version: 66.11
glider: 108
mission: 25
dive: 130
start: 10 15 113 21 32 39
data:
$ID,108
$MISSION,25
$DIVE,130
$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,-193669.25
$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,3215
$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,46
$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
$GPS1,151013,212703,4750.129,-12513.960,38,1.2,41,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-73.3
$GPS2,151013,213213,4750.115,-12513.964,17,1.0,18,17.2
$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,243.7,162946,-15.8,-8.049,-22.04,2046
$D_GRID,416
$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,-107.1,332,2310,1544,1384,0.0,0.0,0,71,0.00,0.00,-41.47,0.000,16386,0.000,0.000,332,2310,2569,2619,2520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-1.11,-107.1,333,2310,2623,2525,3.0,-2.0,7,125,9.70,2.03,-29.00,0.000,18692,0.233,0.060,2842,3596,3448,3494,3403,0,0,0,0,0,0,25.80,26.08,26.37
$GC,271,-1.11,-107.1,2842,3596,3500,3410,32.3,-18.7,38,283,0.00,1.88,0.00,0.000,1030,0.000,0.026,2850,2278,3455,3501,3410,0,0,0,0,0,0,28.83,26.28,28.83
$GC,591,-1.11,-107.1,2849,2277,3507,3414,77.3,-12.6,60,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2277,3460,3507,3414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,891,-1.11,-107.1,2849,2277,3509,3415,115.5,-11.4,75,902,0.00,2.03,0.00,0.000,516,0.000,0.031,2850,911,3462,3509,3415,0,0,0,0,0,0,28.83,26.49,28.83
$GC,982,-1.11,-107.1,2850,912,3510,3415,126.1,-11.9,79,993,0.00,2.10,0.00,0.000,1030,0.000,0.031,2843,2316,3462,3509,3415,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1312,-1.11,-107.1,2843,2316,3509,3416,167.0,-12.0,95,1323,0.00,1.90,0.00,0.000,260,0.000,0.044,2833,3582,3461,3509,3414,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1376,-1.11,-107.1,2833,3582,3509,3415,173.2,-12.4,97,1388,0.00,1.80,0.00,0.000,1030,0.000,0.026,2834,2295,3462,3509,3415,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1682,-1.11,-107.1,2833,2295,3508,3415,210.6,-11.1,113,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2295,3461,3508,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1981,-1.11,-107.1,2833,2295,3508,3415,245.0,-11.1,128,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2295,3461,3508,3415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2282,-1.11,-107.1,2833,2295,3507,3415,279.5,-11.7,143,2292,0.00,2.03,0.00,0.000,516,0.000,0.031,2833,914,3461,3507,3415,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2355,-1.11,-107.1,2833,914,3507,3415,287.6,-11.9,146,2366,0.12,2.10,0.00,0.000,3078,0.175,0.032,2856,2311,3461,3507,3415,0,0,0,0,0,0,26.50,26.68,28.83
$GC,2680,-1.11,-107.1,2856,2311,3505,3415,324.1,-11.5,162,2691,0.00,1.90,0.00,0.000,260,0.000,0.045,2849,3589,3460,3505,3415,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2784,-1.11,-107.1,2848,3589,3505,3415,335.2,-12.3,166,2796,0.00,1.80,0.00,0.000,1030,0.000,0.027,2848,2302,3460,3505,3415,0,0,0,0,0,0,28.83,26.74,28.83
$GC,3089,-1.11,-107.1,2848,2302,3504,3414,372.8,-11.2,182,3101,0.00,1.92,0.00,0.000,260,0.000,0.045,2839,3587,3460,3506,3414,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3153,-1.11,-107.1,2839,3587,3504,3414,378.6,-11.5,184,3165,0.00,1.80,0.00,0.000,1030,0.000,0.027,2839,2296,3459,3504,3414,0,0,0,0,0,0,28.83,26.75,28.83
$GC,3459,-1.11,-107.1,2838,2296,3504,3414,412.6,-9.7,200,3470,0.00,1.92,0.00,0.000,260,0.000,0.044,2829,3593,3459,3504,3414,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3503,-1.11,-107.1,2829,3593,3503,3414,415.7,-9.9,201,3514,0.00,1.80,0.00,0.000,1030,0.000,0.027,2829,2301,3458,3503,3414,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,3526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3526,begin apogee
$GC,3533,-0.25,0.0,2829,2027,3503,3414,420.1,-10.5,203,3680,0.93,0.00,132.00,0.704,10246,0.138,0.000,3130,2027,3003,3097,2909,0,0,0,0,0,0,26.54,28.83,24.62
$STATE,3682,end apogee,CONTROL_FINISHED_OK
$STATE,3682,begin climb
