version: 66.11
glider: 108
mission: 25
dive: 253
start: 11 6 113 14 26 3
data:
$ID,108
$MISSION,25
$DIVE,253
$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,-193825.03
$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,75
$R_STBD_OVSHOOT,58
$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,9.5
$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
$GPS1,061113,141905,4746.103,-12525.396,41,0.8,41,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.66
$_SM_ANGLEo,-73.7
$GPS2,061113,142535,4746.122,-12525.293,16,1.1,17,17.2
$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,212.7,146987,-15.8,-8.049,-22.04,2046
$D_GRID,798
$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,-107.1,336,2312,1545,1373,0.0,0.0,0,70,0.00,0.00,-40.92,0.000,16386,0.000,0.000,336,2315,2535,2586,2484,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-1.11,-107.1,336,2315,2591,2488,3.0,-1.2,7,130,9.90,2.15,-32.60,0.000,18948,0.240,0.047,2849,900,3449,3497,3402,0,0,0,0,0,0,25.71,26.16,26.46
$GC,356,-1.11,-107.1,1888,899,3494,3405,45.4,-19.5,48,367,0.00,2.12,0.00,0.000,1030,0.000,0.034,2842,2292,3455,3504,3407,0,0,0,0,0,0,28.83,26.30,28.83
$GC,666,-1.11,-107.1,2841,2291,3506,3410,89.3,-13.5,65,677,0.00,2.10,0.00,0.000,516,0.000,0.030,2842,890,3458,3506,3410,0,0,0,0,0,0,28.83,26.41,28.83
$GC,684,-1.11,-107.1,2841,890,3506,3410,89.3,-13.5,65,695,0.00,2.15,0.00,0.000,1030,0.000,0.031,2833,2304,3458,3507,3410,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1003,-1.11,-107.1,2832,2304,3507,3411,133.8,-13.7,81,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2304,3459,3507,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1304,-1.11,-107.1,2832,2304,3507,3411,174.2,-13.0,96,1315,0.00,2.10,0.00,0.000,516,0.000,0.031,2832,898,3459,3507,3411,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1508,-1.11,-107.1,2833,898,3508,3411,196.6,-11.5,105,1520,0.00,2.12,0.00,0.000,1030,0.000,0.032,2823,2312,3459,3507,3411,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1814,-1.11,-107.1,2823,2312,3507,3411,238.0,-13.7,121,1824,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2312,3459,3507,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2114,-1.11,-107.1,2823,2312,3508,3411,279.1,-12.9,136,2124,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2312,3459,3508,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2414,-1.11,-107.1,2823,2312,3508,3411,317.8,-12.6,151,2424,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2312,3459,3508,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2715,-1.11,-107.1,2823,2312,3507,3411,356.2,-12.9,166,2725,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2312,3459,3507,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3015,-1.11,-107.1,2823,2312,3507,3411,392.8,-12.0,181,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2312,3459,3507,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3314,-1.11,-107.1,2823,2312,3506,3410,429.1,-11.9,196,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2312,3458,3506,3411,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3614,-1.11,-107.1,2823,2312,3505,3411,465.6,-11.8,211,3625,0.00,2.10,0.00,0.000,516,0.000,0.031,2825,903,3457,3505,3410,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3853,-1.11,-107.1,2824,903,3505,3410,491.8,-11.4,222,3864,0.00,2.10,0.00,0.000,1030,0.000,0.034,2817,2300,3457,3505,3410,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4173,-1.11,-107.1,2817,2300,3505,3410,528.2,-10.7,238,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2300,3457,3504,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4473,-1.11,-107.1,2817,2300,3504,3410,560.3,-10.9,253,4483,