version: 66.11
glider: 108
mission: 25
dive: 132
start: 10 16 113 2 8 38
data:
$ID,108
$MISSION,25
$DIVE,132
$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,-193671.75
$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,42
$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
$GPS1,161013,020234,4749.134,-12516.230,31,0.9,31,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-72.5
$GPS2,161013,020811,4749.103,-12516.200,17,0.9,18,17.2
$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,244.1,159556,-15.8,-8.049,-22.04,2046
$D_GRID,514
$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,-1.11,-107.1,330,2269,1543,1384,0.0,0.0,0,69,0.00,0.00,-40.90,0.000,16386,0.000,0.000,330,2269,2552,2601,2504,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.11,-107.1,330,2269,2606,2508,3.1,-1.9,7,124,9.77,2.08,-29.60,0.000,18692,0.237,0.060,2848,3582,3448,3494,3403,0,0,0,0,0,0,25.93,26.20,26.50
$GC,304,-1.11,-107.1,2848,3581,3503,3411,37.1,-16.6,43,315,0.00,1.90,0.00,0.000,1030,0.000,0.025,2852,2243,3457,3503,3411,0,0,0,0,0,0,28.83,26.39,28.83
$GC,624,-1.11,-107.1,2851,2240,3509,3414,79.0,-13.6,63,635,0.00,2.03,0.00,0.000,260,0.000,0.043,2843,3583,3461,3508,3414,0,0,0,0,0,0,28.83,26.44,28.83
$GC,697,-1.11,-107.1,2843,3583,3508,3415,88.1,-13.0,66,708,0.00,1.88,0.00,0.000,1030,0.000,0.025,2844,2250,3462,3509,3415,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1021,-1.11,-107.1,2844,2248,3510,3415,126.5,-11.5,82,1031,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2248,3462,3510,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-1.11,-107.1,2844,2247,3510,3416,163.0,-11.8,97,1331,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2247,3463,3510,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1621,-1.11,-107.1,2844,2247,3509,3416,197.6,-11.7,112,1632,0.00,2.03,0.00,0.000,260,0.000,0.044,2836,3597,3463,3510,3416,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1659,-1.11,-107.1,2836,3597,3509,3415,201.2,-11.8,113,1671,0.00,1.83,0.00,0.000,1030,0.000,0.025,2836,2291,3462,3509,3415,0,0,0,0,0,0,28.83,26.69,28.83
$GC,1980,-1.11,-107.1,2836,2290,3509,3415,239.8,-11.5,129,1990,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2291,3462,3509,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2279,-1.11,-107.1,2836,2290,3508,3416,273.2,-11.0,144,2290,0.00,1.92,0.00,0.000,260,0.000,0.044,2826,3583,3461,3507,3415,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2393,-1.11,-107.1,2826,3583,3507,3415,285.9,-11.6,149,2405,0.12,1.80,0.00,0.000,3078,0.175,0.026,2858,2290,3461,3507,3415,0,0,0,0,0,0,26.52,26.74,28.83
$GC,2718,-1.11,-107.1,2858,2290,3506,3415,320.4,-10.5,165,2729,0.00,1.92,0.00,0.000,260,0.000,0.044,2850,3586,3460,3506,3415,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2771,-1.11,-107.1,2850,3586,3506,3415,326.0,-11.0,167,2782,0.00,1.80,0.00,0.000,1030,0.000,0.026,2852,2291,3460,3505,3415,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3095,-1.11,-107.1,2851,2290,3505,3415,361.4,-10.3,183,3106,0.00,1.92,0.00,0.000,260,0.000,0.044,2844,3587,3460,3505,3415,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3159,-1.11,-107.1,2843,3587,3505,3415,366.6,-10.3,185,3171,0.00,1.83,0.00,0.000,1030,0.000,0.026,2844,2289,3460,3505,3415,0,0,0,0,0,0,28.83,26.77,28.83