$GC,3684,1.11,107.1,3130,2027,3094,2905,423.9,0.0,210,3823,1.25,0.00,127.60,0.656,10758,0.075,0.000,3573,2026,2571,2674,2469,0,0,0,0,0,0,25.37,28.83,24.42
$GC,4114,1.11,107.1,3573,2026,2652,2453,375.1,13.5,232,4125,0.00,2.17,0.00,0.000,260,0.000,0.042,3570,3425,2553,2652,2454,0,0,0,0,0,0,28.83,25.97,28.83
$GC,4138,1.11,107.1,3570,3425,2651,2453,375.1,13.5,232,4150,0.00,2.05,0.00,0.000,1030,0.000,0.026,3577,2031,2552,2651,2453,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4444,1.11,107.1,3577,2031,2649,2451,332.1,12.2,248,4454,0.00,0.00,0.00,0.000,6,0.000,0.000,3577,2031,2550,2649,2451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4743,1.11,107.1,3577,2031,2646,2450,296.4,11.7,263,4754,0.00,2.15,0.00,0.000,260,0.000,0.041,3570,3432,2548,2646,2450,0,0,0,0,0,0,28.83,26.37,28.83
$GC,4797,1.11,107.1,3570,3432,2647,2449,290.1,12.2,265,4808,0.00,2.05,0.00,0.000,1030,0.000,0.026,3577,2025,2547,2646,2449,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5121,1.11,107.1,3577,2025,2644,2448,248.9,12.7,281,5132,0.00,2.10,0.00,0.000,516,0.000,0.036,3588,633,2546,2644,2448,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5292,1.11,107.1,3587,633,2643,2448,226.3,13.5,289,5303,0.00,2.10,0.00,0.000,1030,0.000,0.031,3582,2024,2545,2643,2448,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5621,1.11,107.1,3581,2024,2642,2447,181.4,13.6,305,5632,0.00,2.12,0.00,0.000,260,0.000,0.044,3582,3430,2544,2641,2447,0,0,0,0,0,0,28.83,26.55,28.83
$GC,5695,1.11,107.1,3581,3430,2641,2446,171.5,14.3,308,5706,0.00,2.05,0.00,0.000,1030,0.000,0.026,3589,2009,2544,2641,2447,0,0,0,0,0,0,28.83,26.63,28.83
$GC,6019,1.11,107.1,3589,2009,2640,2446,129.1,12.3,324,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3589,2009,2543,2640,2446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6319,1.11,107.1,3589,2009,2640,2446,89.4,12.7,339,6330,0.00,2.08,0.00,0.000,516,0.000,0.036,3598,628,2543,2640,2446,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6414,1.11,107.1,2816,627,2583,2436,79.6,10.9,343,6425,0.00,2.10,0.00,0.000,1030,0.000,0.031,3593,2025,2542,2639,2446,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6728,1.11,107.1,3593,2024,2640,2446,46.8,10.7,360,6739,0.00,2.10,0.00,0.000,260,0.000,0.043,3592,3433,2543,2640,2446,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6772,1.11,107.1,3591,3433,2640,2445,42.9,10.0,363,6784,0.00,2.03,0.00,0.000,1030,0.000,0.026,3598,2024,2542,2640,2445,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7084,1.22,144.7,3598,2024,2640,2444,18.6,6.2,403,7109,0.00,2.15,14.90,0.096,8708,0.000,0.035,3609,628,2416,2515,2318,0,0,0,0,0,0,28.83,26.66,26.54
$GC,7134,1.34,182.8,2816,627,2453,2309,15.8,6.1,410,7165,0.12,2.12,18.27,0.087,11270,0.101,0.031,3654,2037,2262,2366,2159,0,0,0,0,0,0,26.62,26.67,26.53
$STATE,7256,end climb,SURFACE_DEPTH_REACHED
$STATE,7257,begin surface coast
$FINISH,1.6,1.001299
$STATE,7295,end surface coast,CONTROL_FINISHED_OK
$STATE,7295,begin surface
$SM_CCo,7317,82.88,0.059,0,0,1479,375.06
$SM_GC,2.49,8.57,0.35,82.88,0.041,0.053,0.059,334,2305,1479,-8.92,-1.58,375.06,0,0,0,0,0,0,26.63,26.65,26.49
$IRIDIUM_FIX,4732.49,-12435.63,151013,191918
$TT8_MAMPS,0.026964,0.026964
$HUMID,56.89
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.30
$XPDR_PINGS,0
$SC_FREEKB,3896416
$PM_FREEKB,4640392
$24V_AH,24.4,15.052
$10V_AH,9.6,21.590
$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,20.700,57.050,292.775,82.875,0.000,0.000,0.000,160.275,0.000,0.000,19.047,1297.861,4391.034,450.727,1351.116,227.868,0.000,1361.189,0.000,944.459,0.000,0.535,0.000
$DEVICE_MAMPS,233.325,60.435,703.800,58.905,0.000,0.000,0.000,123.930,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7291.000,176.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.990,9.752,0.000,0.000
$MEM,258736
$DATA_FILE_SIZE,13460,439
$CAP_FILE_SIZE,105427,0
$CFSIZE,260034560,231956480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.113,173.1,1
$GPS,151013,233701,4749.617,-12515.069,15,1.7,15,17.2