version: 66.11
glider: 108
mission: 25
dive: 461
start: 12 16 113 6 11 41
data:
$ID,108
$MISSION,25
$DIVE,461
$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,-194785.06
$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,84
$R_STBD_OVSHOOT,54
$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
$GPS1,161213,060403,4749.726,-12515.806,35,1.2,35,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-73.2
$GPS2,161213,061111,4749.761,-12515.792,15,1.4,15,17.2
$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,173.3,160677,-15.8,-8.049,-22.04,2046
$D_GRID,469
$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,23,-1.11,-107.1,335,2276,1538,1396,0.0,0.0,0,75,0.00,0.00,-44.45,0.000,16386,0.000,0.000,335,2277,2647,2679,2616,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.11,-107.1,335,2277,2683,2620,3.2,-2.2,8,124,10.20,2.08,-23.62,0.000,18692,0.241,0.057,2828,3595,3450,3490,3411,0,0,0,0,0,0,25.29,25.93,26.39
$GC,357,-1.11,-107.1,2828,3595,3496,3418,50.5,-17.5,46,368,0.00,1.85,0.00,0.000,1030,0.000,0.025,2836,2291,3457,3496,3418,0,0,0,0,0,0,28.83,26.23,28.83
$GC,677,-1.11,-107.1,2835,2290,3498,3418,94.9,-13.3,62,688,0.00,1.95,0.00,0.000,260,0.000,0.043,2827,3587,3458,3498,3418,0,0,0,0,0,0,28.83,26.09,28.83
$GC,829,-1.11,-107.1,2827,3588,3498,3418,115.0,-12.9,69,840,0.00,1.85,0.00,0.000,1030,0.000,0.026,2835,2273,3458,3498,3418,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1159,-1.11,-107.1,2835,2274,3498,3418,157.0,-13.2,85,1169,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2274,3458,3499,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1460,-1.11,-107.1,2835,2273,3499,3418,193.4,-11.6,100,1470,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2274,3458,3499,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1760,-1.11,-107.1,2835,2274,3499,3418,227.7,-11.4,115,1770,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2274,3458,3499,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2060,-1.11,-107.1,2835,2274,3500,3418,262.1,-11.2,130,2071,0.00,1.98,0.00,0.000,260,0.000,0.042,2827,3593,3458,3499,3418,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2086,-1.11,-107.1,2827,3594,3499,3418,262.1,-11.2,130,2098,0.00,1.83,0.00,0.000,1030,0.000,0.025,2834,2286,3458,3498,3418,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2390,-1.11,-107.1,2834,2286,3500,3418,299.5,-11.1,146,2401,0.00,2.08,0.00,0.000,516,0.000,0.031,2838,910,3458,3500,3417,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2441,-1.11,-107.1,2838,910,3500,3418,305.4,-11.4,148,2452,0.00,2.12,0.00,0.000,1030,0.000,0.031,2830,2310,3458,3499,3418,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2771,-1.11,-107.1,2830,2309,3500,3418,344.7,-11.4,164,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2309,3458,3499,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3071,-1.11,-107.1,2831,2310,3499,3418,376.4,-10.6,179,3082,0.00,2.12,0.00,0.000,516,0.000,0.030,2831,912,3459,3500,3418,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3131,-1.11,-107.1,2830,912,3499,3418,382.0,-10.9,181,3142,0.00,2.15,0.00,0.000,1030,0.000,0.031,2822,2308,3458,3499,3418,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3450,-1.11,-107.1,2821,2307,3499,3418,417.1,-10.4,197,3461,0.00,2.12,0.00,0.000,516,0.000,0.030,2825,920,3458,3499,3418,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3549,-1.11,-107.1,2824,920,3499,3418,426.8,-10.8,201,3560,0.00,2.12,0.00,0.000,1030,0.000,0.032,2818,2311,3458,3498,3418,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3875,-1.11,-107.1,2817,2311,3498,3418,462.6,-10.4,217,3886,0.00,1.90,0.00,0.000,260,0.000,0.044,2808,3593,3458,3498,3418,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3906,-1.11,-107.1,2808,3593,3498,3418,466.0,-10.7,218,3917,0.12,1.83,0.00,0.000,3078,0.172,0.025,2841,2300,3458,3498,3418,0,0,0,0,0,0,25.98,26.46,28.83
$STATE,3933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3934,begin apogee
$GC,3941,-0.25,0.0,2843,2030,3498,3418,469.6,-11.0,219,4097,0.85,0.00,137.80,0.769,10246,0.135,0.000,3112,2022,3001,3088,2914,0,0,0,0,0,0,25.35,28.83,24.33
$STATE,4099,end apogee,CONTROL_FINISHED_OK
$STATE,4099,begin climb