$GC,3465,-1.11,-107.1,2845,2290,3504,3414,399.0,-9.8,201,3476,0.00,2.00,0.00,0.000,516,0.000,0.031,2846,917,3459,3505,3413,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3565,-1.11,-107.1,2844,917,3504,3414,407.4,-9.4,205,3576,0.00,2.08,0.00,0.000,1030,0.000,0.033,2837,2307,3459,3505,3414,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3885,-1.11,-107.1,2837,2307,3504,3414,441.2,-10.6,221,3896,0.00,1.88,0.00,0.000,260,0.000,0.045,2827,3583,3459,3504,3414,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4043,-1.11,-107.1,2827,3583,3504,3413,458.1,-11.4,228,4054,0.00,1.83,0.00,0.000,1030,0.000,0.027,2827,2305,3458,3503,3413,0,0,0,0,0,0,28.83,26.79,28.83
$GC,4362,-1.11,-107.1,2827,2304,3503,3413,494.4,-11.3,244,4373,0.00,2.03,0.00,0.000,516,0.000,0.031,2827,914,3457,3503,3412,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4405,-1.11,-107.1,2827,914,3503,3412,497.7,-11.2,245,4417,0.15,2.08,0.00,0.000,3078,0.167,0.034,2858,2308,3457,3503,3412,0,0,0,0,0,0,26.56,26.75,28.83
$STATE,4571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4571,begin apogee
$GC,4577,-0.25,0.0,2858,2018,3503,3412,515.8,-9.6,254,4757,0.82,0.00,168.18,0.679,10246,0.134,0.000,3131,2017,3006,3101,2912,0,0,0,0,0,0,26.57,28.83,24.56
$STATE,4759,end apogee,CONTROL_FINISHED_OK
$STATE,4759,begin climb
$GC,4762,1.11,107.1,3131,2017,3097,2908,519.7,0.0,263,4911,1.25,2.25,131.00,0.693,10756,0.073,0.034,3583,647,2566,2667,2465,0,0,0,0,0,0,25.26,24.99,24.34
$GC,4970,1.11,107.1,3582,647,2655,2460,500.0,13.7,273,4981,0.00,2.17,0.00,0.000,1030,0.000,0.031,3582,2019,2558,2656,2460,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5290,1.11,107.1,3581,2019,2649,2455,450.4,14.6,289,5301,0.00,2.15,0.00,0.000,516,0.000,0.035,3589,640,2552,2649,2455,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5363,1.11,107.1,2816,640,2595,2446,440.0,14.7,292,5374,0.00,2.15,0.00,0.000,1030,0.000,0.031,3589,2033,2551,2648,2455,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5688,1.11,107.1,3589,2033,2645,2453,395.8,13.5,308,5698,0.00,2.10,0.00,0.000,260,0.000,0.043,3589,3425,2549,2645,2453,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5731,1.11,107.1,3589,3425,2644,2453,391.8,13.6,309,5743,0.00,2.03,0.00,0.000,1030,0.000,0.026,3599,2037,2548,2644,2453,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6037,1.11,107.1,3598,2036,2643,2451,347.1,14.1,325,6048,0.00,2.12,0.00,0.000,516,0.000,0.035,3609,628,2547,2643,2451,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6110,1.11,107.1,2880,627,2589,2442,337.1,14.4,328,6121,0.12,2.15,0.00,0.000,5126,0.174,0.031,3573,2040,2546,2642,2451,0,0,0,0,0,0,26.28,26.46,28.83
$GC,6435,1.11,107.1,3573,2040,2640,2449,292.1,13.8,344,6446,0.00,2.08,0.00,0.000,260,0.000,0.044,3563,3420,2545,2640,2450,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6531,1.11,107.1,2704,3418,2583,2439,279.6,13.8,348,6542,0.00,2.03,0.00,0.000,1030,0.000,0.027,3570,2020,2544,2640,2449,0,0,0,0,0,0,28.83,26.57,28.83
