version: 66.11
glider: 108
mission: 21
dive: 6
start: 6 20 112 17 0 29
data:
$ID,108
$MISSION,21
$DIVE,6
$N_DIVES,10
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$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,150
$T_MISSION,200
$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,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$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,0
$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,5
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,623.11926
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$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,-190188.52
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3150
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,46
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$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
$DEVICE1,2
$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
$GPS1,200612,141331,6700.337,-5648.295,301,99.0,301,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-73.6
$GPS2,200612,165959,6700.777,-5648.815,40,1.0,41,-33.4
$SPEED_LIMITS,0.173,0.247
$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,41.5,4159,-17.8,-10.000
$D_GRID,561
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.6,0.0,0.0,0,122,0.00,0.00,-100.65,0.000,2,0.000,0.000,342,2013,2846,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.78,-146.6,3.1,-3.9,18,168,10.35,2.30,-21.77,0.000,4,0.264,0.070,2901,598,3631,0,0,0,0,0,0,26.06,26.33,26.67
$GC,342,-0.71,-146.6,29.2,-11.5,54,351,0.00,2.28,0.00,0.000,6,0.000,0.051,2894,2004,3637,0,0,0,0,0,0,28.83,26.39,28.83
$GC,671,-0.65,-146.6,67.4,-10.0,115,679,0.15,2.20,0.00,0.000,4,0.185,0.060,2929,3415,3638,0,0,0,0,0,0,26.28,26.41,28.83
$GC,815,-0.72,-146.6,80.3,-9.3,142,822,0.00,2.17,0.00,0.000,6,0.000,0.045,2929,1994,3638,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1132,-0.83,-146.6,111.3,-10.1,193,1141,0.12,2.20,0.00,0.000,4,0.107,0.060,2862,3403,3638,0,0,0,0,0,0,26.51,26.46,28.83
$GC,1207,-0.71,-146.6,120.9,-13.7,200,1215,0.20,2.15,0.00,0.000,6,0.171,0.046,2915,2000,3638,0,0,0,0,0,0,26.32,26.52,28.83
$GC,1514,-0.79,-146.6,154.9,-10.1,231,1523,0.00,2.20,0.00,0.000,4,0.000,0.061,2907,3400,3638,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1627,-0.88,-146.6,166.4,-10.1,242,1636,0.12,2.15,0.00,0.000,6,0.107,0.045,2859,1985,3638,0,0,0,0,0,0,26.51,26.55,28.83
$GC,1937,-0.73,-146.6,203.5,-11.3,273,1946,0.17,2.22,0.00,0.000,4,0.177,0.060,2901,3411,3638,0,0,0,0,0,0,26.37,26.52,28.83
$GC,2010,-0.80,-146.6,210.5,-9.0,280,2018,0.00,2.12,0.00,0.000,6,0.000,0.045,2900,2003,3638,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2320,-0.85,-146.6,237.3,-9.2,311,2328,0.00,2.17,0.00,0.000,4,0.000,0.060,2891,3406,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2433,-0.85,-146.6,248.1,-9.6,322,2442,0.00,2.12,0.00,0.000,6,0.000,0.045,2890,1992,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2742,-0.85,-146.6,277.2,-9.1,353,2750,0.00,2.20,0.00,0.000,4,0.000,0.059,2880,3414,3639,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2869,-0.85,-146.6,288.9,-9.8,365,2875,0.00,2.15,0.00,0.000,6,0.000,0.044,2880,1995,3639,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3174,-0.85,-146.6,317.6,-9.0,396,3178,0.00,2.20,0.00,0.000,4,0.000,0.059,2870,3408,3640,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3319,-0.85,-146.6,331.7,-10.1,410,3327,0.00,2.12,0.00,0.000,6,0.000,0.044,2869,1995,3640,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3626,-0.78,-146.6,362.8,-10.1,441,3635,0.00,2.20,0.00,0.000,4,0.000,0.059,2859,3408,3641,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3780,-0.71,-146.6,379.7,-11.7,456,3790,0.17,2.12,0.00,0.000,6,0.146,0.043,2916,1993,3642,0,0,0,0,0,0,26.46,26.65,28.83
$GC,4089,-0.86,-146.6,407.3,-8.1,487,4098,0.12,2.17,0.00,0.000,4,0.101,0.057,2848,3403,3642,0,0,0,0,0,0,26.68,26.62,28.83
$GC,4225,-0.75,-146.6,421.3,-10.8,500,4233,0.22,2.12,0.00,0.000,6,0.158,0.043,2912,1994,3643,0,0,0,0,0,0,26.47,26.67,28.83
