version: 66.11
glider: 108
mission: 25
dive: 15
start: 9 24 113 16 58 29
data:
$ID,108
$MISSION,25
$DIVE,15
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1030
$D_NO_BLEED,20
$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,170
$T_MISSION,190
$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,150
$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,500
$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,-193520.36
$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,3230
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.025
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$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,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,100
$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,1
$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,3.0
$PM_XMITPROFILE,3.0
$PM_XMITRAW,0.0
$PM_NDIVE,0.0
$GPS1,240913,165204,4747.052,-12510.570,27,1.0,27,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-71.8
$GPS2,240913,165753,4747.069,-12510.482,15,1.2,15,17.2
$SPEED_LIMITS,0.170,0.244
$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,242.2,163503,-16.2,-9.804,-21.91,2290
$D_GRID,528
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.72,-146.0,334,2258,1032,884,0.0,0.0,0,96,0.00,0.00,-72.53,0.000,16386,0.000,0.000,334,2259,3008,3001,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.72,-146.0,334,2259,3001,3019,3.1,-4.1,13,132,10.52,2.10,-11.60,0.000,18692,0.245,0.067,2982,3582,3611,3601,3622,0,0,0,0,0,0,25.86,26.08,26.38
$GC,152,-0.62,-146.0,1936,3581,3594,3625,15.4,-18.1,21,160,0.17,2.00,0.00,0.000,3078,0.143,0.033,3031,2229,3614,3601,3627,0,0,0,0,0,0,26.02,26.17,28.83
$GC,466,-0.72,-146.0,3030,2229,3602,3637,42.6,-7.3,60,472,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2229,3619,3601,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,785,-0.84,-146.0,3031,2229,3603,3643,64.8,-6.9,82,791,0.17,2.08,0.00,0.000,4356,0.070,0.047,2930,3581,3623,3604,3643,0,0,0,0,0,0,26.50,26.44,28.83
$GC,944,-0.84,-146.0,2929,3581,3603,3643,82.5,-12.8,89,951,0.00,1.95,0.00,0.000,1030,0.000,0.033,2930,2234,3623,3603,3643,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1250,-0.84,-146.0,2930,2233,3603,3644,121.3,-11.2,105,1252,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2233,3623,3602,3644,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,-0.84,-146.0,2930,2233,3603,3642,153.6,-10.8,120,1558,0.00,2.03,0.00,0.000,260,0.000,0.050,2920,3578,3622,3603,3642,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1630,-0.84,-146.0,2919,3578,3603,3642,160.8,-11.0,123,1638,0.15,1.92,0.00,0.000,3078,0.142,0.034,2962,2254,3622,3603,3642,0,0,0,0,0,0,26.51,26.65,28.83
$GC,1937,-0.90,-146.0,2962,2254,3603,3641,189.4,-9.2,139,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2962,2254,3623,3603,3643,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2239,-0.97,-146.0,2961,2253,3602,3639,215.1,-8.2,154,2245,0.12,2.03,0.00,0.000,4356,0.089,0.050,2886,3577,3621,3603,3639,0,0,0,0,0,0,26.70,26.65,28.83
$GC,2293,-0.97,-146.0,2888,3577,3603,3638,219.9,-9.0,156,2298,0.00,1.92,0.00,0.000,1030,0.000,0.034,2888,2253,3622,3603,3641,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2607,-0.92,-146.0,2887,2251,3602,3637,255.1,-10.6,172,2613,0.12,2.08,0.00,0.000,2564,0.158,0.039,2930,860,3619,3602,3637,0,0,0,0,0,0,26.60,26.70,28.83