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2300,3457,3504,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4773,-1.11,-107.1,2817,2300,3503,3409,591.5,-10.4,268,4783,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2300,3456,3503,3410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5094,-1.11,-107.1,2817,2300,3503,3408,626.2,-10.8,280,5105,0.00,1.92,0.00,0.000,260,0.000,0.045,2808,3596,3456,3503,3409,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5144,-1.11,-107.1,2808,3595,3502,3409,631.0,-10.9,281,5155,0.12,1.83,0.00,0.000,3078,0.177,0.026,2838,2289,3455,3502,3409,0,0,0,0,0,0,26.40,26.74,28.83
$GC,5474,-1.11,-107.1,2838,2289,3502,3408,666.6,-10.7,292,5484,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2289,3455,3502,3408,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5776,-1.11,-107.1,2838,2289,3501,3407,699.5,-10.9,302,5787,0.00,2.03,0.00,0.000,516,0.000,0.031,2838,914,3454,3501,3407,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5960,-1.11,-107.1,2838,915,3501,3406,716.2,-10.3,307,5971,0.00,2.08,0.00,0.000,1030,0.000,0.032,2831,2302,3453,3501,3406,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6267,-1.11,-107.1,2831,2301,3499,3406,747.2,-9.7,318,6278,0.00,2.08,0.00,0.000,516,0.000,0.031,2835,909,3453,3500,3406,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6376,-1.11,-107.1,2834,909,3500,3406,756.9,-9.7,321,6387,0.00,2.10,0.00,0.000,1030,0.000,0.032,2828,2301,3453,3500,3406,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6705,-1.11,-107.1,2827,2301,3498,3405,791.0,-10.5,332,6716,0.00,2.08,0.00,0.000,516,0.000,0.031,2831,906,3452,3499,3405,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,6773,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6773,begin apogee
$GC,6782,-0.25,0.0,2826,2022,3499,3405,798.8,-11.1,334,6934,0.90,0.00,138.20,0.880,10246,0.144,0.000,3113,2021,3005,3099,2912,0,0,0,0,0,0,26.30,28.83,24.41
$STATE,6936,end apogee,CONTROL_FINISHED_OK
$STATE,6936,begin climb
$GC,6939,1.11,107.1,3113,2022,3096,2910,803.9,0.0,339,7088,1.25,0.00,139.35,0.815,10502,0.076,0.000,3554,2021,2571,2676,2467,0,0,0,0,0,0,25.20,28.83,24.08
$GC,7375,1.11,107.1,3553,2021,2654,2453,753.9,13.1,354,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2021,2553,2654,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7676,1.11,107.1,3554,2021,2651,2451,714.5,13.3,364,7686,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2021,2551,2651,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7976,1.11,107.1,3553,2021,2649,2449,673.6,13.6,374,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2021,2549,2649,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8275,1.11,107.1,3554,2021,2648,2449,633.3,13.5,384,8286,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2022,2548,2648,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8588,1.11,107.1,3553,2021,2647,2448,593.0,12.5,395,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2021,2547,2647,2448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8886,1.11,107.1,3553,2021,2646,2447,553.9,13.1,410,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,3554,2021,2546,2646,2447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9186,1.11,107.1,3553,2021,2645,2446,514.0,13.1,425,9197,0.00,2.10,0.00,0.000,260,0.000,0.043,3554,3425,2545,2645,2446,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9282,1.11,107.1,2720,3423,2591,2436,501.5,14.0,429,9293,0.00,2.00,0.00,0.000,1030,0.000,0.027,3563,2034,2545,2645,2446,0,0,0,0,0,0,28.83,26.60,28.83
