version: 66.11
glider: 108
mission: 21
dive: 34
start: 6 24 112 22 5 54
data:
$ID,108
$MISSION,21
$DIVE,34
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51396
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00275
$HD_B,0.0115
$HD_C,1.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-191130.41
$T_RSLEEP,10
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3130
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3029
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-1
$PRESSURE_YINT,-22.860044
$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,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$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
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044220644
$SEABIRD_T_H,0.00065538363
$SEABIRD_T_I,2.8550956e-05
$SEABIRD_T_J,3.214675e-06
$SEABIRD_C_G,-10.084064
$SEABIRD_C_H,1.1288997
$SEABIRD_C_I,-0.0014441535
$SEABIRD_C_J,0.00017831143
$GPS1,240612,172930,6702.553,-5747.677,14,1.5,15,-33.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,3.07
$_SM_ANGLEo,-74.0
$GPS2,240612,172930,6702.553,-5747.677,14,1.5,15,-33.7
$SPEED_LIMITS,0.159,0.240
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,332.2,120813,-26.4,-9.167
$D_GRID,885
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.96,-62.9,0.0,0.0,0,37,0.00,0.00,-18.40,0.000,2,0.000,0.000,338,2109,1862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,40,-1.06,-146.6,3.0,-0.6,3,130,9.70,2.20,-71.95,0.000,4,0.262,0.063,2793,703,3629,0,0,0,0,0,0,26.25,26.49,26.79
$GC,221,-1.06,-146.6,23.4,-18.8,35,228,0.00,2.17,0.00,0.000,6,0.000,0.048,2786,2097,3631,0,0,0,0,0,0,28.83,26.51,28.83
$GC,532,-1.06,-146.6,79.7,-18.2,96,539,0.00,2.17,0.00,0.000,4,0.000,0.060,2776,3504,3632,0,0,0,0,0,0,28.83,26.53,28.83
$GC,632,-1.06,-146.6,98.6,-18.1,115,639,0.00,2.12,0.00,0.000,6,0.000,0.043,2783,2103,3632,0,0,0,0,0,0,28.83,26.58,28.83
$GC,947,-1.06,-146.6,151.4,-16.1,147,956,0.00,2.17,0.00,0.000,4,0.000,0.061,2776,3506,3630,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1072,-1.06,-146.6,173.0,-17.9,159,1079,0.00,2.15,0.00,0.000,6,0.000,0.044,2782,2090,3630,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1379,-1.06,-146.6,223.8,-15.9,190,1382,0.00,2.22,0.00,0.000,4,0.000,0.059,2775,3514,3629,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1511,-1.06,-146.6,245.7,-16.1,203,1515,0.00,2.12,0.00,0.000,6,0.000,0.043,2781,2096,3629,0,0,0,0,0,0,28.83,26.65,28.83
$GC,1823,-1.06,-146.6,293.2,-15.2,234,1832,0.00,2.20,0.00,0.000,4,0.000,0.059,2773,3518,3629,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1951,-1.06,-146.6,312.4,-15.8,246,1959,0.00,2.15,0.00,0.000,6,0.000,0.042,2780,2092,3629,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2257,-1.06,-146.6,355.3,-13.3,277,2266,0.00,2.17,0.00,0.000,4,0.000,0.057,2773,3513,3630,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2382,-1.06,-146.6,373.1,-14.5,289,2389,0.00,2.12,0.00,0.000,6,0.000,0.041,2780,2098,3630,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2689,-1.06,-146.6,414.9,-13.4,320,2698,0.00,2.17,0.00,0.000,4,0.000,0.057,2772,3510,3631,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2845,-1.06,-146.6,436.1,-14.1,335,2851,0.00,2.12,0.00,0.000,6,0.000,0.041,2772,2098,3631,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3152,-1.06,-146.6,479.6,-14.5,366,3162,0.00,2.20,0.00,0.000,4,0.000,0.057,2761,3514,3632,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3208,-1.06,-146.6,487.5,-15.5,371,3214,0.00,2.12,0.00,0.000,6,0.000,0.041,2766,2096,3632,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3515,-1.06,-146.6,531.9,-13.8,402,3525,0.00,2.20