version: 66.11
glider: 108
mission: 25
dive: 682
start: 1 26 114 8 36 40
data:
$ID,108
$MISSION,25
$DIVE,682
$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,-195065.44
$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,76
$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
$GPS1,260114,082722,4749.123,-12517.457,42,0.8,42,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.60
$_SM_ANGLEo,-73.4
$GPS2,260114,083612,4749.104,-12517.476,21,1.1,21,17.2
$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,211.9,158237,-15.8,-8.049,-22.04,2046
$D_GRID,553
$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,-107.1,331,2311,1617,1509,0.0,0.0,0,71,0.00,0.00,-39.15,0.000,16386,0.000,0.000,331,2311,2587,2616,2559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,331,2312,2621,2563,3.0,-1.7,7,126,10.30,1.92,-25.77,0.000,18692,0.235,0.057,2828,3589,3449,3470,3428,0,0,0,0,0,0,25.03,25.93,26.51
$GC,163,-1.11,-107.1,2828,3589,3471,3433,12.4,-18.7,20,175,0.00,1.85,0.00,0.000,1030,0.000,0.026,2836,2289,3453,3472,3434,0,0,0,0,0,0,28.83,26.18,28.83
$GC,491,-1.11,-107.1,2836,2287,3477,3434,70.9,-17.2,51,502,0.00,1.98,0.00,0.000,260,0.000,0.042,2828,3586,3455,3477,3433,0,0,0,0,0,0,28.83,26.09,28.83
$GC,734,-1.11,-107.1,2828,3586,3477,3434,103.1,-12.8,62,745,0.00,1.85,0.00,0.000,1030,0.000,0.026,2835,2286,3455,3477,3434,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1055,-1.11,-107.1,2835,2286,3478,3434,142.9,-12.5,78,1066,0.00,1.98,0.00,0.000,260,0.000,0.042,2827,3594,3456,3478,3434,0,0,0,0,0,0,28.83,26.17,28.83
$GC,1290,-1.11,-107.1,2827,3594,3477,3434,172.3,-11.9,89,1301,0.00,1.83,0.00,0.000,1030,0.000,0.025,2827,2287,3455,3477,3434,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1620,-1.11,-107.1,2827,2286,3478,3434,209.6,-11.2,105,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2286,3456,3478,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1920,-1.11,-107.1,2827,2286,3478,3435,243.9,-11.6,120,1931,0.00,2.08,0.00,0.000,516,0.000,0.031,2827,909,3456,3478,3434,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2002,-1.11,-107.1,2827,909,3479,3434,252.5,-12.1,123,2014,0.00,2.12,0.00,0.000,1030,0.000,0.031,2819,2302,3456,3479,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2325,-1.11,-107.1,2819,2301,3478,3434,293.4,-12.0,139,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2301,3455,3478,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2625,-1.11,-107.1,2818,2301,3478,3434,327.5,-11.2,154,2636,0.00,2.10,0.00,0.000,516,0.000,0.029,2819,921,3456,3478,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2666,-1.11,-107.1,2819,921,3478,3434,331.1,-11.4,155,2677,0.00,2.12,0.00,0.000,1030,0.000,0.031,2812,2306,3456,3478,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2986,-1.11,-107.1,2812,2306,3477,3434,369.4,-11.5,171,2998,0.12,2.12,0.00,0.000,2564,0.181,0.028,2852,913,3455,3477,3434,0,0,0,0,0,0,26.17,26.34,28.83
$GC,3141,-1.11,-107.1,2852,913,3478,3434,385.4,-10.1,178,3153,0.00,2.15,0.00,0.000,1030,0.000,0.031,2845,2304,3456,3478,3434,0,0,0,0,0,0,28.83,26.35,28.83
$GC,3472,-1.11,-107.1,2844,2303,3477,3434,417.8,-10.0,194,3483,0.00,2.10,0.00,0.000,516,0.000,0.030,2847,920,3456,3477,3435,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3527,-1.11,-107.1,2846,920,3477,3434,422.9,-9.9,196,3538,0.00,2.12,0.00,0.000,1030,0.000,0.031,2839,2309,3455,3477,3434,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3853,-1.11,-107.1,2839,2308,3476,3434,457.4,-10.3,212,3863,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2308,3455,3476,3434,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4153,-1.11,-107.1,2839,2308,3476,3433,486.8,-9.7,227,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2308,3454,3476,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4453,-1.11,-107.1,2839,2308,3475,3433,515.5,-9.6,242,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2308,3453,3474,3433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4753,-1.11,-107.1,2839,2308,3475,3432,543.9,-9.6,257,4764,0.00,2.12,0.00,0.000,516,0.000,0.031,2840,915,3453,3475,3432,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,4862,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4862,begin apogee
$GC,4874,-0.25,0.0,2833,2022,3475,3432,555.0,-9.8,262,5022,0.90,0.00,134.80,0.777,10246,0.134,0.000,3116,2022,3009,3081,2938,0,0,0,0,0,0,25.35,28.83,23.91
$STATE,5024,end apogee,CONTROL_FINISHED_OK
$STATE,5024,begin climb
$GC,5028,1.11,107.1,3116,2022,3075,2933,559.3,0.0,269,5178,1.25,2.30,133.75,0.718,10756,0.076,0.033,3565,659,2565,2645,2486,0,0,1,0,0,0,25.22,24.93,23.80