$GC,9606,1.11,107.1,3563,2034,2644,2445,456.8,13.3,445,9617,0.00,2.12,0.00,0.000,516,0.000,0.035,3573,635,2545,2644,2446,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9702,1.11,107.1,2768,635,2589,2436,444.8,13.4,449,9713,0.00,2.12,0.00,0.000,1030,0.000,0.029,3571,2030,2545,2644,2446,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10026,1.11,107.1,3571,2030,2644,2445,401.9,12.7,465,10037,0.00,2.08,0.00,0.000,260,0.000,0.042,3571,3426,2544,2644,2445,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10090,1.11,107.1,3571,3426,2643,2445,395.2,13.2,467,10102,0.00,2.03,0.00,0.000,1030,0.000,0.026,3578,2019,2544,2644,2445,0,0,0,0,0,0,28.83,26.65,28.83
$GC,10396,1.11,107.1,3579,2019,2643,2445,352.7,13.0,483,10406,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2019,2544,2643,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10696,1.11,107.1,3579,2019,2643,2444,312.7,13.1,498,10707,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2019,2543,2643,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10995,1.11,107.1,3578,2019,2642,2444,271.1,14.0,513,11006,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2019,2543,2643,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11296,1.11,107.1,3578,2019,2643,2444,229.3,13.9,528,11306,0.00,0.00,0.00,0.000,6,0.000,0.000,3579,2019,2543,2643,2444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11597,1.11,107.1,3578,2019,2642,2443,188.9,13.7,543,11608,0.00,2.08,0.00,0.000,516,0.000,0.035,3589,637,2543,2643,2443,0,0,0,0,0,0,28.83,26.63,28.83
$GC,11635,1.11,107.1,3589,637,2642,2443,184.7,13.6,544,11647,0.12,2.10,0.00,0.000,5126,0.171,0.030,3558,2030,2542,2641,2443,0,0,0,0,0,0,26.38,26.65,28.83
$GC,11956,1.11,107.1,3558,2030,2642,2443,141.7,12.4,560,11967,0.00,2.12,0.00,0.000,516,0.000,0.033,3566,632,2542,2642,2443,0,0,0,0,0,0,28.83,26.64,28.83
$GC,12030,1.11,107.1,2752,632,2589,2434,132.8,12.7,563,12041,0.00,2.10,0.00,0.000,1030,0.000,0.030,3565,2026,2542,2642,2443,0,0,0,0,0,0,28.83,26.66,28.83
$GC,12355,1.11,107.1,3565,2026,2642,2443,93.8,11.3,579,12366,0.00,2.05,0.00,0.000,260,0.000,0.041,3565,3423,2542,2642,2443,0,0,0,0,0,0,28.83,26.61,28.83
$GC,12409,1.11,107.1,2768,3422,2589,2435,88.5,10.9,581,12420,0.00,2.00,0.00,0.000,1030,0.000,0.025,3575,2016,2542,2642,2443,0,0,0,0,0,0,28.83,26.71,28.83
$GC,12734,1.13,112.8,3575,2016,2642,2443,57.5,7.8,597,12745,0.00,2.12,0.00,0.000,260,0.000,0.040,3567,3434,2542,2642,2443,0,0,0,0,0,0,28.83,26.62,28.83
$GC,12977,1.40,204.5,3567,3434,2642,2443,41.6,3.4,615,13118,0.22,2.00,127.57,0.561,11270,0.076,0.026,3663,2018,2172,2282,2062,0,0,0,0,0,0,26.59,26.72,24.91
$STATE,13302,end climb,SURFACE_DEPTH_REACHED
$STATE,13303,begin surface coast
$FINISH,1.8,1.016690
$STATE,13329,end surface coast,CONTROL_FINISHED_OK
$STATE,13329,begin surface
$SM_CCo,13352,74.90,0.058,0,0,1480,375.06
$SM_GC,2.72,8.88,0.43,74.90,0.044,0.045,0.058,336,2300,1480,-8.88,-1.61,375.06,0,0,0,0,0,0,25.98,26.03,25.94
$IRIDIUM_FIX,4745.30,-12514.29,061113,101044
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.97
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3857152
$PM_FREEKB,3955584
$24V_AH,24.1,27.283
$10V_AH,9.6,31.077
$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,21.400,62.250,405.125,74.900,0.000,0.000,0.000,198.300,0.000,0.000,19.954,2015.412,8852.740,545.476,2065.567,337.858,0.000,1888.587,0.000,1446.145,0.000,0.535,0.000
$DEVICE_MAMPS,240.210,47.430,879.750,58.140,0.000,0.000,0.000,129.285,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13324.000,328.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.928,9.895,0.000,0.000
$MEM,258724
$DATA_FILE_SIZE,23366,665
$CAP_FILE_SIZE,153878,0
$CFSIZE,260034560,222003200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,217.4,1
$GPS,061113,181104,4744.862,-12527.036,27,1.2,27,17.2