,0.00,0.000,4,0.000,0.057,2757,3516,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3673,-1.06,-146.6,555.0,-15.1,417,3680,0.00,2.12,0.00,0.000,6,0.000,0.041,2765,2096,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3980,-1.06,-146.6,597.3,-13.3,448,3989,0.00,2.17,0.00,0.000,4,0.000,0.057,2756,3514,3633,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4056,-1.06,-146.6,606.3,-14.6,452,4060,0.00,2.12,0.00,0.000,6,0.000,0.041,2759,2093,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4369,-1.06,-146.6,651.0,-13.8,463,4375,0.00,2.17,0.00,0.000,4,0.000,0.056,2751,3507,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4513,-1.06,-146.6,668.8,-14.9,467,4520,0.12,2.12,0.00,0.000,6,0.201,0.041,2786,2089,3634,0,0,0,0,0,0,26.56,26.74,28.83
$GC,4818,-1.06,-146.6,710.1,-12.1,478,4822,0.00,2.20,0.00,0.000,4,0.000,0.057,2778,3517,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4941,-1.06,-146.6,726.1,-13.0,482,4946,0.00,2.10,0.00,0.000,6,0.000,0.041,2783,2102,3634,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5272,-1.06,-146.6,765.1,-11.8,493,5277,0.00,2.15,0.00,0.000,4,0.000,0.057,2775,3509,3634,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5360,-1.06,-146.6,776.7,-12.6,496,5364,0.00,2.10,0.00,0.000,6,0.000,0.041,2776,2101,3634,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5693,-1.06,-146.6,816.6,-12.1,507,5699,0.00,2.15,0.00,0.000,4,0.000,0.058,2768,3505,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5730,-1.06,-146.6,820.3,-12.3,508,5734,0.00,2.12,0.00,0.000,6,0.000,0.041,2770,2088,3634,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,6046,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6046,begin apogee
$GC,6053,-0.17,0.0,862.6,-13.2,519,6184,0.95,0.00,124.47,1.389,6,0.160,0.000,3070,1885,3029,0,0,0,0,0,0,26.59,28.83,23.72
$STATE,6187,end apogee,CONTROL_FINISHED_OK
$STATE,6187,begin climb
$GC,6190,1.06,146.6,865.7,0.0,523,6324,1.17,2.38,126.38,1.239,4,0.082,0.047,3477,512,2430,0,0,0,0,0,0,24.73,24.27,23.42
$GC,6443,1.06,146.6,825.5,20.9,532,6447,0.00,2.33,0.00,0.000,6,0.000,0.043,3469,1906,2423,0,0,0,0,0,0,28.83,25.15,28.83
$GC,6766,1.06,146.6,756.6,21.0,543,6771,0.00,2.28,0.00,0.000,4,0.000,0.049,3477,514,2419,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6914,1.06,146.6,730.8,21.5,547,6921,0.00,2.25,0.00,0.000,6,0.000,0.044,3470,1901,2418,0,0,0,0,0,0,28.83,25.87,28.83
$GC,7216,1.06,146.6,657.9,22.7,558,7217,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1901,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7516,1.06,146.6,591.3,22.1,570,7525,0.00,2.25,0.00,0.000,4,0.000,0.050,3478,500,2416,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7581,1.06,146.6,577.3,22.0,576,7588,0.00,2.22,0.00,0.000,6,0.000,0.044,3471,1901,2416,0,0,1,0,0,0,28.83,26.22,28.83
$GC,7889,1.06,146.6,509.4,21.8,607,7897,0.00,2.20,0.00,0.000,4,0.000,0.050,3478,507,2416,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7933,1.06,146.6,500.1,22.1,611,7940,0.00,2.22,0.00,0.000,6,0.000,0.044,3471,1907,2415,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8240,1.06,146.6,429.9,22.5,642,8245,0.00,2.20,0.00,0.000,4,0.000,0.049,3478,512,2416,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8286,1.06,146.6,420.4,22.1,646,8294,0.00,2.20,0.00,0.000,6,0.000,0.044,3471,1903,2416,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8593,1.06,146.6,353.8,21.4,677,8601,0.00,2.20,0.00,0.000,4,0.000,0.049,3478,509,2415,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8685,1.06,146.6,333.8,21.8,686,8694,0.00,2.17,0.00,0.000,6,0.000,0.044,3471,1899,2415,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8994