version: 66.11
glider: 108
mission: 21
dive: 391
start: 8 30 112 8 48 38
data:
$ID,108
$MISSION,21
$DIVE,391
$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,-2
$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,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-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,-191582.47
$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,62
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3279
$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
$GPS1,300812,083552,6645.935,-6009.837,46,0.8,46,-33.9
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.51
$_SM_ANGLEo,-74.1
$GPS2,300812,084805,6645.739,-6009.553,16,0.7,17,-33.9
$SPEED_LIMITS,0.159,0.252
$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,333.9,12456,-16.9,-9.167
$D_GRID,571
$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,17,-0.75,-146.6,0.0,0.0,0,60,0.00,0.00,-41.33,0.000,2,0.000,0.000,337,2121,2576,0,0,0,0,0,0,28.83,28.83,28.83
$GC,64,-0.75,-146.6,3.1,-2.6,7,125,10.12,2.20,-40.45,0.000,4,0.237,0.067,2876,3499,3882,0,0,0,0,0,0,25.42,26.13,26.75
$GC,203,-0.75,-146.6,22.0,-14.5,32,210,0.00,2.10,0.00,0.000,6,0.000,0.031,2881,2087,3886,0,0,0,0,0,0,28.83,26.32,28.83
$GC,516,-0.75,-146.6,62.8,-13.2,93,524,0.00,2.22,0.00,0.000,4,0.000,0.050,2873,3502,3891,0,0,0,0,0,0,28.83,26.10,28.83
$GC,675,-0.75,-146.6,84.5,-13.7,123,682,0.00,2.08,0.00,0.000,6,0.000,0.031,2873,2106,3892,0,0,0,0,0,0,28.83,26.37,28.83
$GC,986,-0.75,-146.6,127.7,-13.6,164,995,0.00,2.15,0.00,0.000,4,0.000,0.050,2863,3496,3891,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1038,-0.75,-146.6,134.8,-13.9,169,1048,0.00,2.05,0.00,0.000,6,0.000,0.031,2863,2118,3891,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1348,-0.75,-146.6,175.4,-13.5,200,1357,0.00,2.15,0.00,0.000,4,0.000,0.050,2852,3515,3891,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1481,-0.75,-146.6,193.5,-13.5,213,1491,0.10,2.05,0.00,0.000,6,0.187,0.031,2881,2133,3890,0,0,0,0,0,0,25.97,26.39,28.83
$GC,1790,-0.75,-146.6,230.0,-12.0,244,1799,0.00,2.12,0.00,0.000,4,0.000,0.051,2873,3502,3889,0,0,0,0,0,0,28.83,26.12,28.83
$GC,1863,-0.75,-146.6,239.2,-12.8,251,1871,0.00,2.03,0.00,0.000,6,0.000,0.032,2872,2138,3889,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2173,-0.75,-146.6,276.5,-11.1,282,2181,0.00,2.12,0.00,0.000,4,0.000,0.050,2863,3504,3887,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2275,-0.75,-146.6,288.0,-11.1,292,2284,0.00,2.00,0.00,0.000,6,0.000,0.032,2863,2157,3887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2585,-0.75,-146.6,321.6,-10.3,323,2593,0.00,2.08,0.00,0.000,4,0.000,0.051,2853,3498,3887,0,0,0,0,0,0,28.83,26.11,28.83
$GC,2667,-0.75,-146.6,330.6,-11.0,331,2676,0.15,1.98,0.00,0.000,6,0.164,0.032,2897,2165,3887,0,0,0,0,0,0,25.86,26.40,28.83
$GC,2978,-0.75,-146.6,356.0,-8.0,362,2987,0.00,2.05,0.00,0.000,4,0.000,0.050,2889,3499,3886,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3044,-0.75,-146.6,361.6,-8.8,368,3050,0.00,1.95,0.00,0.000,6,0.000,0.031,2889,2178,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3351,-0.75,-146.6,389.1,-9.1,399,3360,0.00,2.03,0.00,0.000,4,0.000,0.050,2879,3502,3886,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3406,-0.75,-146.6,394.0,-9.7,404,3413,0.00,1.95,0.00,0.000,6,0.000,0.031,2879,2177,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3713,-0.75,-146.6,422.6,-9.3,435,3722,0.00,2.05,0.00,0.000,4,0.000,0.050,2869,3503,3885,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3778,-0.75,-146.6,428.7,-10.1,441,3785,0.00,1.92,0.00,0.000,6,0.000,0.031,2869,2191,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4085,-0.75,-146.6,458.7,-9.6,472,4094,0.00,2.03,0.00,0.000,4,0.000,0.050,2859,3503,3885,0,0,0,0,0,0,28.83,26.11,28.83
