version: 66.11
glider: 108
mission: 25
dive: 460
start: 12 16 113 3 43 48
data:
$ID,108
$MISSION,25
$DIVE,460
$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,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,-194783.72
$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,46
$R_STBD_OVSHOOT,54
$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
$GPS1,161213,033605,4749.933,-12515.049,28,0.9,28,17.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-74.0
$GPS2,161213,034318,4749.952,-12515.023,15,0.8,16,17.2
$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,183.3,161675,-15.8,-8.049,-22.04,2046
$D_GRID,462
$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,-107.1,334,2276,1531,1388,0.0,0.0,0,70,0.00,0.00,-40.15,0.000,16386,0.000,0.000,335,2275,2523,2565,2482,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-1.11,-107.1,334,2275,2571,2483,3.0,-2.0,7,126,10.07,2.08,-28.67,0.000,18692,0.236,0.058,2830,3590,3450,3490,3410,0,0,0,0,0,0,25.31,25.96,26.44
$GC,359,-1.11,-107.1,2830,3590,3495,3415,48.7,-15.9,46,370,0.00,1.90,0.00,0.000,1030,0.000,0.025,2837,2256,3454,3494,3415,0,0,0,0,0,0,28.83,26.24,28.83
$GC,678,-1.11,-107.1,2837,2254,3497,3415,92.2,-13.0,62,689,0.00,2.03,0.00,0.000,260,0.000,0.044,2829,3585,3456,3497,3415,0,0,0,0,0,0,28.83,26.08,28.83
$GC,790,-1.11,-107.1,2828,3585,3496,3415,107.0,-13.4,67,801,0.00,1.83,0.00,0.000,1030,0.000,0.026,2830,2290,3456,3496,3416,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1120,-1.11,-107.1,2830,2289,3497,3415,149.4,-12.7,83,1131,0.00,2.08,0.00,0.000,516,0.000,0.031,2836,915,3456,3497,3416,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1191,-1.11,-107.1,2836,915,3497,3415,158.4,-12.7,86,1202,0.00,2.12,0.00,0.000,1030,0.000,0.031,2829,2309,3456,3497,3415,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1522,-1.11,-107.1,2829,2308,3498,3415,198.4,-11.5,102,1533,0.00,2.15,0.00,0.000,516,0.000,0.030,2829,900,3456,3498,3415,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1624,-1.11,-107.1,2829,900,3498,3416,208.7,-11.4,106,1635,0.00,2.17,0.00,0.000,1030,0.000,0.032,2821,2310,3457,3498,3416,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1944,-1.11,-107.1,2821,2309,3497,3416,246.4,-11.5,122,1955,0.00,2.12,0.00,0.000,516,0.000,0.030,2821,913,3457,3498,3416,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2104,-1.11,-107.1,2821,913,3498,3416,263.8,-11.1,129,2115,0.00,2.12,0.00,0.000,1030,0.000,0.031,2814,2304,3457,3498,3416,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2424,-1.11,-107.1,2814,2304,3498,3416,301.0,-11.7,145,2435,0.00,2.12,0.00,0.000,516,0.000,0.031,2814,906,3457,3498,3416,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2468,-1.11,-107.1,2816,906,3498,3416,304.6,-12.0,146,2481,0.15,2.15,0.00,0.000,3078,0.175,0.032,2842,2310,3457,3498,3416,0,0,0,0,0,0,25.81,26.32,28.83
$GC,2774,-1.11,-107.1,2842,2310,3497,3416,337.2,-9.4,162,2785,0.00,2.12,0.00,0.000,516,0.000,0.030,2848,911,3457,3498,3416,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2818,-1.11,-107.1,2848,911,3498,3417,340.0,-9.2,163,2830,0.00,2.12,0.00,0.000,1030,0.000,0.032,2841,2307,3457,3498,3416,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3124,-1.11,-107.1,2841,2306,3497,3416,373.1,-10.7,179,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2306,3456,3497,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3424,-1.11,-107.1,2840,2306,3497,3416,406.2,-11.5,194,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2306,3456,3497,3416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3724,-1.11,-107.1,2841,2306,3497,3417,440.8,-11.4,209,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2306,3457,3497,3417,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3921,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3921,begin apogee
$GC,3932,-0.25,0.0,2841,2026,3497,3416,463.3,-11.0,219,4082,0.88,0.00,134.90,0.775,10246,0.134,0.000,3115,2015,3005,3092,2919,0,0,0,0,0,0,25.35,28.83,24.34
$STATE,4084,end apogee,CONTROL_FINISHED_OK
$STATE,4084,begin climb
$GC,4087,1.11,107.1,3115,2015,3090,2916,468.5,0.0,226,4238,1.25,2.30,132.77,0.751,10756,0.078,0.033,3562,651,2566,2665,2468,0,0,0,0,0,0,25.24,24.86,24.06
