version: 66.11
glider: 108
mission: 21
dive: 394
start: 8 30 112 18 52 8
data:
$ID,108
$MISSION,21
$DIVE,394
$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,-191586.22
$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,58
$R_STBD_OVSHOOT,48
$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
$GPS1,300812,184122,6644.199,-6010.615,95,0.8,95,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.26
$_SM_ANGLEo,-66.5
$GPS2,300812,185136,6644.090,-6010.531,15,1.6,16,-33.9
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,65.4,150392,-16.9,-9.167
$D_GRID,576
$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,-0.75,-146.6,0.0,0.0,0,112,0.00,0.00,-92.75,0.000,2,0.000,0.000,339,2093,2720,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.75,-146.6,3.3,-3.7,16,167,10.60,2.28,-33.50,0.000,4,0.254,0.064,2873,3503,3881,0,0,0,0,0,0,25.35,26.08,26.68
$GC,205,-0.75,-146.6,14.5,-18.9,31,212,0.00,2.12,0.00,0.000,6,0.000,0.031,2881,2075,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,518,-0.75,-146.6,58.5,-12.7,92,525,0.00,2.22,0.00,0.000,4,0.000,0.048,2873,3506,3891,0,0,0,0,0,0,28.83,26.06,28.83
$GC,757,-0.75,-146.6,89.2,-13.9,138,765,0.00,2.08,0.00,0.000,6,0.000,0.031,2874,2119,3892,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1073,-0.75,-146.6,134.9,-14.3,176,1077,0.00,2.17,0.00,0.000,4,0.000,0.050,2866,3508,3892,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1228,-0.75,-146.6,156.1,-13.4,191,1236,0.00,2.05,0.00,0.000,6,0.000,0.031,2866,2120,3892,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1536,-0.75,-146.6,194.8,-11.9,222,1545,0.00,2.15,0.00,0.000,4,0.000,0.050,2855,3499,3892,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1631,-0.75,-146.6,206.1,-12.0,231,1639,0.12,2.00,0.00,0.000,6,0.168,0.032,2886,2150,3892,0,0,0,0,0,0,25.96,26.36,28.83
$GC,1939,-0.75,-146.6,237.2,-10.0,262,1948,0.00,2.10,0.00,0.000,4,0.000,0.050,2878,3501,3891,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2045,-0.75,-146.6,248.1,-10.7,272,2051,0.00,1.95,0.00,0.000,6,0.000,0.032,2878,2170,3891,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2351,-0.75,-146.6,280.4,-10.3,303,2355,0.00,2.10,0.00,0.000,4,0.000,0.051,2868,3508,3890,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2413,-0.75,-146.6,287.3,-11.2,309,2423,0.00,1.95,0.00,0.000,6,0.000,0.031,2869,2180,3890,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2724,-0.75,-146.6,321.3,-10.6,340,2733,0.00,2.03,0.00,0.000,4,0.000,0.050,2858,3498,3889,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2797,-0.75,-146.6,330.0,-11.8,347,2806,0.12,1.95,0.00,0.000,6,0.159,0.031,2889,2182,3889,0,0,0,0,0,0,26.00,26.39,28.83
$GC,3109,-0.75,-146.6,358.9,-9.1,378,3117,0.00,2.03,0.00,0.000,4,0.000,0.050,2881,3498,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3160,-0.75,-146.6,364.0,-9.8,383,3169,0.00,1.95,0.00,0.000,6,0.000,0.031,2881,2181,3888,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3471,-0.75,-146.6,393.2,-9.5,414,3479,0.00,2.03,0.00,0.000,4,0.000,0.050,2872,3501,3888,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3546,-0.75,-146.6,400.5,-10.4,421,3554,0.00,1.92,0.00,0.000,6,0.000,0.031,2872,2195,3888,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3853,-0.75,-146.6,431.1,-9.7,452,3862,0.00,2.03,0.00,0.000,4,0.000,0.050,2862,3502,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3908,-0.75,-146.6,436.3,-10.4,457,3915,0.00,1.90,0.00,0.000,6,0.000,0.031,2862,2210,3887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4216,-0.75,-146.6,468.7,-10.8,488,4224,0.00,1.98,0.00,0.000,4,0.000,0.050,2852,3496,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4251,-0.75,-146.6,472.3,-10.8,491,4258,0.15,1.90,0.00,0.000,6,0.151,0.031,2891,2204,3887,0,0,0,0,0,0,25.93,26.40,28.83
