version: 66.11
glider: 108
mission: 25
dive: 681
start: 1 26 114 5 50 44
data:
$ID,108
$MISSION,25
$DIVE,681
$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,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-195064.19
$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,77
$R_STBD_OVSHOOT,56
$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
$GPS1,260114,053447,4749.535,-12516.639,18,1.0,18,17.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-73.6
$GPS2,260114,055015,4749.539,-12516.616,26,0.9,26,17.2
$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,206.8,159588,-15.8,-8.049,-22.04,2046
$D_GRID,501
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,25,-1.11,-107.1,337,2304,1618,1507,0.0,0.0,0,70,0.00,0.00,-38.33,0.000,16386,0.000,0.000,337,2304,2564,2593,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,337,2304,2598,2539,3.1,-2.4,7,126,10.30,1.95,-26.48,0.000,18692,0.235,0.057,2830,3583,3449,3470,3428,0,0,0,0,0,0,25.01,25.94,26.51
$GC,182,-1.11,-107.1,1824,3582,3461,3431,16.3,-19.3,24,195,0.00,1.85,0.00,0.000,1030,0.000,0.026,2837,2280,3454,3474,3434,0,0,0,0,0,0,28.83,26.20,28.83
$GC,509,-1.11,-107.1,2837,2279,3477,3434,72.5,-16.2,52,521,0.00,2.00,0.00,0.000,260,0.000,0.044,2829,3592,3455,3477,3434,0,0,0,0,0,0,28.83,26.08,28.83
$GC,753,-1.11,-107.1,2829,3593,3477,3434,105.1,-13.8,63,764,0.00,1.83,0.00,0.000,1030,0.000,0.025,2829,2286,3455,3476,3434,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1073,-1.11,-107.1,2829,2286,3478,3434,143.1,-11.2,79,1084,0.00,1.95,0.00,0.000,260,0.000,0.042,2820,3588,3456,3478,3434,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1248,-1.11,-107.1,2820,3589,3478,3434,164.7,-12.6,87,1259,0.00,1.80,0.00,0.000,1030,0.000,0.025,2825,2297,3456,3478,3435,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1579,-1.11,-107.1,2824,2297,3479,3435,202.2,-10.7,103,1590,0.00,2.08,0.00,0.000,516,0.000,0.030,2825,916,3456,3478,3434,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1665,-1.11,-107.1,2824,916,3478,3435,209.9,-10.8,106,1677,0.00,2.12,0.00,0.000,1030,0.000,0.031,2818,2313,3456,3478,3434,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1971,-1.11,-107.1,2818,2312,3478,3435,247.2,-11.9,122,1981,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2312,3456,3478,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2271,-1.11,-107.1,2817,2312,3478,3435,283.2,-11.9,137,2282,0.00,2.15,0.00,0.000,516,0.000,0.031,2818,910,3456,3478,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2370,-1.11,-107.1,2817,910,3478,3434,294.4,-12.2,141,2382,0.12,2.12,0.00,0.000,3078,0.171,0.031,2841,2304,3455,3478,3433,0,0,0,0,0,0,25.96,26.35,28.83
$GC,2697,-1.11,-107.1,2840,2303,3478,3434,331.0,-10.5,157,2707,0.00,2.10,0.00,0.000,516,0.000,0.030,2847,918,3456,3478,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2742,-1.11,-107.1,2846,918,3478,3434,334.3,-10.4,158,2754,0.00,2.12,0.00,0.000,1030,0.000,0.031,2840,2313,3456,3478,3435,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3047,-1.11,-107.1,2840,2312,3477,3434,366.0,-9.6,174,3058,0.00,1.88,0.00,0.000,260,0.000,0.043,2830,3589,3455,3477,3434,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3120,-1.11,-107.1,2830,3588,3478,3434,373.6,-10.6,177,3131,0.00,1.80,0.00,0.000,1030,0.000,0.025,2830,2301,3455,3477,3434,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3452,-1.11,-107.1,2830,2300,3476,3434,408.9,-10.9,193,3463,0.00,2.08,0.00,0.000,516,0.000,0.031,2833,918,3455,3477,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3546,-1.11,-107.1,2833,918,3477,3434,419.5,-11.5,197,3557,0.00,2.12,0.00,0.000,1030,0.000,0.031,2826,2311,3455,3477,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3877,-1.11,-107.1,2826,2310,3476,3434,457.1,-11.1,213,3887,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2310,3455,3476,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4178,-1.11,-107.1,2826,2310,3476,3433,489.9,-10.7,228,4189,0.00,2.12,0.00,0.000,516,0.000,0.031,2826,916,3454,3476,3433,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4238,-1.11,-107.1,2826,916,3475,3433,495.7,-11.1,230,4249,0.00,2.12,0.00,0.000,1030,0.000,0.032,2818,2300,3454,3475,3433,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,4275,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4275,begin apogee
$GC,4284,-0.25,0.0,2817,2025,3475,3433,501.3,-11.3,232,4434,0.95,0.00,135.40,0.761,10246,0.135,0.000,3116,2018,3008,3080,2937,0,0,0,0,0,0,25.35,28.83,24.01
$STATE,4436,end apogee,CONTROL_FINISHED_OK
$STATE,4436,begin climb
$GC,4440,1.11,107.1,3116,2018,3075,2932,506.1,0.0,239,4594,1.25,2.30,131.60,0.693,10756,0.076,0.032,3566,649,2564,2644,2485,0,0,0,0,0,0,25.25,25.08,23.89
