version: 66.11
glider: 108
mission: 25
dive: 445
start: 12 14 113 20 23 14
data:
$ID,108
$MISSION,25
$DIVE,445
$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,4
$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,-194764.97
$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,74
$R_STBD_OVSHOOT,52
$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
$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,48
$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
$GPS1,141213,201504,4747.577,-12520.370,28,0.9,28,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.68
$_SM_ANGLEo,-71.4
$GPS2,141213,202247,4747.623,-12520.287,17,1.6,17,17.2
$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,61.2,14784,-15.8,-8.049,-22.04,2046
$D_GRID,648
$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,23,-1.11,-107.1,335,2319,1537,1384,0.0,0.0,0,74,0.00,0.00,-43.55,0.000,16386,0.000,0.000,335,2319,2610,2654,2567,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-1.11,-107.1,335,2319,2655,2574,3.3,-1.8,7,128,10.07,2.00,-23.23,0.000,18692,0.234,0.061,2832,3589,3452,3493,3411,0,0,0,0,0,0,25.22,25.86,26.36
$GC,359,-1.11,-107.1,2832,3590,3498,3415,52.2,-17.3,43,371,0.00,1.90,0.00,0.000,1030,0.000,0.027,2838,2277,3456,3498,3415,0,0,0,0,0,0,28.83,26.14,28.83
$GC,665,-1.11,-107.1,2838,2277,3500,3415,96.7,-11.9,59,676,0.00,2.00,0.00,0.000,260,0.000,0.043,2831,3590,3457,3500,3415,0,0,0,0,0,0,28.83,25.96,28.83
$GC,907,-1.11,-107.1,2830,3590,3500,3415,127.4,-13.2,70,918,0.00,1.85,0.00,0.000,1030,0.000,0.026,2838,2281,3457,3500,3415,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1228,-1.11,-107.1,2838,2282,3501,3415,166.8,-12.1,86,1239,0.00,1.98,0.00,0.000,260,0.000,0.042,2830,3593,3458,3501,3415,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1313,-1.11,-107.1,2830,3593,3500,3415,175.8,-12.5,89,1325,0.00,1.83,0.00,0.000,1030,0.000,0.025,2837,2294,3457,3500,3415,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1619,-1.11,-107.1,2837,2294,3501,3416,212.3,-11.4,105,1629,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2294,3459,3503,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1919,-1.11,-107.1,2837,2294,3501,3415,246.8,-11.6,120,1929,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2294,3458,3501,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2219,-1.11,-107.1,2838,2294,3501,3416,281.5,-11.4,135,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2294,3458,3501,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2520,-1.11,-107.1,2838,2294,3501,3415,315.3,-11.0,150,2531,0.00,2.08,0.00,0.000,516,0.000,0.031,2839,918,3458,3502,3415,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2599,-1.11,-107.1,2839,917,3501,3415,323.6,-11.6,153,2610,0.00,2.12,0.00,0.000,1030,0.000,0.031,2832,2311,3458,3501,3416,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2919,-1.11,-107.1,2832,2310,3500,3415,361.6,-11.4,169,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2311,3458,3501,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3219,-1.11,-107.1,2832,2310,3500,3415,395.5,-11.3,184,3230,0.00,2.12,0.00,0.000,516,0.000,0.030,2832,917,3457,3500,3415,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3279,-1.11,-107.1,2831,917,3500,3416,401.4,-11.6,186,3290,0.00,2.15,0.00,0.000,1030,0.000,0.031,2823,2314,3457,3500,3415,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3600,-1.11,-107.1,2823,2313,3499,3415,439.2,-11.2,202,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