$GC,4533,-0.88,-146.6,444.8,-7.1,531,4542,0.12,2.17,0.00,0.000,4,0.103,0.057,2845,3406,3643,0,0,0,0,0,0,26.69,26.63,28.83
$STATE,4594,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4603,-0.17,0.0,450.6,-9.9,537,4725,0.77,0.00,114.93,1.108,6,0.151,0.000,3091,1983,3029,0,0,0,0,0,0,26.47,28.83,23.85
$STATE,4729,end apogee,CONTROL_FINISHED_OK
$STATE,4729,begin climb
$GC,4731,0.78,146.6,453.1,0.0,550,4868,0.88,2.40,123.32,1.087,4,0.073,0.048,3405,590,2430,0,0,0,0,0,0,24.84,24.45,23.59
$GC,4965,0.48,146.6,423.8,17.2,573,4972,0.35,2.35,0.00,0.000,6,0.163,0.045,3306,2005,2426,0,0,0,0,0,0,25.10,25.26,28.83
$GC,5271,0.48,146.6,385.1,11.7,604,5272,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2005,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5573,0.48,146.6,350.5,10.9,634,5582,0.00,2.25,0.00,0.000,4,0.000,0.049,3314,596,2421,0,0,0,0,0,0,28.83,26.03,28.83
$GC,5618,0.48,146.6,345.7,11.0,638,5625,0.00,2.28,0.00,0.000,6,0.000,0.046,3313,2014,2421,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5925,0.48,146.6,309.5,11.3,669,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2014,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6227,0.48,146.6,275.2,11.1,699,6236,0.00,2.25,0.00,0.000,4,0.000,0.049,3323,589,2421,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6269,0.48,146.6,270.3,11.1,703,6278,0.00,2.25,0.00,0.000,6,0.000,0.046,3323,2010,2421,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6579,0.48,146.6,235.1,11.0,734,6580,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2009,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6881,0.48,146.6,203.7,10.9,764,6889,0.00,2.22,0.00,0.000,4,0.000,0.048,3333,590,2420,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6925,0.48,146.6,199.1,10.2,768,6932,0.00,2.22,0.00,0.000,6,0.000,0.046,3332,1999,2420,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7233,0.42,146.6,164.7,10.9,799,7242,0.15,2.22,0.00,0.000,4,0.168,0.047,3295,586,2420,0,0,0,0,0,0,26.34,26.46,28.83
$GC,7269,0.48,157.5,161.7,9.5,802,7285,0.00,2.22,8.57,0.815,6,0.000,0.045,3295,2000,2386,0,0,0,0,0,0,28.83,26.48,25.48
$GC,7586,0.68,206.8,136.1,7.8,834,7634,0.20,0.00,42.28,0.883,6,0.079,0.000,3375,2000,2185,0,0,0,0,0,0,26.41,28.83,24.89
$GC,7937,0.59,206.8,89.1,14.0,876,7943,0.12,0.00,0.00,0.000,6,0.174,0.000,3341,2000,2181,0,0,0,0,0,0,25.93,28.83,28.83
$GC,8249,0.67,206.8,52.5,10.4,937,8255,0.00,2.22,0.00,0.000,4,0.000,0.050,3349,594,2180,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8299,0.78,206.8,47.3,10.2,946,8306,0.15,2.25,0.00,0.000,6,0.096,0.047,3404,2002,2180,0,0,0,0,0,0,26.20,26.23,28.83
$GC,8615,0.73,206.8,9.1,11.2,1007,8621,0.00,2.22,0.00,0.000,4,0.000,0.050,3414,595,2179,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,8662,end climb,SURFACE_DEPTH_REACHED
$STATE,8662,begin surface coast
$FINISH,0.8,1.013025
$STATE,8707,end surface coast,CONTROL_FINISHED_OK
$STATE,8708,begin surface
$SM_CCo,8729,191.32,0.117,1,0,487,623.31
$SM_GC,1.64,8.38,2.28,191.32,0.064,0.047,0.117,347,2013,487,-8.71,-0.90,623.31,0,0,1,0,1,0,26.31,26.35,25.29
$RAFOS_CLK,428
$RAFOS,5,1340210463,16.700001,16.684166,51,49,46,43,42,42,1117,869,1476,1411,61,245
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5653.72,200612,141447
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.91
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.2
$24V_AH,23.6,4.716
$10V_AH,10.4,5.802
$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,22.775,79.600,289.100,191.325,0.000,0.000,0.000,334.650,0.250,0.000,42.005,2387.906,3960.051,654.493,2125.018,280.150,0.000,1921.131,0.000,1696.642,0.000,2.617,0.000
$DEVICE_MAMPS,263.925,70.380,1108.485,117.045,0.000,0.000,0.000,267.409,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,723.304,828.258,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,46782,1025
$CAP_FILE_SIZE,110923,0
$CFSIZE,260165632,245121024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,43
$SOUNDSPEED,1463.5
$GPS,200612,193034,6701.132,-5648.328,32,1.0,32,-33.5