$GC,2651,-0.92,-146.0,2930,860,3602,3637,259.1,-9.6,174,2657,0.00,2.10,0.00,0.000,1030,0.000,0.039,2923,2251,3619,3602,3637,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2976,-0.92,-146.0,2923,2250,3601,3636,291.6,-10.4,190,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2251,3619,3602,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3277,-0.92,-146.0,2923,2251,3600,3635,321.6,-10.0,205,3284,0.00,2.00,0.00,0.000,260,0.000,0.052,2913,3596,3617,3600,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3311,-0.92,-146.0,2913,3596,3601,3635,324.5,-10.3,206,3316,0.00,1.98,0.00,0.000,1030,0.000,0.035,2913,2235,3618,3601,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3624,-0.92,-146.0,2913,2234,3600,3634,355.4,-8.6,222,3630,0.00,2.08,0.00,0.000,516,0.000,0.041,2913,851,3617,3600,3634,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3658,-0.92,-146.0,2913,851,3600,3634,357.5,-8.7,223,3664,0.00,2.12,0.00,0.000,1030,0.000,0.040,2904,2256,3617,3600,3634,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3972,-0.92,-146.0,2904,2253,3599,3633,389.2,-10.0,239,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,2253,3616,3600,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4274,-0.92,-146.0,2904,2253,3598,3632,417.8,-9.4,254,4280,0.00,2.00,0.00,0.000,260,0.000,0.053,2894,3591,3615,3598,3632,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4307,-0.92,-146.0,2893,3591,3597,3633,420.2,-9.4,255,4313,0.15,1.95,0.00,0.000,3078,0.151,0.036,2936,2252,3615,3598,3632,0,0,0,0,0,0,26.65,26.80,28.83
$GC,4623,-0.96,-146.0,2935,2252,3598,3631,447.1,-8.0,271,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2252,3614,3598,3631,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4924,-1.01,-146.0,2935,2251,3598,3630,471.5,-8.0,286,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2252,3614,3598,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5224,-1.05,-146.0,2935,2252,3597,3629,495.1,-8.1,301,5226,0.15,0.00,0.00,0.000,4102,0.083,0.000,2868,2252,3613,3597,3629,0,0,0,0,0,0,26.81,28.83,28.83
$STATE,5280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5280,begin apogee
$GC,5287,-0.17,0.0,2868,1967,3597,3629,501.4,-10.0,304,5475,0.93,0.00,180.82,0.737,10246,0.132,0.000,3174,1967,3004,3092,2916,0,0,0,0,0,0,26.66,28.83,24.39
$STATE,5477,end apogee,CONTROL_FINISHED_OK
$STATE,5477,begin climb
$GC,5479,0.72,146.0,3173,1967,3090,2912,508.1,0.0,313,5676,0.80,0.00,191.02,0.692,10758,0.054,0.000,3472,1967,2412,2508,2317,0,0,0,0,0,0,25.05,28.83,24.25
$GC,5966,0.68,146.0,3472,1967,2487,2294,469.8,10.0,338,5971,0.00,2.25,0.00,0.000,260,0.000,0.050,3472,3377,2390,2486,2294,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6013,0.61,146.0,2640,3376,2428,2283,464.8,10.6,340,6019,0.20,2.15,0.00,0.000,5126,0.149,0.035,3426,1982,2389,2486,2293,0,0,0,0,0,0,25.82,25.96,28.83
$GC,6333,0.64,173.9,3426,1982,2484,2291,437.2,8.6,356,6365,0.00,0.00,30.55,0.710,8198,0.000,0.000,3426,1982,2299,2405,2194,0,0,0,0,0,0,28.83,28.83,25.21
$GC,6654,0.71,201.0,3426,1982,2395,2180,409.3,8.6,372,6693,0.00,0.00,35.12,0.698,8198,0.000,0.000,3426,1982,2186,2301,2071,0,0,0,0,0,0,28.83,28.83,25.10
$GC,6995,0.78,224.9,3426,1982,2293,2062,380.5,8.7,389,7033,0.17,0.00,31.05,0.688,10246,0.076,0.000,3498,1977,2088,2207,1970,0,0,0,0,0,0,26.12,28.83,25.15
$GC,7334,0.74,224.9,3498,1977,2199,1963,339.1,12.3,406,7339,0.00,2.20,0.00,0.000,260,0.000,0.050,3498,3377,2081,2199,1963,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7378,0.68,224.9,3498,3377,2197,1963,333.2,12.9,408,7384,0.20,2.15,0.00,0.000,5126,0.150,0.036,3451,1973,2080,2198,1963,0,0,0,0,0,0,26.03,26.17,28.83
