version: 66.11
glider: 108
mission: 25
dive: 458
start: 12 15 113 23 39 0
data:
$ID,108
$MISSION,25
$DIVE,458
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-194781.22
$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,79
$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
$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,48
$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
$GPS1,151213,233134,4750.677,-12512.806,31,1.5,31,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-73.7
$GPS2,151213,233830,4750.702,-12512.787,18,1.1,18,17.2
$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,199.4,164787,-15.8,-8.049,-22.04,2046
$D_GRID,338
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,24,-1.11,-107.1,334,2309,1533,1391,0.0,0.0,0,72,0.00,0.00,-41.22,0.000,16386,0.000,0.000,334,2309,2558,2601,2515,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-1.11,-107.1,334,2309,2604,2518,3.1,-0.0,7,126,9.90,2.00,-24.60,0.000,18692,0.233,0.060,2833,3584,3451,3491,3411,0,0,0,0,0,0,25.38,26.01,26.49
$GC,227,-1.11,-107.1,2833,3584,3495,3416,26.1,-17.9,32,240,0.00,1.85,0.00,0.000,1030,0.000,0.026,2839,2290,3455,3495,3416,0,0,0,0,0,0,28.83,26.21,28.83
$GC,539,-1.11,-107.1,2838,2290,3498,3416,68.6,-13.6,56,550,0.00,1.98,0.00,0.000,260,0.000,0.043,2830,3595,3457,3498,3416,0,0,0,0,0,0,28.83,26.08,28.83
$GC,578,-1.11,-107.1,2830,3595,3497,3416,72.7,-13.3,57,589,0.00,1.83,0.00,0.000,1030,0.000,0.025,2835,2301,3457,3498,3416,0,0,0,0,0,0,28.83,26.33,28.83
$GC,899,-1.11,-107.1,2835,2301,3498,3415,113.3,-11.4,73,910,0.00,2.10,0.00,0.000,516,0.000,0.031,2838,916,3457,3498,3416,0,0,0,0,0,0,28.83,26.25,28.83
$GC,963,-1.11,-107.1,2838,916,3498,3416,119.5,-11.8,75,975,0.00,2.12,0.00,0.000,1030,0.000,0.031,2831,2308,3458,3500,3416,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1270,-1.11,-107.1,2831,2307,3498,3416,161.2,-14.2,91,1280,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2307,3457,3498,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1570,-1.11,-107.1,2831,2307,3499,3416,200.5,-13.5,106,1581,0.00,1.90,0.00,0.000,260,0.000,0.043,2821,3592,3457,3498,3416,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1610,-1.11,-107.1,2821,3592,3498,3417,205.0,-13.8,107,1621,0.00,1.83,0.00,0.000,1030,0.000,0.025,2821,2286,3457,3498,3416,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1930,-1.11,-107.1,2821,2286,3499,3416,255.8,-15.3,123,1941,0.00,2.05,0.00,0.000,516,0.000,0.030,2825,916,3457,3499,3416,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1970,-1.11,-107.1,2825,916,3499,3417,260.2,-15.0,124,1981,0.00,2.12,0.00,0.000,1030,0.000,0.031,2818,2314,3457,3498,3417,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2290,-1.11,-107.1,2818,2313,3499,3416,306.4,-13.4,140,2301,0.00,2.12,0.00,0.000,516,0.000,0.029,2818,912,3457,3499,3415,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2335,-1.11,-107.1,2818,912,3499,3417,310.5,-13.3,141,2347,0.12,2.12,0.00,0.000,3078,0.189,0.032,2840,2306,3458,3499,3417,0,0,0,0,0,0,25.87,26.32,28.83
$STATE,2557,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2557,begin apogee
$GC,2565,-0.25,0.0,2842,2032,3499,3417,338.8,-11.1,153,2711,0.88,0.00,131.02,0.712,10246,0.171,0.000,3113,2030,3005,3091,2919,0,0,0,0,0,0,24.94,28.83,24.46
$STATE,2712,end apogee,CONTROL_FINISHED_OK
$STATE,2713,begin climb
$GC,2716,1.11,107.1,3112,2030,3089,2915,342.4,0.0,160,2865,1.30,2.30,129.10,0.699,10756,0.168,0.032,3559,641,2563,2662,2465,0,0,0,0,0,0,25.11,24.99,24.22