$GC,4558,-0.75,-146.6,499.6,-8.6,522,4568,0.00,2.00,0.00,0.000,4,0.000,0.049,2884,3500,3887,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4595,-0.75,-146.6,502.6,-9.3,525,4602,0.00,1.90,0.00,0.000,6,0.000,0.031,2884,2204,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4902,-0.75,-146.6,529.6,-8.5,556,4910,0.00,2.00,0.00,0.000,4,0.000,0.049,2874,3495,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4996,-0.75,-146.6,538.2,-9.4,565,5000,0.00,1.88,0.00,0.000,6,0.000,0.031,2874,2231,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5308,-0.75,-146.6,567.6,-9.2,596,5316,0.00,1.98,0.00,0.000,4,0.000,0.050,2865,3501,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5382,-0.75,-146.6,574.9,-10.1,603,5390,0.00,1.85,0.00,0.000,6,0.000,0.031,2865,2229,3887,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,5397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5397,begin apogee
$GC,5404,-0.17,0.0,576.8,-10.0,605,5520,0.65,0.00,111.05,1.068,4,0.138,0.000,3067,1878,3280,0,0,0,0,0,0,25.40,28.83,23.79
$STATE,5523,end apogee,CONTROL_FINISHED_OK
$STATE,5524,begin climb
$GC,5526,0.75,146.6,582.0,0.0,617,5663,0.85,2.22,123.25,1.037,4,0.068,0.037,3369,515,2681,0,0,0,0,0,0,24.94,24.98,22.82
$GC,5889,0.75,146.6,557.9,10.4,653,5896,0.00,2.25,0.00,0.000,6,0.000,0.035,3369,1903,2676,0,0,1,0,0,0,28.83,25.22,28.83
$GC,6197,0.75,146.6,525.5,10.6,684,6201,0.00,2.17,0.00,0.000,4,0.000,0.046,3369,3301,2674,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6412,0.75,146.6,499.9,11.7,705,6419,0.00,2.12,0.00,0.000,6,0.000,0.031,3378,1899,2672,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6720,0.75,146.6,467.2,10.0,736,6728,0.00,2.15,0.00,0.000,4,0.000,0.041,3389,504,2672,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6875,0.75,146.6,451.0,10.7,751,6879,0.00,2.15,0.00,0.000,6,0.000,0.035,3389,1880,2672,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7187,0.75,146.6,418.2,10.6,782,7196,0.00,2.17,0.00,0.000,4,0.000,0.039,3398,507,2672,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7272,0.75,146.6,409.1,10.9,790,7280,0.00,2.15,0.00,0.000,6,0.000,0.036,3398,1880,2672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7580,0.75,146.6,374.5,11.5,821,7581,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1880,2672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7884,0.75,146.6,340.0,11.5,851,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1880,2671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8192,0.75,146.6,303.6,11.8,882,8201,0.00,2.15,0.00,0.000,4,0.000,0.040,3406,510,2672,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8274,0.75,146.6,293.7,11.7,890,8285,0.15,2.12,0.00,0.000,6,0.164,0.036,3370,1881,2672,0,0,0,0,0,0,25.83,26.27,28.83
$GC,8584,0.75,146.6,263.3,9.4,921,8588,0.00,2.17,0.00,0.000,4,0.000,0.040,3377,496,2672,0,0,0,0,0,0,28.83,26.21,28.83
$GC,8639,0.75,146.6,258.6,9.2,926,8647,0.00,2.12,0.00,0.000,6,0.000,0.035,3377,1866,2671,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8947,0.77,166.0,231.5,8.4,957,8966,0.00,0.00,15.35,0.976,6,0.000,0.000,3377,1865,2602,0,0,0,0,0,0,28.83,28.83,24.87