$GC,6856,1.11,107.1,3570,2019,2640,2448,238.4,11.7,364,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2020,2544,2640,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7155,1.11,107.1,3570,2019,2639,2447,201.8,12.6,379,7166,0.00,2.08,0.00,0.000,516,0.000,0.036,3581,634,2543,2640,2447,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7239,1.11,107.1,3580,634,2640,2447,192.7,13.0,382,7251,0.00,2.10,0.00,0.000,1030,0.000,0.031,3577,2029,2543,2640,2447,0,0,0,0,0,0,28.83,26.63,28.83
$GC,7544,1.11,107.1,3577,2027,2640,2447,148.3,13.8,398,7555,0.00,2.12,0.00,0.000,516,0.000,0.034,3585,634,2543,2640,2447,0,0,0,0,0,0,28.83,26.64,28.83
$GC,7594,1.11,107.1,3584,634,2640,2447,141.9,13.3,400,7605,0.00,2.10,0.00,0.000,1030,0.000,0.031,3579,2031,2543,2640,2447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7924,1.11,107.1,3578,2030,2639,2447,103.3,11.1,416,7935,0.00,2.12,0.00,0.000,516,0.000,0.035,3586,634,2543,2639,2447,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7977,1.11,107.1,2816,634,2585,2438,98.0,10.5,418,7988,0.00,2.10,0.00,0.000,1030,0.000,0.031,3586,2030,2543,2639,2447,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8301,1.11,107.1,3585,2030,2639,2447,59.9,11.3,434,8312,0.00,2.12,0.00,0.000,516,0.000,0.034,3595,633,2542,2638,2447,0,0,0,0,0,0,28.83,26.68,28.83
$GC,8426,1.11,107.1,3595,633,2638,2447,48.1,9.2,440,8438,0.00,2.10,0.00,0.000,1030,0.000,0.031,3593,2033,2542,2638,2447,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8738,1.33,180.5,3593,2032,2638,2446,28.0,4.4,471,8838,0.12,2.22,86.28,0.555,10500,0.101,0.043,3645,3430,2268,2371,2166,0,0,0,0,0,0,26.69,25.75,25.18
$GC,8933,1.33,180.5,3645,3431,2359,2154,8.5,13.2,500,8945,0.00,2.08,0.00,0.000,1030,0.000,0.026,3653,2026,2256,2359,2154,0,0,0,0,0,0,28.83,26.04,28.83
$STATE,8971,end climb,SURFACE_DEPTH_REACHED
$STATE,8971,begin surface coast
$FINISH,1.8,1.024274
$STATE,9004,end surface coast,CONTROL_FINISHED_OK
$STATE,9004,begin surface
$SM_CCo,9026,84.25,0.058,0,0,1479,375.06
$SM_GC,2.69,8.80,0.43,84.25,0.044,0.047,0.058,336,2301,1479,-8.91,-1.44,375.06,0,0,0,0,0,0,26.09,26.10,26.03
$IRIDIUM_FIX,4732.49,-12512.13,151013,232326
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.71
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.50
$XPDR_PINGS,0
$SC_FREEKB,3895776
$PM_FREEKB,4640392
$24V_AH,24.3,15.199
$10V_AH,9.6,21.695
$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,21.175,77.975,385.450,84.250,0.000,0.000,0.000,181.200,0.000,0.000,19.252,1570.448,5444.010,520.953,1656.760,261.944,0.000,1641.463,0.000,1176.029,0.000,0.535,0.000
$DEVICE_MAMPS,237.150,60.435,693.090,58.140,0.000,0.000,0.000,125.460,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9003.000,212.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.609,9.827,0.000,0.000
$MEM,258736
$DATA_FILE_SIZE,16783,512
$CAP_FILE_SIZE,127021,0
$CFSIZE,260034560,231800832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.015,174.8,1
$GPS,161013,044151,4749.003,-12517.628,27,1.6,34,17.2