.9,220,3940,0.00,2.05,0.00,0.000,516,0.000,0.031,2838,905,3458,3504,3412,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4028,-1.11,-107.1,2838,905,3504,3411,498.8,-10.3,224,4039,0.00,2.10,0.00,0.000,1030,0.000,0.031,2832,2313,3458,3504,3413,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,4228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4228,begin apogee
$GC,4234,-0.25,0.0,2830,2025,3503,3411,520.8,-10.7,234,4383,0.88,0.00,135.12,0.770,10246,0.139,0.000,3115,2020,3005,3098,2912,0,0,0,0,0,0,26.37,28.83,24.55
$STATE,4385,end apogee,CONTROL_FINISHED_OK
$STATE,4385,begin climb
$GC,4388,1.11,107.1,3114,2020,3096,2909,525.0,0.0,241,4538,1.25,2.22,130.90,0.708,10756,0.078,0.032,3563,637,2563,2668,2459,0,0,0,0,0,0,25.30,25.01,24.38
$GC,4576,1.11,107.1,3563,637,2661,2456,510.2,12.1,250,4589,0.00,2.20,0.00,0.000,1030,0.000,0.028,3563,2026,2558,2661,2456,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4882,1.11,107.1,3563,2026,2653,2453,466.3,13.7,266,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2026,2553,2653,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5182,1.11,107.1,3563,2026,2650,2450,424.3,13.8,281,5192,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2026,2550,2650,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5482,1.11,107.1,3563,2025,2649,2449,385.6,12.6,296,5493,0.00,2.10,0.00,0.000,260,0.000,0.041,3563,3427,2549,2649,2449,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5547,1.11,107.1,3563,3426,2649,2448,378.8,13.1,298,5559,0.00,2.05,0.00,0.000,1030,0.000,0.025,3573,2015,2548,2649,2448,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5853,1.11,107.1,3573,2016,2648,2447,337.5,12.9,314,5864,0.00,2.08,0.00,0.000,516,0.000,0.034,3582,634,2547,2647,2447,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5982,1.11,107.1,3582,634,2646,2447,320.8,12.9,320,5993,0.00,2.12,0.00,0.000,1030,0.000,0.028,3583,2030,2546,2646,2447,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6311,1.11,107.1,3582,2030,2646,2446,275.9,14.0,336,6322,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2030,2546,2646,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6612,1.11,107.1,3582,2030,2645,2446,233.8,14.2,351,6623,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2030,2545,2645,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6911,1.11,107.1,3582,2030,2644,2446,193.1,12.9,366,6922,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2030,2545,2644,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7212,1.11,107.1,3582,2030,2644,2445,154.7,13.0,381,7223,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2030,2544,2644,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7511,1.11,107.1,3582,2030,2644,2445,117.1,12.0,396,7522,0.00,0.00,0.00,0.000,6,0.000,0.000,3583,2030,2544,2644,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7812,1.11,107.1,3582,2030,2644,2444,80.6,10.7,411,7823,0.00,2.12,0.00,0.000,516,0.000,0.033,3592,632,2544,2644,2445,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7951,1.11,107.1,3591,631,2643,2445,68.3,9.5,417,7963,0.12,2.10,0.00,0.000,5126,0.166,0.030,3559,2032,2544,2643,2445,0,0,0,0,0,0,26.43,26.67,28.83
$GC,8272,1.34,182.8,3558,2031,2643,2444,50.5,4.2,433,8379,0.17,2.20,93.47,0.568,10500,0.085,0.040,3634,3417,2259,2364,2154,0,0,0,0,0,0,26.64,25.67,25.10
$GC,8611,1.34,182.8,3634,3417,2355,2144,9.5,15.3,475,8623,0.00,2.05,0.00,0.000,1030,0.000,0.024,3644,2016,2249,2355,2144,0,0,0,0,0,0,28.83,26.18,28.83
$STATE,8653,end climb,SURFACE_DEPTH_REACHED
$STATE,8653,begin surface coast
$FINISH,1.7,1.003490
$STATE,8682,end surface coast,CONTROL_FINISHED_OK
$STATE,8682,begin surface
$SM_CCo,8704,84.20,0.057,0,0,1479,375.06
$SM_GC,2.64,8.57,0.43,84.20,0.031,0.044,0.057,331,2298,1479,-8.89,-1.67,375.06,0,0,0,0,0,0,26.17,26.21,26.09
$IRIDIUM_FIX,4735.69,-12518.46,051113,191958
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.18
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3858752
$PM_FREEKB,4021364
$24V_AH,24.4,26.857
$10V_AH,9.6,30.715
$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,20.750,53.125,359.500,84.200,0.000,0.000,0.000,212.175,0.000,0.000,18.523,1446.843,5405.502,484.357,1576.090,254.544,0.000,1557.807,0.000,1084.709,0.000,0.536,0.000
$DEVICE_MAMPS,230.265,59.670,769.590,56.610,0.000,0.000,0.000,120.105,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8683.000,209.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.556,9.898,0.000,0.000
$MEM,258744
$DATA_FILE_SIZE,16800,487
$CAP_FILE_SIZE,114215,0
$CFSIZE,260034560,222412800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,302.7,1
$GPS,061113,002819,4748.739,-12519.297,19,1.9,19,17.2