$GC,4623,1.11,107.1,3566,649,2637,2484,494.6,9.7,248,4634,0.00,2.20,0.00,0.000,1030,0.000,0.029,3566,2022,2560,2637,2483,0,0,0,0,0,0,28.83,25.49,28.83
$GC,4929,1.11,107.1,3566,2021,2630,2477,455.7,12.1,264,4940,0.00,2.12,0.00,0.000,260,0.000,0.041,3566,3438,2553,2630,2477,0,0,0,0,0,0,28.83,26.02,28.83
$GC,4954,1.11,107.1,3566,3438,2630,2477,455.7,12.1,264,4967,0.00,2.05,0.00,0.000,1030,0.000,0.025,3576,2021,2553,2629,2477,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5260,1.11,107.1,3576,2021,2629,2475,414.2,12.4,280,5271,0.00,2.15,0.00,0.000,260,0.000,0.039,3568,3435,2552,2629,2476,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5294,1.11,107.1,2768,3433,2574,2466,410.2,12.6,281,5305,0.00,2.03,0.00,0.000,1030,0.000,0.025,3576,2022,2551,2628,2475,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5619,1.11,107.1,3576,2022,2627,2474,369.3,11.9,297,5630,0.00,2.12,0.00,0.000,516,0.000,0.034,3586,639,2550,2627,2474,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5664,1.11,107.1,3586,639,2627,2474,365.6,12.1,298,5676,0.00,2.15,0.00,0.000,1030,0.000,0.029,3586,2033,2550,2627,2474,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5970,1.11,107.1,3586,2032,2625,2474,325.5,12.7,314,5981,0.00,2.08,0.00,0.000,260,0.000,0.041,3586,3438,2549,2625,2473,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6010,1.11,107.1,3585,3438,2625,2473,321.3,13.1,315,6022,0.15,2.03,0.00,0.000,5126,0.164,0.025,3558,2023,2549,2625,2473,0,0,0,0,0,0,25.94,26.44,28.83
$GC,6332,1.11,107.1,3558,2016,2625,2472,283.1,10.7,331,6342,0.00,2.12,0.00,0.000,516,0.000,0.034,3566,637,2548,2625,2472,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6398,1.11,107.1,3566,636,2624,2472,277.6,10.7,333,6410,0.00,2.15,0.00,0.000,1030,0.000,0.029,3565,2035,2548,2624,2472,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6703,1.11,107.1,3565,2034,2623,2472,242.8,10.6,349,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2035,2548,2624,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7003,1.11,107.1,3565,2034,2623,2470,211.8,10.4,364,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2034,2546,2623,2470,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7304,1.11,107.1,3565,2034,2623,2470,179.3,10.9,379,7315,0.00,2.08,0.00,0.000,260,0.000,0.041,3565,3428,2546,2623,2469,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7338,1.11,107.1,3565,3428,2622,2472,175.7,10.9,380,7349,0.00,2.03,0.00,0.000,1030,0.000,0.025,3573,2015,2546,2622,2470,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7665,1.11,107.1,3573,2015,2624,2470,139.5,10.8,396,7676,0.00,2.12,0.00,0.000,260,0.000,0.040,3573,3421,2546,2622,2470,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7739,1.11,107.1,2784,3420,2569,2461,131.0,11.7,399,7750,0.00,2.00,0.00,0.000,1030,0.000,0.026,3583,2025,2545,2622,2469,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8065,1.11,107.1,3583,2025,2622,2469,96.4,10.1,415,8076,0.00,2.12,0.00,0.000,260,0.000,0.040,3582,3430,2545,2622,2469,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8308,1.11,107.1,3581,3430,2622,2469,72.5,9.2,426,8319,0.12,2.03,0.00,0.000,5126,0.156,0.025,3559,2020,2546,2623,2469,0,0,0,0,0,0,26.07,26.47,28.83
$GC,8629,1.32,176.2,3558,2020,2621,2470,52.9,4.6,442,8730,0.17,2.17,84.90,0.590,10756,0.076,0.032,3646,641,2287,2368,2206,0,0,0,0,0,0,26.51,25.63,24.42
$GC,8964,1.32,176.2,3646,641,2358,2203,20.6,10.3,475,8977,0.00,2.17,0.00,0.000,1030,0.000,0.030,3644,2027,2280,2358,2202,0,0,0,0,0,0,28.83,26.07,28.83
$STATE,9139,end climb,SURFACE_DEPTH_REACHED
$STATE,9139,begin surface coast
$FINISH,1.7,1.014338
$STATE,9195,end surface coast,CONTROL_FINISHED_OK
$STATE,9195,begin surface
$SM_CCo,9223,78.00,0.057,0,0,1581,350.04
$SM_GC,2.61,8.82,0.38,78.00,0.046,0.050,0.057,331,2311,1581,-8.89,-1.44,350.04,0,0,0,0,0,0,26.06,26.25,25.89
$IRIDIUM_FIX,4729.30,-12514.75,260114,050534
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.89
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3720320
$PM_FREEKB,1563504
$24V_AH,23.9,69.219
$10V_AH,9.4,67.069
$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,21.900,79.150,351.900,78.000,0.000,0.000,0.000,549.075,0.000,0.000,27.812,1634.204,5519.188,496.959,2047.404,530.740,0.000,2002.633,0.000,1253.214,0.000,0.535,0.000
$DEVICE_MAMPS,234.855,56.610,761.175,57.375,0.000,0.000,0.000,121.635,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9211.000,217.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.598,10.191,0.000,0.000
$MEM,258748
$DATA_FILE_SIZE,16758,518
$CAP_FILE_SIZE,132829,0
$CFSIZE,260034560,186101760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.020,334.4,1
$GPS,260114,082722,4749.123,-12517.457,42,0.8,42,17.2