version: 66.11
glider: 108
mission: 21
dive: 14
start: 6 21 112 13 15 41
data:
$ID,108
$MISSION,21
$DIVE,14
$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,623.11926
$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,-190381.75
$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,55
$R_STBD_OVSHOOT,40
$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
$GPS1,210612,130824,6702.101,-5651.897,38,0.8,38,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-74.2
$GPS2,210612,131508,6702.128,-5651.924,16,0.9,17,-33.5
$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,288.9,160168,-16.3,-9.167
$D_GRID,608
$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,-0.72,-146.6,0.0,0.0,0,137,0.00,0.00,-118.03,0.000,2,0.000,0.000,343,2101,3305,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-0.72,-146.6,3.5,-4.9,21,168,10.02,2.25,-6.90,0.000,4,0.255,0.067,2897,711,3633,0,0,0,0,0,0,26.10,26.34,26.65
$GC,398,-0.72,-146.6,39.9,-10.6,70,405,0.00,2.20,0.00,0.000,6,0.000,0.050,2890,2096,3640,0,0,0,0,0,0,28.83,26.41,28.83
$GC,711,-0.72,-146.6,71.9,-10.2,131,718,0.00,2.20,0.00,0.000,4,0.000,0.061,2879,3519,3640,0,0,0,0,0,0,28.83,26.45,28.83
$GC,806,-0.72,-146.6,82.2,-10.6,149,813,0.00,2.15,0.00,0.000,6,0.000,0.044,2879,2102,3640,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1117,-0.72,-146.6,113.1,-10.0,197,1120,0.00,2.20,0.00,0.000,4,0.000,0.061,2869,3507,3640,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1219,-0.72,-146.6,124.8,-11.6,207,1229,0.00,2.15,0.00,0.000,6,0.000,0.044,2869,2086,3640,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1528,-0.72,-146.6,159.2,-10.9,238,1537,0.00,2.25,0.00,0.000,4,0.000,0.061,2858,3520,3640,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1581,-0.72,-146.6,165.4,-12.1,243,1592,0.15,2.12,0.00,0.000,6,0.168,0.044,2902,2099,3640,0,0,0,0,0,0,26.44,26.59,28.83
$GC,1891,-0.72,-146.6,193.7,-8.6,274,1895,0.00,2.20,0.00,0.000,4,0.000,0.061,2894,3512,3640,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1973,-0.72,-146.6,201.8,-10.0,282,1977,0.00,2.12,0.00,0.000,6,0.000,0.044,2893,2094,3639,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2285,-0.72,-146.6,232.4,-9.6,313,2294,0.00,2.22,0.00,0.000,4,0.000,0.060,2883,3515,3639,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2370,-0.72,-146.6,241.0,-10.6,321,2377,0.00,2.15,0.00,0.000,6,0.000,0.043,2883,2087,3639,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2677,-0.72,-146.6,272.7,-9.9,352,2686,0.00,2.20,0.00,0.000,4,0.000,0.060,2873,3506,3639,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2769,-0.72,-146.6,282.2,-10.3,361,2778,0.00,2.12,0.00,0.000,6,0.000,0.043,2873,2090,3640,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3079,-0.72,-146.6,312.9,-9.5,392,3088,0.00,2.20,0.00,0.000,4,0.000,0.059,2862,3515,3640,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3162,-0.72,-146.6,321.3,-10.1,400,3166,0.12,2.12,0.00,0.000,6,0.168,0.042,2893,2094,3640,0,0,0,0,0,0,26.53,26.67,28.83
$GC,3475,-0.72,-146.6,347.1,-7.7,431,3479,0.00,2.20,0.00,0.000,4,0.000,0.058,2885,3515,3641,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3549,-0.72,-146.6,353.2,-8.0,438,3558,0.00,2.08,0.00,0.000,6,0.000,0.042,2885,2101,3641,0,0,0,0,0,0,28.83,26.70,28.83
$GC,3859,-0.72,-146.6,378.3,-8.0,469,3868,0.00,2.17,0.00,0.000,4,0.000,0.058,2875,3511,3642,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3951,-0.72,-146.6,386.4,-8.7,478,3960,0.00,2.10,0.00,0.000,6,0.000,0.041,2875,2093,3642,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4261,-0.72,-146.6,412.4,-8.4,509,4270,0.00,2.17,0.00,0.000,4,0.000,0.058,2865,3505,3642,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4346,-0.72,-146.6,420.0,-9.4,517,4354,0.12,2.10,0.00,0.000,6,0.168,0.041,2896,2098,3643,0,0,0,0,0,0,26.57,26.72,28.83