,1.06,146.6,268.7,20.8,717,9003,0.00,2.20,0.00,0.000,4,0.000,0.049,3478,510,2415,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9019,1.06,146.6,264.1,20.7,719,9026,0.00,2.20,0.00,0.000,6,0.000,0.043,3471,1907,2415,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9326,1.06,146.6,201.8,19.1,750,9336,0.00,2.20,0.00,0.000,4,0.000,0.048,3479,502,2415,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9373,1.06,146.6,193.5,19.4,754,9380,0.00,2.20,0.00,0.000,6,0.000,0.043,3474,1902,2415,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9679,1.06,146.6,133.5,19.3,785,9680,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,1901,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9981,1.06,146.6,81.7,16.0,826,9988,0.00,2.20,0.00,0.000,4,0.000,0.049,3481,504,2415,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10066,1.06,146.6,68.1,15.8,842,10074,0.00,2.20,0.00,0.000,6,0.000,0.044,3481,1908,2415,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10380,1.06,146.6,23.1,12.6,903,10387,0.00,2.20,0.00,0.000,4,0.000,0.049,3489,508,2415,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10410,1.06,146.6,19.3,12.6,908,10416,0.00,2.20,0.00,0.000,6,0.000,0.043,3486,1914,2415,0,0,0,0,0,0,28.83,26.60,28.83
$FREEZE,8.52,-0.639,-1.781,1,2,0
$FREEZE,8.08,-0.595,-1.779,1,2,0
$FREEZE,7.51,-0.573,-1.778,1,2,0
$FREEZE,6.92,-0.537,-1.776,1,2,0
$FREEZE,6.51,-0.474,-1.772,1,2,0
$FREEZE,6.03,-0.378,-1.768,1,2,0
$FREEZE,5.49,-0.252,-1.763,1,2,0
$FREEZE,5.10,-0.211,-1.761,1,2,0
$FREEZE,4.51,-0.210,-1.760,1,2,0
$FREEZE,4.18,-0.180,-1.758,1,2,0
$FREEZE,3.79,-0.147,-1.755,1,2,0
$STATE,10551,end climb,SURFACE_DEPTH_REACHED
$STATE,10551,begin surface coast
$FREEZE,3.37,-0.079,-1.749,1,2,0
$FREEZE,3.32,-0.130,-1.745,1,2,0
$FREEZE,3.28,-0.205,-1.745,1,2,0
$FREEZE,3.37,-0.215,-1.745,1,2,0
$FREEZE,3.40,-0.229,-1.745,1,2,0
$FREEZE,3.43,-0.209,-1.744,1,2,0
$FREEZE,3.35,-0.227,-1.744,1,2,0
$FREEZE,3.40,-0.231,-1.744,1,2,0
$FREEZE,3.44,-0.236,-1.745,1,2,0
$FINISH,3.4,1.025568
$STATE,10602,end surface coast,CONTROL_FINISHED_OK
$STATE,10602,begin surface
$RAFOS_CLK,589
$RAFOS,6,1340585351,0.833333,0.819722,43,43,43,43,41,41,215,1825,112,1219,1,92
$RAFOS,5,1340584868,0.700000,0.685556,51,43,42,41,41,41,556,1094,274,1786,464,1122
$RAFOS,4,1340584386,0.566667,0.551667,51,48,44,44,42,42,284,1625,1271,1769,541,1584
$RAFOS,3,1340583904,0.433333,0.417778,48,46,42,41,39,38,948,576,1139,1901,1061,1719
$RAFOS,2,1340583430,0.300000,0.286111,48,47,47,46,46,42,1688,1856,1076,1179,886,1082
$RAFOS,1,1340582947,0.166667,0.151944,51,44,42,41,41,40,1741,400,561,71,1421,1789
$RAFOS,0,1340582461,0.033333,0.016944,49,44,43,42,41,39,1837,223,195,1053,1070,1211
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5745.67,240612,121246
$TT8_MAMPS,0.025466,0.025466
$HUMID,38.62
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,16.20
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.4
$ALTIM_BOTTOM_PING,850.6,26.2
$24V_AH,23.4,7.342
$10V_AH,10.3,8.627
$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,11.950,105.125,250.850,0.000,0.000,0.000,0.000,0.000,3.500,0.000,0.000,2469.716,5868.287,415.561,1809.677,223.904,0.000,1396.003,0.000,1784.934,2520.000,28.845,0.000
$DEVICE_MAMPS,261.630,65.025,1389.240,0.000,0.000,0.000,0.000,0.000,420.000,0.000,0.000,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.556,729.128,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151560
$DATA_FILE_SIZE,43396,944
$CAP_FILE_SIZE,112242,0
$CFSIZE,260165632,243109888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1462.1
$CURRENT,0.169,315.0,1
$GPS,240612,172930,6702.553,-5747.677,14,1.5,15,-33.7