version: 66.11
glider: 108
mission: 25
dive: 186
start: 10 26 113 20 5 15
data:
$ID,108
$MISSION,25
$DIVE,186
$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,-193739.44
$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,68
$R_STBD_OVSHOOT,71
$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
$GPS1,261013,195804,4711.251,-12637.576,28,1.0,28,17.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.89
$_SM_ANGLEo,-73.4
$GPS2,261013,200448,4711.217,-12637.616,18,1.0,19,17.1
$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,40.9,132147,-15.8,-8.049,-22.04,2046
$D_GRID,1000
$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,-107.1,331,2323,1535,1389,0.0,0.0,0,66,0.00,0.00,-36.95,0.000,16386,0.000,0.000,331,2323,2450,2506,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-1.11,-107.1,331,2323,2511,2398,3.2,-1.3,6,130,9.70,2.22,-35.70,0.000,18948,0.231,0.046,2838,898,3450,3493,3408,0,0,0,0,0,0,25.70,26.04,26.32
$GC,225,-1.11,-107.1,1840,897,3488,3409,23.1,-21.7,33,237,0.00,2.12,0.00,0.000,1030,0.000,0.032,2831,2281,3455,3499,3412,0,0,0,0,0,0,28.83,26.14,28.83
$GC,556,-1.11,-107.1,2831,2281,3504,3416,84.4,-14.2,56,567,0.00,2.10,0.00,0.000,516,0.000,0.030,2837,889,3460,3504,3416,0,0,0,0,0,0,28.83,26.33,28.83
$GC,599,-1.11,-107.1,2837,889,3505,3416,88.2,-13.4,57,611,0.00,2.15,0.00,0.000,1030,0.000,0.031,2830,2315,3460,3504,3417,0,0,0,0,0,0,28.83,26.34,28.83
$GC,906,-1.11,-107.1,2829,2314,3507,3418,125.8,-12.8,73,916,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,2314,3462,3507,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1206,-1.11,-107.1,2830,2314,3507,3419,166.6,-13.9,88,1217,0.00,1.90,0.00,0.000,260,0.000,0.044,2820,3584,3463,3507,3419,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1229,-1.11,-107.1,2820,3584,3507,3419,166.6,-13.9,88,1241,0.00,1.85,0.00,0.000,1030,0.000,0.026,2820,2267,3463,3507,3419,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1535,-1.11,-107.1,2820,2267,3507,3419,211.0,-12.9,104,1546,0.00,2.00,0.00,0.000,516,0.000,0.031,2821,918,3463,3507,3419,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1558,-1.11,-107.1,2821,918,3507,3419,211.0,-12.9,104,1570,0.00,2.08,0.00,0.000,1030,0.000,0.031,2814,2304,3462,3507,3418,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1865,-1.11,-107.1,2814,2303,3506,3419,250.6,-11.5,120,1875,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2303,3462,3506,3419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2164,-1.11,-107.1,2814,2303,3505,3419,285.3,-11.5,135,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2303,3461,3505,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2465,-1.11,-107.1,2814,2304,3505,3418,320.8,-12.2,150,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2303,3461,3504,3418,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2764,-1.11,-107.1,2814,2303,3504,3418,357.3,-12.0,165,2775,0.00,2.08,0.00,0.000,516,0.000,0.031,2820,907,3460,3504,3417,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2834,-1.11,-107.1,2820,907,3504,3417,365.8,-12.3,168,2845,0.00,2.10,0.00,0.000,1030,0.000,0.033,2813,2306,3461,3504,3418,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3163,-1.11,-107.1,2813,2306,3504,3417,405.2,-12.0,184,3174,0.00,2.08,0.00,0.000,516,0.000,0.031,2813,910,3460,3504,3416,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3213,-1.11,-107.1,2813,910,3503,3417,411.2,-12.3,186,3224,0.15,2.10,0.00,0.000,3078,0.171,0.032,2843,2308,3460,3504,3416,0,0,0,0,0,0,26.45,26.67,28.83
