version: 66.11
glider: 108
mission: 25
dive: 249
start: 11 6 113 0 34 30
data:
$ID,108
$MISSION,25
$DIVE,249
$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,-193818.44
$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,76
$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
$GPS1,061113,002819,4748.739,-12519.297,19,1.9,19,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-72.9
$GPS2,061113,003404,4748.756,-12519.255,40,0.9,40,17.2
$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,205.8,156030,-15.8,-8.049,-22.04,2046
$D_GRID,579
$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,-107.1,328,2308,1545,1373,0.0,0.0,0,81,0.00,0.00,-52.35,0.000,16386,0.000,0.000,328,2308,2844,2864,2825,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-1.11,-107.1,328,2308,2870,2827,3.1,-1.7,9,123,9.80,2.03,-16.15,0.000,18692,0.237,0.060,2831,3594,3449,3494,3404,0,0,0,0,0,0,25.73,26.13,26.45
$GC,325,-1.11,-107.1,2831,3594,3501,3410,46.4,-19.9,42,337,0.00,1.85,0.00,0.000,1030,0.000,0.025,2838,2290,3455,3501,3410,0,0,0,0,0,0,28.83,26.35,28.83
$GC,645,-1.11,-107.1,2838,2289,3505,3411,93.4,-13.4,59,657,0.00,1.95,0.00,0.000,260,0.000,0.042,2830,3591,3458,3505,3411,0,0,0,0,0,0,28.83,26.39,28.83
$GC,780,-1.11,-107.1,2830,3591,3505,3412,110.8,-13.5,65,791,0.00,1.83,0.00,0.000,1030,0.000,0.025,2838,2295,3458,3505,3412,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1104,-1.11,-107.1,2837,2294,3507,3412,150.9,-11.1,81,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2294,3459,3507,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1404,-1.11,-107.1,2837,2294,3507,3413,185.8,-11.9,96,1415,0.00,2.05,0.00,0.000,516,0.000,0.031,2838,912,3460,3507,3413,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1438,-1.11,-107.1,2838,912,3507,3412,189.4,-12.0,97,1449,0.00,2.08,0.00,0.000,1030,0.000,0.030,2831,2304,3459,3507,3412,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1764,-1.11,-107.1,2831,2303,3505,3413,225.8,-10.5,113,1774,0.00,1.88,0.00,0.000,260,0.000,0.041,2821,3579,3459,3507,3412,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1942,-1.11,-107.1,2821,3579,3507,3412,245.9,-11.9,121,1953,0.00,1.80,0.00,0.000,1030,0.000,0.026,2822,2292,3459,3507,3412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2261,-1.11,-107.1,2822,2292,3507,3412,281.9,-11.1,137,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2292,3459,3507,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2561,-1.11,-107.1,2822,2292,3507,3412,315.2,-11.1,152,2572,0.00,2.05,0.00,0.000,516,0.000,0.031,2824,905,3459,3507,3412,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2803,-1.11,-107.1,2824,905,3506,3412,341.9,-11.7,163,2814,0.00,2.10,0.00,0.000,1030,0.000,0.031,2817,2312,3459,3506,3412,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3122,-1.11,-107.1,2817,2312,3505,3412,380.2,-11.9,179,3133,0.00,2.08,0.00,0.000,516,0.000,0.031,2818,917,3458,3505,3412,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3357,-1.11,-107.1,2817,917,3505,3412,406.3,-11.3,190,3369,0.12,2.08,0.00,0.000,3078,0.177,0.031,2841,2304,3458,3505,3412,0,0,0,0,0,0,26.41,26.67,28.83
$GC,3683,-1.11,-107.1,2841,2304,3505,3412,440.2,-10.5,206,3693,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2303,3458,3505,3412,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3982,-1.11,-107.1,2841,2303,3504,3412,471.6,-10.7,221,3993,0.00,2.08,0.00,0.000,516,0.000,0.030,2844,912,3458,3504,3412,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4065,-1.11,-107.1,2843,912,3504,3411,479.1,-10.7,224,4077,0.00,2.10,0.00,0.000,1030,0.000,0.031,2837,2314,3457,3504,3411,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4371,-1.11,-107.1,2836,2314,3503,3411,514.9,-11.5,240,4382,0.00,2.10,0.00,0.000,516,0.000,0.030,2837,907,3457,3504,3411,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4410,-1.11,-107.1,2837,906,3504,3411,518.3,-11.6,241,4421,0.00,2.10,0.00,0.000,1030,0.000,0.031,2829,2312,3457,3503,3411,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4729,-1.11,-107.1,2829,2311,3503,3410,555.4,-11.5,257,4740,0.00,2.08,0.00,0.000,516,0.000,0.031,2829,917,3456,3503,3410,0,0,0,0,0,0,28.83,26.68,28.83
$GC,4782,-1.11,-107.1,1864,917,3493,3407,560.9,-11.4,259,4793,0.00,2.08,0.00,0.000,1030,0.000,0.031,2823,2301,3456,3503,3410,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,4944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4944,begin apogee
$GC,4953,-0.25,0.0,2823,2028,3502,3410,579.3,-10.9,267,5107,0.90,0.00,137.62,0.794,10246,0.142,0.000,3111,2022,3003,3097,2910,0,0,0,0,0,0,26.36,28.83,24.50
$STATE,5109,end apogee,CONTROL_FINISHED_OK
$STATE,5109,begin climb
$GC,5111,1.11,107.1,3111,2022,3096,2909,583.9,0.0,274,5263,1.27,2.28,133.90,0.725,10756,0.080,0.033,3567,651,2563,2667,2459,0,0,0,0,0,0,25.29,24.97,24.32