2314,3457,3499,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3900,-1.11,-107.1,2823,2313,3498,3415,470.7,-10.2,217,3911,0.00,2.12,0.00,0.000,516,0.000,0.031,2824,917,3457,3498,3416,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3981,-1.11,-107.1,2824,917,3498,3415,478.0,-10.3,220,3992,0.00,2.12,0.00,0.000,1030,0.000,0.032,2818,2308,3456,3498,3415,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4301,-1.11,-107.1,2817,2308,3498,3415,513.7,-10.8,236,4312,0.00,2.12,0.00,0.000,516,0.000,0.030,2818,917,3456,3498,3415,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4366,-1.11,-107.1,2817,917,3498,3415,519.3,-10.9,238,4378,0.12,2.12,0.00,0.000,3078,0.171,0.031,2840,2309,3457,3498,3416,0,0,0,0,0,0,25.82,26.24,28.83
$GC,4672,-1.11,-107.1,2839,2309,3497,3416,551.7,-10.2,254,4682,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2309,3456,3497,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4972,-1.11,-107.1,2840,2309,3496,3415,580.9,-9.7,269,4982,0.00,2.12,0.00,0.000,516,0.000,0.031,2849,914,3455,3496,3415,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5031,-1.11,-107.1,2848,914,3496,3415,585.6,-9.6,271,5043,0.00,2.12,0.00,0.000,1030,0.000,0.031,2842,2306,3455,3495,3415,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5372,-1.11,-107.1,2841,2305,3495,3415,618.5,-9.5,285,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,2305,3455,3495,3415,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5669,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5673,begin apogee
$GC,5680,-0.25,0.0,2841,2036,3494,3415,650.5,-11.0,295,5836,0.85,0.00,137.70,0.869,10246,0.129,0.000,3112,2035,3004,3092,2916,0,0,0,0,0,0,25.27,28.83,24.08
$STATE,5838,end apogee,CONTROL_FINISHED_OK
$STATE,5838,begin climb
$GC,5842,1.11,107.1,3111,2035,3091,2914,656.4,0.0,300,6000,1.27,2.30,139.55,0.837,10756,0.078,0.034,3565,649,2565,2662,2468,0,0,0,0,0,0,25.10,24.51,23.63
$GC,6077,1.11,107.1,2720,649,2592,2453,638.3,11.1,308,6088,0.00,2.22,0.00,0.000,1030,0.000,0.029,3565,2028,2555,2648,2463,0,0,0,0,0,0,28.83,25.17,28.83
$GC,6402,1.11,107.1,3565,2028,2643,2458,595.9,12.9,319,6413,0.00,2.15,0.00,0.000,260,0.000,0.041,3565,3427,2550,2643,2458,0,0,0,0,0,0,28.83,25.81,28.83
$GC,6476,1.11,107.1,2760,3426,2589,2448,585.9,13.9,322,6487,0.00,2.08,0.00,0.000,1030,0.000,0.025,3575,2014,2549,2642,2457,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6801,1.11,107.1,3575,2009,2640,2456,542.1,13.4,338,6811,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2008,2548,2640,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7101,1.11,107.1,3575,2008,2640,2454,503.1,13.0,353,7112,0.00,2.12,0.00,0.000,516,0.000,0.034,3585,639,2547,2640,2454,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7186,1.11,107.1,3585,639,2640,2454,494.1,13.1,356,7198,0.00,2.15,0.00,0.000,1030,0.000,0.029,3585,2038,2547,2640,2454,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7491,1.11,107.1,3585,2038,2639,2454,451.5,13.2,372,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,3585,2038,2547,2640,2454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7792,1.11,107.1,3585,2038,2638,2453,413.6,12.5,387,7803,0.00,2.17,0.00,0.000,516,0.000,0.034,3594,643,2545,2638,2453,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7907,1.11,107.1,2832,643,2585,2445,399.4,13.0,392,7918,0.12,2.15,0.00,0.000,5126,0.165,0.031,3562,2030,2545,2637,2454,0,0,0,0,0,0,25.86,26.24,28.83