$GC,5292,1.11,107.1,3565,659,2633,2483,534.2,12.9,282,5302,0.00,2.17,0.00,0.000,1030,0.000,0.028,3565,2036,2558,2633,2483,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5622,1.11,107.1,3565,2034,2629,2478,490.7,12.4,298,5632,0.00,0.00,0.00,0.000,6,0.000,0.000,3565,2034,2554,2630,2478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5922,1.11,107.1,3565,2034,2629,2477,454.7,12.1,313,5933,0.00,2.08,0.00,0.000,260,0.000,0.041,3565,3427,2552,2628,2477,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5988,1.11,107.1,3565,3427,2628,2475,447.8,13.0,315,6000,0.00,2.03,0.00,0.000,1030,0.000,0.025,3575,2030,2552,2628,2476,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6294,1.11,107.1,3575,2024,2627,2475,406.4,12.8,331,6305,0.00,2.12,0.00,0.000,516,0.000,0.034,3585,647,2551,2627,2475,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6355,1.11,107.1,3585,647,2626,2475,399.8,12.9,333,6367,0.00,2.15,0.00,0.000,1030,0.000,0.031,3584,2030,2550,2626,2475,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6677,1.11,107.1,3584,2029,2625,2474,357.4,12.8,349,6688,0.00,2.20,0.00,0.000,516,0.000,0.034,3592,635,2549,2625,2474,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6763,1.11,107.1,3591,635,2625,2474,348.2,12.8,352,6777,0.12,2.17,0.00,0.000,5126,0.162,0.030,3559,2038,2549,2625,2474,0,0,0,0,0,0,25.98,26.35,28.83
$GC,7068,1.11,107.1,3559,2037,2624,2474,310.7,11.3,368,7079,0.00,2.08,0.00,0.000,260,0.000,0.041,3559,3434,2549,2624,2474,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7144,1.11,107.1,2720,3433,2569,2464,302.2,12.1,371,7155,0.00,2.03,0.00,0.000,1030,0.000,0.025,3566,2022,2548,2624,2473,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7471,1.11,107.1,3566,2022,2623,2472,265.9,10.9,387,7482,0.00,2.12,0.00,0.000,516,0.000,0.034,3576,633,2548,2624,2472,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7551,1.11,107.1,3576,633,2623,2472,257.6,11.4,390,7562,0.00,2.15,0.00,0.000,1030,0.000,0.029,3576,2032,2547,2623,2472,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7871,1.11,107.1,3576,2031,2622,2473,218.2,12.1,406,7882,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2032,2547,2623,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8172,1.11,107.1,3576,2031,2622,2472,183.4,11.6,421,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2031,2547,2622,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8472,1.11,107.1,3576,2031,2622,2472,149.2,10.5,436,8482,0.00,0.00,0.00,0.000,6,0.000,0.000,3576,2031,2547,2622,2472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8772,1.11,107.1,3576,2031,2622,2471,120.1,10.0,451,8783,0.00,2.08,0.00,0.000,260,0.000,0.041,3576,3437,2546,2622,2471,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9010,1.11,107.1,3576,3437,2622,2470,93.7,12.1,462,9021,0.00,2.03,0.00,0.000,1030,0.000,0.025,3586,2022,2546,2622,2470,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9335,1.11,107.1,3585,2022,2621,2470,64.1,9.2,478,9346,0.00,2.10,0.00,0.000,516,0.000,0.034,3594,640,2546,2622,2470,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9381,1.11,107.1,3595,640,2622,2470,61.6,8.8,479,9394,0.15,2.12,0.00,0.000,5126,0.149,0.029,3555,2024,2546,2622,2470,0,0,0,0,0,0,25.94,26.37,28.83
$GC,9687,1.36,190.5,3554,2023,2622,2470,43.3,3.9,501,9809,0.20,2.22,104.90,0.568,10500,0.070,0.041,3644,3426,2228,2312,2144,0,0,0,0,0,0,26.51,25.52,24.45
$GC,9913,1.36,190.5,3644,3426,2306,2137,20.8,13.3,524,9926,0.00,2.08,0.00,0.000,1030,0.000,0.025,3654,2022,2221,2306,2137,0,0,0,0,0,0,28.83,25.99,28.83
$STATE,10044,end climb,SURFACE_DEPTH_REACHED
$STATE,10044,begin surface coast
$FINISH,1.8,1.020801
$STATE,10079,end surface coast,CONTROL_FINISHED_OK
$STATE,10079,begin surface
$SM_CCo,10106,71.40,0.057,0,0,1581,350.04
$SM_GC,2.70,8.85,0.43,71.40,0.044,0.044,0.057,334,2308,1581,-8.88,-1.53,350.04,0,0,0,0,0,0,25.95,26.14,25.82
$IRIDIUM_FIX,4735.69,-12512.13,260114,050548
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.48
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3720000
$PM_FREEKB,1563504
$24V_AH,23.8,69.303
$10V_AH,9.2,67.133
$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,21.900,70.875,373.450,71.400,0.000,0.000,0.000,266.250,0.000,0.000,21.688,1745.737,6051.207,486.884,1884.826,535.213,0.000,1769.488,0.000,1342.410,0.000,0.535,0.000
$DEVICE_MAMPS,234.855,57.375,777.240,56.610,0.000,0.000,0.000,123.165,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10097.000,235.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.303,10.000,0.000,0.000
$MEM,258720
$DATA_FILE_SIZE,20088,554
$CAP_FILE_SIZE,134757,0
$CFSIZE,260034560,186032128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.016,263.3,1
$GPS,260114,112751,4748.486,-12518.617,18,1.1,39,17.2