$GC,5326,1.11,107.1,3567,651,2658,2455,564.5,13.0,285,5337,0.00,2.17,0.00,0.000,1030,0.000,0.029,3567,2023,2556,2657,2455,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5650,1.11,107.1,3567,2022,2651,2452,519.5,13.6,301,5662,0.00,2.15,0.00,0.000,260,0.000,0.041,3567,3435,2551,2651,2451,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5669,1.11,107.1,3567,3435,2651,2451,519.5,13.6,301,5680,0.00,2.08,0.00,0.000,1030,0.000,0.025,3577,2020,2551,2651,2451,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5989,1.11,107.1,3577,2020,2648,2449,471.9,13.7,317,6000,0.00,2.10,0.00,0.000,516,0.000,0.034,3587,639,2549,2649,2449,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6062,1.11,107.1,3587,639,2648,2449,462.4,14.0,320,6073,0.00,2.12,0.00,0.000,1030,0.000,0.029,3585,2029,2548,2648,2449,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6386,1.11,107.1,3585,2028,2646,2448,417.5,13.4,336,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2028,2546,2646,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,1.11,107.1,3585,2028,2646,2447,377.7,13.5,351,6697,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2028,2546,2646,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6986,1.11,107.1,3584,2028,2645,2446,336.9,13.3,366,6998,0.00,2.12,0.00,0.000,516,0.000,0.034,3592,640,2545,2645,2446,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7071,1.11,107.1,3592,640,2645,2446,327.7,13.3,369,7083,0.12,2.10,0.00,0.000,5126,0.169,0.031,3559,2028,2545,2644,2446,0,0,0,0,0,0,26.32,26.55,28.83
$GC,7376,1.11,107.1,3559,2028,2644,2446,288.6,12.3,385,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2028,2544,2643,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7676,1.11,107.1,3559,2028,2643,2445,251.7,12.4,400,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2028,2544,2644,2445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7976,1.11,107.1,3559,2028,2643,2444,215.6,12.0,415,7987,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,2028,2543,2643,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8276,1.11,107.1,3559,2028,2642,2444,180.4,11.5,430,8287,0.00,2.12,0.00,0.000,516,0.000,0.034,3566,635,2543,2642,2444,0,0,0,0,0,0,28.83,26.62,28.83
$GC,8315,1.11,107.1,3566,635,2642,2444,177.0,11.4,431,8325,0.00,2.10,0.00,0.000,1030,0.000,0.030,3564,2025,2543,2642,2444,0,0,0,0,0,0,28.83,26.64,28.83
$GC,8634,1.11,107.1,3564,2025,2642,2443,138.8,11.9,447,8645,0.00,2.12,0.00,0.000,516,0.000,0.034,3571,628,2542,2642,2443,0,0,0,0,0,0,28.83,26.63,28.83
$GC,8693,1.11,107.1,3571,628,2641,2443,132.8,12.2,449,8704,0.00,2.12,0.00,0.000,1030,0.000,0.030,3567,2034,2542,2641,2443,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9012,1.11,107.1,3567,2034,2641,2443,96.5,10.6,465,9023,0.00,2.05,0.00,0.000,260,0.000,0.041,3567,3426,2542,2641,2443,0,0,0,0,0,0,28.83,26.62,28.83
$GC,9046,1.11,107.1,2784,3425,2588,2434,93.3,10.7,466,9056,0.00,2.03,0.00,0.000,1030,0.000,0.025,3575,2010,2542,2641,2443,0,0,0,0,0,0,28.83,26.71,28.83
$GC,9371,1.16,121.8,3575,2010,2641,2443,63.6,7.3,482,9391,0.00,0.00,10.75,0.616,8198,0.000,0.000,3575,2010,2509,2611,2408,0,0,0,0,0,0,28.83,28.83,25.82
$GC,9690,1.28,164.5,3575,2010,2607,2406,47.2,5.9,500,9758,0.12,2.25,56.08,0.577,10500,0.096,0.041,3628,3426,2334,2437,2232,0,0,1,0,0,0,26.58,25.91,25.34
$GC,9990,1.28,164.5,2888,3424,2373,2218,13.1,13.5,537,10002,0.00,2.05,0.00,0.000,1030,0.000,0.025,3635,2029,2327,2429,2226,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,10064,end climb,SURFACE_DEPTH_REACHED
$STATE,10065,begin surface coast
$FINISH,1.8,1.013713
$STATE,10096,end surface coast,CONTROL_FINISHED_OK
$STATE,10096,begin surface
$SM_CCo,10119,92.43,0.057,0,0,1479,375.06
$SM_GC,2.89,8.73,0.40,92.43,0.047,0.047,0.057,340,2300,1479,-8.86,-1.70,375.06,0,0,0,0,0,0,26.25,26.30,26.15
$IRIDIUM_FIX,4710.21,-12521.16,051113,212148
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.65
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3858432
$PM_FREEKB,4021364
$24V_AH,24.3,26.934
$10V_AH,9.5,30.776
$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,21.075,71.000,338.350,92.425,0.000,0.000,0.000,160.525,0.000,0.000,40.674,1731.190,6267.281,496.074,1782.825,283.946,0.000,1643.328,0.000,1283.144,0.000,0.535,0.000
$DEVICE_MAMPS,237.150,59.670,794.070,57.375,0.000,0.000,0.000,125.460,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10103.000,232.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.294,9.845,0.000,0.000
$MEM,258756
$DATA_FILE_SIZE,20029,556
$CAP_FILE_SIZE,133327,0
$CFSIZE,260034560,222326784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.059,222.7,1
$GPS,061113,032556,4747.799,-12520.589,26,2.0,26,17.2