$GC,3543,-1.11,-107.1,2843,2308,3503,3416,447.1,-10.9,202,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2308,3459,3503,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3843,-1.11,-107.1,2843,2308,3502,3415,477.9,-10.2,217,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2308,3458,3502,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4143,-1.11,-107.1,2843,2308,3501,3414,508.2,-10.0,232,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2308,3458,3502,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4443,-1.11,-107.1,2843,2308,3501,3414,537.3,-9.5,247,4454,0.00,1.88,0.00,0.000,260,0.000,0.046,2836,3577,3457,3500,3414,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4487,-1.11,-107.1,2836,3577,3499,3414,540.2,-9.5,248,4498,0.00,1.80,0.00,0.000,1030,0.000,0.027,2836,2290,3456,3499,3414,0,0,0,0,0,0,28.83,26.76,28.83
$GC,4793,-1.11,-107.1,2834,2290,3499,3413,571.2,-9.7,264,4803,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2290,3456,3499,3413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5093,-1.11,-107.1,2835,2291,3498,3412,599.8,-9.5,279,5104,0.00,2.03,0.00,0.000,516,0.000,0.031,2837,913,3455,3498,3412,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5237,-1.11,-107.1,2836,913,3498,3411,612.0,-9.5,284,5248,0.00,2.08,0.00,0.000,1030,0.000,0.033,2830,2297,3454,3498,3411,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5562,-1.11,-107.1,2830,2297,3498,3411,644.2,-9.3,295,5573,0.00,1.90,0.00,0.000,260,0.000,0.044,2819,3592,3453,3497,3410,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5642,-1.11,-107.1,2819,3591,3496,3410,651.2,-9.7,297,5653,0.00,1.80,0.00,0.000,1030,0.000,0.027,2820,2302,3453,3496,3410,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5972,-1.11,-107.1,2819,2302,3496,3410,684.6,-9.6,308,5983,0.00,2.05,0.00,0.000,516,0.000,0.032,2820,910,3452,3496,3409,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6036,-1.11,-107.1,2820,910,3496,3409,688.7,-9.9,309,6049,0.00,2.10,0.00,0.000,1030,0.000,0.033,2814,2315,3452,3495,3409,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6345,-1.11,-107.1,2813,2315,3495,3408,723.3,-10.3,320,6356,0.00,1.88,0.00,0.000,260,0.000,0.046,2804,3588,3451,3495,3408,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6394,-1.11,-107.1,2804,3588,3494,3408,727.8,-10.3,321,6405,0.15,1.80,0.00,0.000,3078,0.168,0.028,2843,2302,3451,3494,3408,0,0,0,0,0,0,26.48,26.77,28.83
$GC,6724,-1.11,-107.1,2843,2302,3495,3407,760.0,-9.4,332,6735,0.00,2.05,0.00,0.000,516,0.000,0.033,2846,914,3451,3495,3407,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6803,-1.11,-107.1,2845,914,3495,3407,766.5,-9.4,334,6814,0.00,2.08,0.00,0.000,1030,0.000,0.033,2839,2301,3451,3495,3407,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7132,-1.11,-107.1,2838,2301,3494,3407,797.3,-9.0,345,7142,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2300,3450,3494,3407,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7432,-1.11,-107.1,2838,2301,3494,3406,825.0,-9.4,355,7443,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2301,3450,3494,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7732,-1.11,-107.1,2839,2300,3493,3406,852.4,-9.1,365,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2301,3450,3494,3406,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8033,-1.11,-107.1,2838,2300,3493,3405,879.6,-9.2,375,8043,0.00,1.90,0.00,0.000,260,0.000,0.047,2829,3590,3449,3493,3405,0,0,0,0,0,0,28.83,26.69,28.83
$GC,8081,-1.11,-107.1,2828,3590,3493,3405,883.3,-9.2,376,8092,0.00,1.83,0.00,0.000,1030,0.000,0.028,2829,2289,3448,3492,3405,0,0,0,0,0,0,28.83,26.78,28.83