$GC,4179,-0.75,-146.6,468.2,-10.4,481,4189,0.12,1.92,0.00,0.000,6,0.157,0.031,2890,2198,3885,0,0,0,0,0,0,26.03,26.42,28.83
$GC,4489,-0.75,-146.6,493.9,-7.9,512,4497,0.00,2.03,0.00,0.000,4,0.000,0.050,2882,3506,3885,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4544,-0.75,-146.6,498.6,-8.9,517,4551,0.00,1.90,0.00,0.000,6,0.000,0.031,2882,2208,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4851,-0.75,-146.6,525.1,-8.2,548,4852,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2208,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5158,-0.75,-146.6,550.2,-8.5,578,5167,0.00,2.00,0.00,0.000,4,0.000,0.050,2873,3503,3885,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5194,-0.75,-146.6,553.9,-9.1,581,5201,0.00,1.90,0.00,0.000,6,0.000,0.031,2873,2206,3885,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,5377,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5377,begin apogee
$GC,5385,-0.17,0.0,571.1,-8.6,600,5510,0.62,0.00,119.03,1.119,4,0.138,0.000,3068,1890,3279,0,0,0,0,0,0,25.42,28.83,23.69
$STATE,5513,end apogee,CONTROL_FINISHED_OK
$STATE,5513,begin climb
$GC,5517,0.75,146.6,575.9,0.0,613,5653,0.88,2.28,120.72,1.030,4,0.076,0.037,3369,516,2679,0,0,0,0,0,0,24.82,24.87,22.80
$GC,5879,0.75,146.6,547.2,11.4,649,5886,0.00,2.22,0.00,0.000,6,0.000,0.035,3369,1895,2671,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6187,0.75,146.6,512.3,11.6,680,6196,0.00,2.17,0.00,0.000,4,0.000,0.046,3369,3302,2668,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6425,0.75,146.6,481.4,12.7,703,6431,0.00,2.10,0.00,0.000,6,0.000,0.031,3379,1909,2667,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6732,0.75,146.6,445.1,11.2,734,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1909,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7034,0.75,146.6,410.3,11.9,764,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1909,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,0.75,146.6,374.6,11.9,795,7356,0.00,2.12,0.00,0.000,4,0.000,0.041,3389,516,2667,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7491,0.75,146.6,357.3,11.8,809,7500,0.00,2.15,0.00,0.000,6,0.000,0.035,3389,1900,2667,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7799,0.75,146.6,323.0,10.7,840,7800,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1899,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8101,0.75,146.6,292.7,10.0,870,8111,0.00,2.15,0.00,0.000,4,0.000,0.039,3398,506,2666,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8164,0.75,146.6,286.2,10.1,876,8173,0.00,2.15,0.00,0.000,6,0.000,0.035,3398,1896,2667,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8474,0.75,146.6,256.4,9.5,907,8476,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1895,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8777,0.75,146.6,226.9,10.1,937,8785,0.00,2.15,0.00,0.000,4,0.000,0.040,3407,512,2667,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8851,0.75,146.6,219.3,9.9,944,8859,0.15,2.15,0.00,0.000,6,0.164,0.035,3370,1899,2666,0,0,0,0,0,0,25.87,26.29,28.83