$GC,2925,1.11,107.1,3558,640,2653,2461,326.2,11.7,170,2937,0.00,2.20,0.00,0.000,1030,0.000,0.028,3558,2026,2556,2652,2461,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3230,1.11,107.1,3557,2025,2648,2457,288.6,11.3,186,3241,0.00,2.10,0.00,0.000,260,0.000,0.040,3558,3425,2552,2647,2457,0,0,0,0,0,0,28.83,25.95,28.83
$GC,3311,1.11,107.1,3558,3425,2646,2456,280.4,11.4,189,3322,0.00,2.05,0.00,0.000,1030,0.000,0.025,3566,2016,2551,2647,2456,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3631,1.11,107.1,3566,2016,2645,2455,242.8,11.8,205,3642,0.00,2.10,0.00,0.000,516,0.000,0.034,3575,646,2549,2645,2454,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3706,1.11,107.1,3575,645,2644,2454,233.6,13.1,208,3717,0.00,2.15,0.00,0.000,1030,0.000,0.030,3575,2036,2549,2644,2455,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4031,1.11,107.1,3575,2036,2643,2454,193.0,11.3,224,4042,0.00,2.08,0.00,0.000,260,0.000,0.041,3575,3429,2548,2643,2454,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4075,1.11,107.1,2784,3427,2589,2444,189.5,11.4,225,4087,0.00,2.03,0.00,0.000,1030,0.000,0.025,3585,2025,2547,2642,2453,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4381,1.11,107.1,3585,2025,2642,2453,155.1,10.5,241,4392,0.00,2.10,0.00,0.000,516,0.000,0.034,3595,642,2547,2642,2453,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4456,1.11,107.1,3595,641,2641,2453,146.8,11.5,244,4468,0.15,2.15,0.00,0.000,5126,0.240,0.030,3557,2040,2546,2640,2453,0,0,0,0,0,0,25.57,26.33,28.83
$GC,4782,1.11,107.1,3557,2040,2640,2453,109.7,11.4,260,4793,0.00,2.17,0.00,0.000,516,0.000,0.034,3564,642,2547,2641,2453,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4849,1.11,107.1,3564,642,2640,2453,103.8,11.4,262,4862,0.00,2.12,0.00,0.000,1030,0.000,0.030,3564,2024,2546,2640,2453,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5156,1.11,107.1,3564,2023,2640,2453,68.7,10.3,278,5167,0.00,2.10,0.00,0.000,260,0.000,0.041,3564,3429,2546,2640,2453,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5215,1.11,107.1,3564,3428,2640,2453,63.5,10.0,280,5226,0.00,2.03,0.00,0.000,1030,0.000,0.024,3573,2013,2546,2640,2453,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5536,1.17,127.8,3573,2014,2640,2453,33.2,7.0,306,5567,0.00,2.15,19.20,0.596,8452,0.000,0.040,3573,3427,2486,2578,2394,0,0,0,0,0,0,28.83,26.29,25.46
$GC,5798,1.33,179.5,3573,3427,2571,2390,10.8,5.5,347,5837,0.12,2.03,24.20,0.070,11270,0.184,0.025,3624,2015,2275,2376,2175,0,0,0,0,0,0,25.90,26.36,25.96
$STATE,5905,end climb,SURFACE_DEPTH_REACHED
$STATE,5905,begin surface coast
$FINISH,1.8,1.022498
$STATE,5964,end surface coast,CONTROL_FINISHED_OK
$STATE,5964,begin surface
$SM_CCo,5989,86.57,0.057,0,0,1480,375.06
$SM_GC,2.44,8.82,0.43,86.57,0.067,0.046,0.057,337,2312,1480,-8.87,-1.47,375.06,0,0,0,0,0,0,26.13,26.32,25.99
$IRIDIUM_FIX,4735.69,-12512.13,151213,212114
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.14
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3791616
$PM_FREEKB,2812428
$24V_AH,24.2,48.143
$10V_AH,9.9,48.309
$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,21.300,58.650,303.525,86.575,0.000,0.000,0.000,216.700,0.000,0.000,19.859,1101.521,3411.387,471.894,1210.977,303.185,0.000,1327.651,0.000,793.117,0.000,0.536,0.000
$DEVICE_MAMPS,240.210,59.670,712.215,56.610,0.000,0.000,0.000,119.340,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5968.000,146.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.677,9.788,0.000,0.000
$MEM,258744
$DATA_FILE_SIZE,13446,376
$CAP_FILE_SIZE,92660,0
$CFSIZE,260034560,204607488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.120,280.2,1
$GPS,161213,012126,4750.250,-12513.897,20,1.1,20,17.2