version: 66.11
glider: 108
mission: 25
dive: 124
start: 10 15 113 12 30 1
data:
$ID,108
$MISSION,25
$DIVE,124
$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,-193661.75
$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,3215
$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,64
$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,5
$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
$GPS1,151013,122434,4750.814,-12512.454,36,0.9,36,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-74.4
$GPS2,151013,122935,4750.794,-12512.439,17,1.2,17,17.2
$SPEED_LIMITS,0.139,0.199
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,5.8,3420,-15.8,-8.049,-22.04,2046
$D_GRID,220
$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,-107.1,338,2308,1548,1385,0.0,0.0,0,72,0.00,0.00,-42.62,0.000,16386,0.000,0.000,337,2309,2604,2647,2562,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,338,2308,2650,2565,3.2,-2.3,7,126,9.80,2.22,-27.00,0.000,18948,0.238,0.047,2852,888,3450,3497,3404,0,0,0,0,0,0,25.84,26.13,26.39
$GC,334,-1.11,-107.1,1888,888,3495,3407,41.1,-14.1,44,345,0.00,2.15,0.00,0.000,1030,0.000,0.032,2845,2310,3457,3505,3410,0,0,0,0,0,0,28.83,26.29,28.83
$GC,644,-1.11,-107.1,2845,2310,3509,3414,80.5,-12.5,63,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2311,3461,3509,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,943,-1.11,-107.1,2845,2310,3509,3414,118.4,-12.5,78,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2310,3462,3510,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1244,-1.11,-107.1,2845,2310,3509,3413,156.1,-13.5,93,1255,0.00,2.12,0.00,0.000,516,0.000,0.031,2845,887,3461,3509,3414,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1307,-1.11,-107.1,2845,887,3509,3414,162.4,-13.0,95,1319,0.00,2.15,0.00,0.000,1030,0.000,0.033,2837,2316,3461,3509,3414,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1613,-1.11,-107.1,2837,2316,3509,3414,202.6,-12.6,111,1624,0.00,2.12,0.00,0.000,516,0.000,0.031,2837,887,3461,3509,3414,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1677,-1.11,-107.1,2837,887,3510,3414,208.7,-12.4,113,1689,0.00,2.12,0.00,0.000,1030,0.000,0.033,2827,2300,3461,3509,3414,0,0,0,0,0,0,28.83,26.62,28.83
$STATE,1760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1760,begin apogee
$GC,1767,-0.25,0.0,2827,2016,3508,3414,221.3,-12.8,118,1906,0.93,0.00,127.03,0.621,10246,0.142,0.000,3126,2015,3005,3099,2911,0,0,0,0,0,0,26.44,28.83,24.76
$STATE,1908,end apogee,CONTROL_FINISHED_OK
$STATE,1908,begin climb
$GC,1911,1.11,107.1,3126,2014,3095,2905,226.7,0.0,125,2048,1.25,0.00,124.97,0.567,10758,0.079,0.000,3567,2015,2571,2675,2467,0,0,0,0,0,0,25.41,28.83,24.56
$GC,2343,1.11,107.1,3567,2015,2652,2452,181.5,11.9,147,2354,0.00,2.12,0.00,0.000,516,0.000,0.034,3575,630,2551,2651,2452,0,0,0,0,0,0,28.83,26.01,28.83
$GC,2422,1.11,107.1,3576,630,2650,2452,172.8,12.5,150,2433,0.00,2.15,0.00,0.000,1030,0.000,0.031,3570,2029,2551,2650,2452,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2741,1.11,107.1,3570,2029,2649,2449,133.0,12.0,166,2753,0.00,2.12,0.00,0.000,260,0.000,0.041,3570,3435,2549,2649,2450,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2785,1.11,107.1,3570,3435,2648,2449,129.4,12.2,167,2797,0.00,2.08,0.00,0.000,1030,0.000,0.026,3577,2021,2548,2648,2449,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3091,1.11,107.1,3577,2021,2647,2448,89.8,12.5,183,3102,0.00,2.10,0.00,0.000,516,0.000,0.034,3588,627,2547,2647,2448,0,0,0,0,0,0,28.83,26.44,28.83
$GC,3196,1.11,107.1,3588,628,2646,2448,78.6,12.5,187,3208,0.00,2.12,0.00,0.000,1030,0.000,0.030,3588,2030,2547,2646,2448,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3501,1.11,107.1,3588,2029,2645,2448,42.2,11.9,206,3511,0.00,2.10,0.00,0.000,260,0.000,0.042,3588,3426,2546,2644,2448,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3604,1.11,107.1,2832,3425,2593,2438,32.6,9.9,215,3616,0.00,2.03,0.00,0.000,1030,0.000,0.026,3598,2017,2545,2645,2446,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3917,1.36,189.8,3597,2017,2642,2445,20.2,3.9,263,4028,0.12,2.20,92.30,0.543,10756,0.099,0.034,3664,636,2227,2332,2122,0,0,0,0,0,0,26.58,25.66,25.08
$GC,4093,1.36,189.8,3663,636,2322,2117,4.8,11.9,292,4105,0.00,2.15,0.00,0.000,1030,0.000,0.030,3657,2029,2219,2322,2116,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,4110,end climb,SURFACE_DEPTH_REACHED
$STATE,4110,begin surface coast
$FINISH,1.7,1.017820
$STATE,4144,end surface coast,CONTROL_FINISHED_OK
$STATE,4145,begin surface
$SM_CCo,4167,80.03,0.057,0,0,1479,375.06
$SM_GC,2.59,8.80,0.38,80.03,0.041,0.050,0.057,336,2311,1479,-8.92,-1.50,375.06,0,0,0,0,0,0,25.99,26.01,25.97
$IRIDIUM_FIX,4735.69,-12516.60,151013,101023
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.94
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3898336
$PM_FREEKB,4661456
$24V_AH,24.6,14.662
$10V_AH,10.2,21.349
$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,20.900,34.825,344.300,80.025,0.000,0.000,0.000,154.375,0.000,0.000,19.185,821.691,2179.185,449.172,939.954,168.057,0.000,1123.615,0.000,625.804,0.000,0.535,0.000
$DEVICE_MAMPS,237.915,49.725,621.180,56.610,0.000,0.000,0.000,121.635,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4134.000,108.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.102,9.473,0.000,0.000
$MEM,258740
$DATA_FILE_SIZE,10121,300
$CAP_FILE_SIZE,70000,0
$CFSIZE,260034560,232255488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.075,151.5,1
$GPS,151013,134152,4751.050,-12512.132,16,1.1,16,17.2