$GC,9159,0.77,168.3,192.8,8.3,975,9178,0.00,0.00,17.00,0.966,6,0.000,0.000,3370,1898,2593,0,0,0,0,0,0,28.83,28.83,24.89
$GC,9479,0.77,168.3,164.2,9.2,1007,9487,0.00,2.12,0.00,0.000,4,0.000,0.047,3370,3291,2590,0,0,0,0,0,0,28.83,26.06,28.83
$GC,9534,0.77,168.3,159.3,9.4,1012,9541,0.00,2.10,0.00,0.000,6,0.000,0.031,3377,1890,2590,0,0,0,0,0,0,28.83,26.23,28.83
$GC,9842,0.78,177.0,132.4,8.8,1043,9860,0.00,2.15,8.90,0.885,4,0.000,0.040,3387,501,2556,0,0,0,0,0,0,28.83,26.20,24.81
$GC,9917,0.78,177.0,125.5,9.8,1050,9925,0.00,2.17,0.00,0.000,6,0.000,0.036,3387,1889,2554,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10224,0.84,225.6,99.8,7.1,1081,10273,0.00,2.25,39.97,0.802,4,0.000,0.047,3387,3297,2357,0,0,0,0,0,0,28.83,25.73,24.79
$GC,10297,0.84,225.6,93.7,9.5,1093,10304,0.00,2.15,0.00,0.000,6,0.000,0.031,3396,1899,2355,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10609,0.84,225.6,65.9,9.4,1154,10617,0.00,2.17,0.00,0.000,4,0.000,0.042,3406,507,2350,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10714,0.84,225.6,56.2,9.3,1174,10722,0.00,2.20,0.00,0.000,6,0.000,0.037,3407,1893,2349,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11028,0.84,227.6,28.2,9.1,1235,11035,0.00,2.20,0.00,0.000,4,0.000,0.048,3407,3314,2347,0,0,0,0,0,0,28.83,26.02,28.83
$GC,11065,0.84,227.6,24.7,10.8,1241,11072,0.00,2.15,0.00,0.000,6,0.000,0.032,3416,1882,2347,0,0,0,0,0,0,28.83,26.20,28.83
$FREEZE,8.84,5.082,-1.704,0,1,0
$FREEZE,8.63,5.087,-1.704,0,1,0
$FREEZE,8.53,5.125,-1.702,0,1,0
$FREEZE,8.32,5.157,-1.702,0,1,0
$FREEZE,8.01,5.165,-1.702,0,1,0
$FREEZE,7.71,5.143,-1.704,0,1,0
$FREEZE,7.28,5.127,-1.704,0,1,0
$FREEZE,6.73,5.136,-1.704,0,1,0
$FREEZE,6.06,5.139,-1.703,0,1,0
$FREEZE,5.45,5.168,-1.702,0,1,0
$FREEZE,4.79,5.142,-1.703,0,1,0
$GC,11380,1.00,354.5,8.5,3.9,1302,11450,0.12,2.25,59.75,0.082,4,0.113,0.047,3471,3301,1830,0,0,0,0,0,0,26.31,26.04,25.84
$FREEZE,2.74,5.140,-1.701,0,1,0
$STATE,11458,end climb,SURFACE_DEPTH_REACHED
$STATE,11458,begin surface coast
$FREEZE,1.76,5.133,-1.701,0,1,0
$FINISH,1.8,1.024563
$STATE,11464,end surface coast,CONTROL_FINISHED_OK
$STATE,11464,begin surface
$SM_CCo,11486,19.35,0.073,0,0,1647,400.08
$SM_GC,2.41,8.52,1.85,19.35,0.055,0.031,0.073,340,2092,1647,-8.66,1.81,400.08,0,0,0,0,0,0,25.98,26.23,25.85
$RAFOS_CLK,588
$RAFOS,6,1346316546,8.833333,8.818334,47,46,45,45,42,41,956,306,1254,1487,1889,226
$RAFOS,4,1346315584,8.566667,8.551111,45,42,42,41,40,40,157,660,1582,556,938,450
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6018.02,300812,080817
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.50
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.30
$XPDR_PINGS,16
$ALTIM_TOP_PING,19.7,18.6
$ALTIM_BOTTOM_PING,550.2,60.0
$24V_AH,22.8,44.684
$10V_AH,9.7,50.117
$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,20.800,100.875,365.375,19.350,0.000,0.000,0.000,528.825,6.000,0.000,18.389,3241.995,5353.132,577.358,2708.374,352.733,0.000,2271.551,0.000,2167.776,360.000,18.884,0.000
$DEVICE_MAMPS,237.150,66.555,1119.195,72.675,0.000,0.000,0.000,286.883,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,946.123,912.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,59990,1313
$CAP_FILE_SIZE,140067,0
$CFSIZE,260165632,213540864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.8
$CURRENT,0.041, 70.2,1
$GPS,300812,120151,6646.660,-6011.430,24,1.1,39,-33.9