$GC,7703,0.69,230.8,3451,1973,2196,1960,300.5,9.5,424,7709,0.00,0.00,3.42,0.567,8198,0.000,0.000,3451,1973,2069,2187,1951,0,0,0,0,0,0,28.83,28.83,25.39
$GC,8004,0.72,230.8,3451,1973,2187,1950,271.3,10.3,439,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1973,2068,2187,1950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8304,0.76,230.8,3451,1973,2187,1950,241.6,10.2,454,8310,0.00,2.17,0.00,0.000,516,0.000,0.046,3460,565,2068,2187,1950,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8332,0.79,230.8,2600,565,2130,1942,238.8,10.5,455,8338,0.00,2.17,0.00,0.000,1030,0.000,0.039,3460,1973,2068,2187,1950,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8651,0.79,230.8,3459,1973,2186,1950,202.9,11.3,471,8657,0.00,2.12,0.00,0.000,260,0.000,0.050,3460,3379,2068,2186,1950,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8739,0.79,230.8,3460,3379,2185,1950,192.6,12.4,475,8744,0.00,2.10,0.00,0.000,1030,0.000,0.036,3469,1975,2068,2186,1950,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9058,0.79,230.8,3469,1975,2186,1950,156.2,10.9,491,9063,0.00,2.15,0.00,0.000,260,0.000,0.050,3469,3383,2068,2186,1950,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9102,0.79,230.8,3469,3383,2186,1950,151.0,11.4,493,9107,0.00,2.10,0.00,0.000,1030,0.000,0.036,3480,1967,2068,2186,1950,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9425,0.79,230.8,3479,1966,2186,1950,116.5,10.0,509,9432,0.00,2.15,0.00,0.000,260,0.000,0.049,3479,3373,2068,2187,1950,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9499,0.79,230.8,3479,3372,2186,1950,109.8,10.2,512,9504,0.00,2.10,0.00,0.000,1030,0.000,0.035,3489,1966,2068,2186,1950,0,0,0,0,0,0,28.83,26.65,28.83
$GC,9812,0.79,230.8,3489,1966,2186,1950,73.8,10.9,528,9817,0.00,2.17,0.00,0.000,260,0.000,0.049,3489,3375,2068,2186,1950,0,0,0,0,0,0,28.83,26.63,28.83
$GC,9856,0.79,230.8,3489,3375,2186,1950,69.0,11.0,530,9861,0.00,2.10,0.00,0.000,1030,0.000,0.035,3499,1964,2068,2186,1950,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10169,0.83,259.6,3498,1964,2186,1949,41.7,8.5,550,10221,0.00,2.22,38.53,0.589,8452,0.000,0.047,3499,3384,1949,2072,1827,0,0,0,0,1,0,28.83,26.17,25.59
$GC,10326,0.91,328.2,3498,3384,2068,1825,29.0,6.7,565,10397,0.00,2.12,54.75,0.571,9222,0.000,0.035,3508,1981,1669,1792,1547,0,0,0,0,1,0,28.83,26.31,25.12
$STATE,10641,end climb,SURFACE_DEPTH_REACHED
$STATE,10642,begin surface coast
$FINISH,1.4,1.020942
$STATE,10700,end surface coast,CONTROL_FINISHED_OK
$STATE,10700,begin surface
$SM_CCo,10719,73.20,0.060,0,0,969,500.17
$SM_GC,2.19,8.50,0.43,73.20,0.050,0.050,0.060,337,2257,969,-8.98,-1.30,500.17,0,0,0,0,0,0,26.13,26.15,26.07
$IRIDIUM_FIX,4732.49,-12510.28,240913,151519
$TT8_MAMPS,0.025466,0.025466
$HUMID,59.84
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.80
$XPDR_PINGS,0
$SC_FREEKB,3933216
$24V_AH,24.2,2.611
$10V_AH,10.0,11.327
$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,22.375,67.725,565.275,73.200,0.000,0.000,0.000,219.150,0.000,0.000,16.563,1779.007,6880.942,685.010,1505.701,313.007,0.000,1653.447,0.000,1286.987,0.000,0.537,0.000
$DEVICE_MAMPS,244.800,71.145,736.695,59.670,0.000,0.000,0.000,118.575,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10704.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.549,0.000,0.000,0.000
$MEM,258964
$DATA_FILE_SIZE,23430,632
$CAP_FILE_SIZE,131319,0
$CFSIZE,260034560,241905664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.047,190.7,1
$GPS,240913,195934,4746.505,-12512.487,31,1.2,31,17.2