$GC,4298,1.11,107.1,2720,651,2598,2455,452.5,11.7,237,4309,0.00,2.20,0.00,0.000,1030,0.000,0.029,3562,2026,2559,2654,2464,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4623,1.11,107.1,3562,2026,2648,2460,406.3,14.3,253,4634,0.00,2.10,0.00,0.000,260,0.000,0.040,3562,3424,2554,2648,2460,0,0,0,0,0,0,28.83,25.93,28.83
$GC,4698,1.11,107.1,2720,3422,2592,2450,396.0,14.6,256,4710,0.00,2.05,0.00,0.000,1030,0.000,0.025,3572,2017,2553,2647,2459,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5024,1.11,107.1,3572,2017,2646,2458,350.4,12.7,272,5035,0.00,2.12,0.00,0.000,516,0.000,0.034,3582,640,2551,2646,2457,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5089,1.11,107.1,3582,640,2645,2458,344.1,12.5,274,5101,0.00,2.15,0.00,0.000,1030,0.000,0.030,3582,2031,2551,2645,2457,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5395,1.11,107.1,3582,2030,2644,2457,303.2,13.4,290,5405,0.00,0.00,0.00,0.000,6,0.000,0.000,3582,2030,2549,2643,2456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5695,1.11,107.1,3582,2030,2643,2456,263.8,13.0,305,5706,0.00,2.17,0.00,0.000,516,0.000,0.034,3591,646,2549,2642,2456,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5811,1.11,107.1,3591,646,2641,2456,249.5,12.8,310,5823,0.12,2.12,0.00,0.000,5126,0.161,0.031,3559,2031,2548,2641,2456,0,0,0,0,0,0,25.94,26.30,28.83
$GC,6138,1.11,107.1,3559,2031,2640,2455,211.7,11.3,326,6149,0.00,2.17,0.00,0.000,516,0.000,0.034,3567,641,2547,2640,2454,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6198,1.11,107.1,3566,642,2640,2454,205.9,11.5,328,6208,0.00,2.12,0.00,0.000,1030,0.000,0.030,3565,2026,2547,2640,2454,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6517,1.11,107.1,3565,2026,2640,2454,167.9,11.6,344,6528,0.00,2.15,0.00,0.000,516,0.000,0.034,3572,640,2546,2640,2453,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6588,1.11,107.1,3572,640,2640,2454,159.7,11.7,347,6599,0.00,2.12,0.00,0.000,1030,0.000,0.030,3571,2025,2547,2640,2454,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6918,1.11,107.1,3571,2025,2640,2454,120.9,11.5,363,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2025,2546,2640,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7217,1.11,107.1,3571,2025,2640,2453,90.8,10.4,378,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,3571,2025,2546,2640,2453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7518,1.11,107.1,3571,2025,2640,2453,60.4,8.9,393,7529,0.00,2.08,0.00,0.000,260,0.000,0.041,3572,3423,2546,2640,2453,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7689,1.11,107.1,3571,3423,2640,2453,44.6,9.6,403,7700,0.00,2.03,0.00,0.000,1030,0.000,0.025,3579,2012,2546,2640,2453,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8007,1.54,250.0,3579,2012,2640,2453,24.1,0.9,438,8204,0.30,2.33,184.20,0.552,10500,0.070,0.041,3700,3426,1984,2088,1881,0,0,0,0,0,0,26.34,25.28,24.63
$STATE,8223,end climb,SURFACE_DEPTH_REACHED
$STATE,8223,begin surface coast
$FINISH,1.7,1.003013
$STATE,8248,end surface coast,CONTROL_FINISHED_OK
$STATE,8248,begin surface
$SM_CCo,8276,54.83,0.057,0,0,1479,375.06
$SM_GC,2.65,9.10,1.73,54.83,0.041,0.025,0.057,338,2285,1479,-8.89,2.09,375.06,0,0,0,0,0,0,25.53,25.67,25.58
$IRIDIUM_FIX,4729.30,-12603.53,161213,010130
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.00
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,18.20
$XPDR_PINGS,0
$SC_FREEKB,3790976
$PM_FREEKB,2812428
$24V_AH,24.1,48.310
$10V_AH,9.5,48.412
$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,21.875,63.450,451.875,54.825,0.000,0.000,0.000,231.925,0.000,0.000,17.565,1408.152,4911.625,529.751,1562.223,357.081,0.000,1613.255,0.000,1073.614,0.000,0.535,0.000
$DEVICE_MAMPS,235.620,58.140,774.945,56.610,0.000,0.000,0.000,120.105,420.000,0.000,29.960,11.750,2.190,11.750,38.710,49.200,0.000,15.970,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,PMAR,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8257.000,188.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.773,9.949,0.000,0.000
$MEM,258756
$DATA_FILE_SIZE,16809,477
$CAP_FILE_SIZE,113338,0
$CFSIZE,260034560,204476416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.144,339.3,1
$GPS,161213,060403,4749.726,-12515.806,35,1.2,35,17.2