$GC,9266,0.77,166.0,202.0,9.2,989,9268,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1865,2602,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9569,0.81,198.7,176.6,7.8,1019,9607,0.00,2.22,28.17,0.949,4,0.000,0.041,3385,503,2469,0,0,0,0,0,0,28.83,25.87,24.87
$GC,9624,0.85,231.6,172.5,7.8,1024,9660,0.00,2.17,28.08,0.767,6,0.000,0.035,3385,1874,2333,0,0,0,0,0,0,28.83,25.90,24.58
$GC,9962,0.87,247.3,144.5,8.5,1058,9979,0.00,0.00,13.38,0.786,6,0.000,0.000,3385,1873,2270,0,0,0,0,0,0,28.83,28.83,24.75
$GC,10280,0.87,247.3,115.2,10.0,1090,10289,0.00,2.17,0.00,0.000,4,0.000,0.041,3395,511,2266,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10305,0.87,247.3,112.9,10.2,1092,10312,0.00,2.15,0.00,0.000,6,0.000,0.036,3394,1874,2266,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10616,0.87,247.3,79.0,10.6,1141,10622,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1874,2265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10927,0.87,247.3,46.0,10.8,1202,10935,0.00,2.17,0.00,0.000,4,0.000,0.042,3403,503,2264,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11003,0.87,247.3,38.8,9.2,1216,11009,0.00,2.17,0.00,0.000,6,0.000,0.037,3403,1879,2264,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11319,1.02,370.5,14.5,4.0,1277,11386,0.12,2.20,58.72,0.096,4,0.103,0.047,3460,3308,1765,0,0,0,0,0,0,26.39,26.06,25.78
$FREEZE,8.95,4.125,-1.717,0,1,0
$FREEZE,8.57,4.118,-1.717,0,1,0
$FREEZE,8.23,4.120,-1.717,0,1,0
$FREEZE,7.59,4.119,-1.716,0,1,0
$FREEZE,6.74,4.116,-1.716,0,1,0
$FREEZE,5.79,4.119,-1.715,0,1,0
$FREEZE,5.10,4.117,-1.714,0,1,0
$FREEZE,4.29,4.118,-1.714,0,1,0
$FREEZE,3.46,4.090,-1.715,0,1,0
$STATE,11441,end climb,SURFACE_DEPTH_REACHED
$STATE,11441,begin surface coast
$FREEZE,2.53,4.119,-1.712,0,1,0
$FINISH,2.5,1.024821
$STATE,11448,end surface coast,CONTROL_FINISHED_OK
$STATE,11448,begin surface
$SM_CCo,11469,11.60,0.074,0,0,1647,400.08
$SM_GC,2.03,8.50,1.88,11.60,0.055,0.034,0.074,346,2104,1647,-8.66,1.89,400.08,0,0,0,0,0,0,25.85,26.17,25.88
$RAFOS_CLK,584
$RAFOS,6,1346359742,20.833334,20.817223,47,42,41,41,40,39,887,981,1889,1539,1,770
$RAFOS,5,1346359265,20.700001,20.684723,49,47,45,45,43,41,294,1724,743,718,391,1274
$RAFOS,4,1346358792,20.566668,20.553333,50,43,42,42,41,41,474,1095,1295,1787,623,678
$RAFOS,3,1346358305,20.433332,20.418056,48,46,46,43,42,41,1112,208,780,61,487,1736
$RAFOS,2,1346357823,20.299999,20.284166,48,47,44,43,42,42,261,1608,859,588,370,199
$RAFOS,1,1346357347,20.166666,20.151945,69,45,44,39,39,38,465,948,215,1,667,1613
$RAFOS,0,1346356870,20.033333,20.019444,47,41,41,41,39,38,88,419,251,1420,1469,1882
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6008.55,300812,151548
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.54
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.30
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.8,17.9
$24V_AH,22.8,44.960
$10V_AH,9.8,50.452
$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,21.275,100.050,378.000,11.600,0.000,0.000,0.000,468.750,5.250,0.000,16.807,3176.837,5315.311,587.572,2645.458,371.074,0.000,2231.258,0.000,2165.955,2520.000,13.212,0.000
$DEVICE_MAMPS,253.980,64.260,1067.940,74.205,0.000,0.000,0.000,293.624,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,937.153,905.575,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151636
$DATA_FILE_SIZE,60104,1299
$CAP_FILE_SIZE,139178,0
$CFSIZE,260165632,213327872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1454.2
$CURRENT,0.106,174.5,1
$GPS,300812,220528,6644.363,-6008.011,67,0.9,67,-33.9