$GC,4102,1.11,107.1,3111,2022,3086,2911,474.4,0.0,226,4252,1.27,2.25,133.30,0.752,10756,0.079,0.031,3568,648,2564,2662,2466,0,0,0,0,0,0,25.24,24.84,24.09
$GC,4320,1.11,107.1,3567,648,2649,2462,456.8,11.8,237,4331,0.00,2.22,0.00,0.000,1030,0.000,0.030,3568,2032,2555,2649,2462,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4649,1.11,107.1,3567,2031,2644,2458,415.2,12.1,253,4660,0.00,2.10,0.00,0.000,260,0.000,0.041,3568,3426,2551,2644,2458,0,0,0,0,0,0,28.83,25.94,28.83
$GC,4684,1.11,107.1,3567,3426,2643,2457,411.3,12.4,254,4695,0.00,2.05,0.00,0.000,1030,0.000,0.024,3577,2024,2549,2643,2456,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5009,1.11,107.1,3577,2024,2641,2456,370.0,12.2,270,5020,0.00,2.15,0.00,0.000,516,0.000,0.034,3587,634,2548,2641,2455,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5141,1.11,107.1,3587,634,2639,2455,354.5,11.7,276,5153,0.12,2.17,0.00,0.000,5126,0.166,0.030,3557,2042,2547,2640,2455,0,0,0,0,0,0,25.86,26.22,28.83
$GC,5473,1.11,107.1,3556,2041,2640,2453,314.2,12.3,292,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3557,2041,2546,2640,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5773,1.11,107.1,3557,2041,2640,2453,277.3,12.2,307,5783,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2041,2546,2640,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6073,1.11,107.1,3556,2041,2639,2453,243.1,11.4,322,6084,0.00,2.20,0.00,0.000,516,0.000,0.034,3564,635,2546,2639,2453,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6180,1.11,107.1,3564,636,2638,2453,232.5,11.6,326,6192,0.00,2.15,0.00,0.000,1030,0.000,0.031,3563,2034,2545,2638,2453,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6483,1.11,107.1,3563,2033,2637,2452,193.7,12.1,342,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3563,2033,2544,2637,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6786,1.11,107.1,3563,2033,2637,2451,158.8,11.2,357,6796,0.00,2.17,0.00,0.000,516,0.000,0.034,3571,638,2543,2636,2451,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6816,1.11,107.1,3570,638,2636,2451,155.4,11.0,358,6827,0.00,2.15,0.00,0.000,1030,0.000,0.029,3570,2042,2543,2636,2451,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7148,1.11,107.1,3570,2042,2635,2451,118.8,11.1,374,7159,0.00,2.17,0.00,0.000,516,0.000,0.033,3577,632,2543,2635,2451,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7288,1.11,107.1,3577,632,2635,2451,104.0,11.5,380,7299,0.00,2.12,0.00,0.000,1030,0.000,0.030,3577,2025,2543,2635,2451,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7608,1.11,107.1,3577,2025,2635,2451,69.2,10.5,396,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2025,2543,2635,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7909,1.12,110.5,3577,2024,2634,2450,42.1,7.9,415,7920,0.00,2.08,0.00,0.000,260,0.000,0.041,3577,3422,2542,2634,2451,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8152,1.40,202.3,2768,3420,2579,2441,26.1,3.4,438,8282,0.17,2.00,117.03,0.563,11270,0.083,0.025,3653,2011,2182,2284,2081,0,0,0,0,0,0,26.25,26.47,24.77
$STATE,8401,end climb,SURFACE_DEPTH_REACHED
$STATE,8401,begin surface coast
$FINISH,1.8,1.013143
$STATE,8433,end surface coast,CONTROL_FINISHED_OK
$STATE,8433,begin surface
$SM_CCo,8458,76.30,0.057,0,0,1480,375.06
$SM_GC,2.56,8.90,0.45,76.30,0.043,0.044,0.057,335,2308,1480,-8.88,-1.41,375.06,0,0,0,0,0,0,25.77,25.90,25.72
$IRIDIUM_FIX,4732.49,-12505.04,161213,030325
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.67
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3790656
$PM_FREEKB,2812428
$24V_AH,24.1,48.395
$10V_AH,9.7,48.466
$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,21.650,58.750,388.125,76.300,0.000,0.000,0.000,222.100,0.000,0.000,16.852,1453.802,5055.909,488.994,1582.516,386.502,0.000,1583.037,0.000,1108.357,0.000,0.535,0.000
$DEVICE_MAMPS,240.975,57.375,768.825,57.375,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8446.000,200.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.752,9.996,0.000,0.000
$MEM,258704
$DATA_FILE_SIZE,16769,485
$CAP_FILE_SIZE,116339,0
$CFSIZE,260034560,204410880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.144,346.2,1
$GPS,161213,083506,4749.553,-12516.361,20,1.6,20,17.2