$GC,8232,1.11,107.1,3561,2029,2637,2453,359.6,12.2,408,8242,0.00,0.00,0.00,0.000,6,0.000,0.000,3561,2030,2545,2637,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8532,1.11,107.1,3561,2030,2637,2453,322.9,12.0,423,8542,0.00,0.00,0.00,0.000,6,0.000,0.000,3562,2029,2544,2636,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8832,1.11,107.1,3561,2029,2636,2453,286.8,12.2,438,8843,0.00,2.20,0.00,0.000,516,0.000,0.034,3569,632,2544,2636,2453,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8867,1.11,107.1,3568,631,2636,2453,283.1,12.1,439,8878,0.00,2.15,0.00,0.000,1030,0.000,0.030,3569,2030,2544,2636,2453,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9193,1.11,107.1,3569,2029,2635,2453,241.4,12.9,455,9204,0.00,0.00,0.00,0.000,6,0.000,0.000,3570,2029,2544,2635,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9493,1.11,107.1,3568,2029,2635,2453,202.8,12.9,470,9503,0.00,0.00,0.00,0.000,6,0.000,0.000,3569,2029,2544,2635,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9793,1.11,107.1,3568,2029,2635,2453,166.6,11.6,485,9804,0.00,2.10,0.00,0.000,260,0.000,0.041,3568,3438,2543,2635,2452,0,0,0,0,0,0,28.83,26.09,28.83
$GC,9847,1.11,107.1,3569,3438,2635,2452,160.6,11.8,487,9858,0.00,2.05,0.00,0.000,1030,0.000,0.026,3579,2018,2543,2635,2452,0,0,0,0,0,0,28.83,26.40,28.83
$GC,10172,1.11,107.1,3578,2018,2635,2452,123.4,11.1,503,10183,0.00,2.10,0.00,0.000,516,0.000,0.034,3589,647,2543,2635,2452,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10332,1.11,107.1,3588,647,2635,2452,107.4,10.7,510,10344,0.12,2.15,0.00,0.000,5126,0.163,0.031,3558,2034,2543,2635,2451,0,0,0,0,0,0,25.88,26.27,28.83
$GC,10654,1.11,107.1,3557,2034,2634,2452,78.0,9.0,526,10664,0.00,0.00,0.00,0.000,6,0.000,0.000,3558,2034,2543,2635,2452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10953,1.17,126.5,3558,2034,2634,2452,54.1,7.1,541,10983,0.00,2.20,17.12,0.610,8708,0.000,0.035,3565,649,2490,2581,2400,0,0,1,0,0,0,28.83,26.31,25.39
$GC,11217,1.29,165.0,3565,649,2576,2400,34.7,6.1,563,11288,0.15,2.12,53.70,0.584,11270,0.084,0.029,3625,2030,2333,2428,2239,0,0,0,0,0,0,26.10,26.22,25.03
$GC,11593,1.40,204.5,3625,2030,2420,2234,11.1,6.1,620,11622,0.00,0.00,18.38,0.072,8710,0.000,0.000,3625,2030,2174,2278,2071,0,0,0,0,0,0,28.83,28.83,25.70
$STATE,11671,end climb,SURFACE_DEPTH_REACHED
$STATE,11671,begin surface coast
$FINISH,1.9,1.024209
$STATE,11708,end surface coast,CONTROL_FINISHED_OK
$STATE,11708,begin surface
$SM_CCo,11733,76.20,0.057,0,0,1479,375.06
$SM_GC,2.88,8.68,0.38,76.20,0.038,0.048,0.057,334,2315,1479,-8.87,-1.39,375.06,0,0,0,0,0,0,25.91,26.13,25.81
$IRIDIUM_FIX,4729.30,-12519.98,141213,161635
$TT8_MAMPS,0.027713,0.027713
$HUMID,55.67
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,17.90
$XPDR_PINGS,0
$SC_FREEKB,3795776
$PM_FREEKB,2849676
$24V_AH,23.6,47.251
$10V_AH,9.4,47.716
$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,21.400,67.925,366.450,76.200,0.000,0.000,0.000,243.000,0.000,0.000,18.408,1935.319,7361.694,496.769,2024.342,448.376,0.000,1844.592,0.000,1457.704,0.000,0.535,0.000
$DEVICE_MAMPS,234.090,61.200,869.040,57.375,0.000,0.000,0.000,126.990,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11713.000,271.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.044,10.003,0.000,0.000
$MEM,258740
$DATA_FILE_SIZE,23438,640
$CAP_FILE_SIZE,147931,0
$CFSIZE,260034560,205213696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.033,260.9,1
$GPS,141213,234135,4747.649,-12518.873,40,1.1,40,17.2