$GC,8410,-1.11,-107.1,2828,2288,3492,3405,912.2,-8.3,387,8421,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,2288,3448,3492,3405,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8712,-1.11,-107.1,2828,2289,3491,3404,935.1,-7.4,397,8723,0.00,2.03,0.00,0.000,516,0.000,0.032,2828,915,3447,3491,3404,0,0,0,0,0,0,28.83,26.73,28.83
$GC,8814,-1.11,-107.1,2828,914,3491,3404,943.2,-7.9,400,8825,0.00,2.10,0.00,0.000,1030,0.000,0.034,2822,2299,3447,3491,3403,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9153,-1.11,-107.1,2821,2298,3490,3403,971.8,-8.3,411,9164,0.00,2.08,0.00,0.000,516,0.000,0.032,2823,902,3447,3491,3403,0,0,0,0,0,0,28.83,26.73,28.83
$GC,9232,-1.11,-107.1,2823,902,3490,3403,977.7,-8.5,413,9243,0.00,2.10,0.00,0.000,1030,0.000,0.034,2816,2303,3446,3490,3403,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,9378,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9378,begin apogee
$GC,9385,-0.25,0.0,2816,2033,3490,3403,991.2,-8.5,418,9540,0.93,0.00,141.32,0.926,10246,0.141,0.000,3114,2025,3007,3096,2919,0,0,0,0,0,0,26.46,28.83,24.31
$STATE,9542,end apogee,CONTROL_FINISHED_OK
$STATE,9542,begin climb
$GC,9544,1.11,107.1,3114,2025,3092,2914,993.4,0.0,423,9705,1.25,2.33,141.32,0.894,10756,0.076,0.034,3562,644,2565,2659,2471,0,0,0,0,0,0,25.15,24.67,23.97
$GC,9804,1.11,107.1,3562,644,2645,2468,966.6,14.2,431,9816,0.00,2.20,0.00,0.000,1030,0.000,0.031,3555,2020,2556,2644,2468,0,0,0,0,0,0,28.83,25.37,28.83
$GC,10112,1.11,107.1,3555,2019,2640,2463,919.3,14.0,442,10123,0.00,2.17,0.00,0.000,516,0.000,0.035,3562,644,2551,2640,2463,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10182,1.11,107.1,3562,644,2641,2462,909.2,13.9,444,10193,0.00,2.17,0.00,0.000,1030,0.000,0.032,3556,2024,2551,2640,2462,0,0,0,0,0,0,28.83,26.02,28.83
$GC,10522,1.11,107.1,3556,2024,2636,2460,862.9,13.4,455,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2024,2548,2636,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10823,1.11,107.1,3555,2024,2634,2460,822.5,13.5,465,10834,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2024,2547,2635,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11123,1.11,107.1,3555,2024,2634,2459,782.0,13.5,475,11134,0.00,0.00,0.00,0.000,6,0.000,0.000,3556,2024,2546,2634,2459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11424,1.11,107.1,3555,2024,2632,2459,742.2,13.3,485,11435,0.00,2.15,0.00,0.000,516,0.000,0.035,3563,631,2545,2632,2459,0,0,0,0,0,0,28.83,26.48,28.83
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$STATE,17637,end climb,SURFACE_DEPTH_REACHED
$STATE,17637,begin surface coast
$FINISH,1.9,1.022486
$STATE,17671,end surface coast,CONTROL_FINISHED_OK
$STATE,17671,begin surface
$SM_CCo,17695,72.03,0.060,0,0,1479,375.06
$SM_GC,2.98,8.98,2.62,72.03,0.048,0.031,0.060,336,2312,1479,-8.88,-1.22,375.06,0,0,1,0,0,0,25.94,25.95,25.91
$IRIDIUM_FIX,4654.38,-12636.35,261013,151547
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.40
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.60
$XPDR_PINGS,0
$SC_FREEKB,3878592
$PM_FREEKB,4266088
$24V_AH,24.0,20.623
$10V_AH,9.7,26.177
$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,21.375,116.650,415.125,72.025,0.000,0.000,0.000,228.025,0.000,0.000,20.051,2467.905,12118.149,589.882,2575.402,416.043,0.000,2328.700,0.000,1765.075,0.000,0.536,0.000
$DEVICE_MAMPS,231.030,46.665,926.415,60.435,0.000,0.000,0.000,127.755,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.430,10.094,0.000,0.000
$MEM,258732
$DATA_FILE_SIZE,30061,818
$CAP_FILE_SIZE,203899,0
$CFSIZE,260034560,226975744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,2,0
$CURRENT,0.092,239.4,1
$GPS,271013,010234,4711.706,-12636.334,24,1.0,24,17.1