$GC,4654,-0.72,-146.6,443.5,-7.9,548,4662,0.00,2.17,0.00,0.000,4,0.000,0.058,2888,3506,3643,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4706,-0.72,-146.6,447.8,-8.3,553,4710,0.00,2.10,0.00,0.000,6,0.000,0.041,2888,2089,3643,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5019,-0.72,-146.6,473.8,-8.3,584,5023,0.00,2.20,0.00,0.000,4,0.000,0.058,2878,3512,3644,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5071,-0.72,-146.6,478.5,-9.2,589,5079,0.00,2.10,0.00,0.000,6,0.000,0.041,2878,2098,3644,0,0,0,0,0,0,28.83,26.73,28.83
$GC,5382,-0.72,-146.6,504.7,-8.5,620,5390,0.00,2.17,0.00,0.000,4,0.000,0.057,2867,3512,3645,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5424,-0.72,-146.6,508.5,-9.0,624,5433,0.00,2.10,0.00,0.000,6,0.000,0.041,2867,2094,3645,0,0,0,0,0,0,28.83,26.74,28.83
$GC,5734,-0.72,-146.6,535.1,-8.5,655,5743,0.00,2.17,0.00,0.000,4,0.000,0.057,2856,3509,3645,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5779,-0.72,-146.6,539.0,-9.2,659,5788,0.15,2.08,0.00,0.000,6,0.161,0.041,2897,2097,3645,0,0,0,0,0,0,26.59,26.74,28.83
$GC,6086,-0.72,-146.6,561.4,-7.5,690,6090,0.00,2.17,0.00,0.000,4,0.000,0.057,2888,3509,3645,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6169,-0.72,-146.6,567.8,-7.9,698,6173,0.00,2.10,0.00,0.000,6,0.000,0.041,2888,2092,3646,0,0,0,0,0,0,28.83,26.75,28.83
$STATE,6239,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6239,begin apogee
$GC,6246,-0.17,0.0,573.1,-7.1,705,6371,0.55,0.00,118.50,1.170,6,0.130,0.000,3069,1888,3029,0,0,0,0,0,0,26.60,28.83,23.86
$STATE,6374,end apogee,CONTROL_FINISHED_OK
$STATE,6374,begin climb
$GC,6377,0.72,146.6,575.9,0.0,718,6514,0.85,2.35,123.07,1.112,4,0.084,0.047,3370,518,2431,0,0,0,0,0,0,24.84,24.49,23.68
$GC,6578,0.72,146.6,555.6,14.1,738,6587,0.00,2.30,0.00,0.000,6,0.000,0.044,3370,1899,2428,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6888,0.72,146.6,509.8,15.2,769,6897,0.00,2.28,0.00,0.000,4,0.000,0.049,3379,506,2423,0,0,0,0,0,0,28.83,25.78,28.83
$GC,6943,0.72,146.6,501.7,15.7,774,6950,0.00,2.28,0.00,0.000,6,0.000,0.044,3379,1911,2423,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7250,0.72,146.6,452.4,15.9,805,7259,0.00,2.25,0.00,0.000,4,0.000,0.049,3389,505,2422,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7302,0.72,146.6,444.3,15.6,810,7311,0.00,2.25,0.00,0.000,6,0.000,0.044,3389,1910,2422,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7612,0.72,146.6,394.6,16.6,841,7621,0.00,2.25,0.00,0.000,4,0.000,0.049,3396,507,2421,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7667,0.72,146.6,386.3,16.1,846,7674,0.12,2.22,0.00,0.000,6,0.182,0.044,3365,1905,2421,0,0,0,0,0,0,26.11,26.25,28.83
$GC,7974,0.72,146.6,340.6,14.4,877,7983,0.00,2.22,0.00,0.000,4,0.000,0.049,3372,510,2421,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8006,0.72,146.6,336.1,14.1,880,8015,0.00,2.17,0.00,0.000,6,0.000,0.045,3372,1893,2421,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8316,0.72,146.6,292.7,14.1,911,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1893,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8618,0.72,146.6,252.1,13.3,941,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1893,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8929,0.72,146.6,212.6,11.8,972,8935,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1893,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9238,0.72,146.6,175.1,12.0,1003,9244,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1893,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9549,0.72,146.6,136.8,12.5,1034,9558,0.00,2.17,0.00,0.000,4,0.000,0.050,3381,505,2421,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9612,0.72,146.6,128.4,13.2,1040,9620,0.00,2.17,0.00,0.000,6,0.000,0.045,3381,1903,2421,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9922,0.72,146.6,90.1,11.8,1079,9931,0.00,2.22,0.00,0.000,4,0.000,0.049,3390,502,2421,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9949,0.72,146.6,86.9,11.9,1083,9957,0.00,2.20,0.00,0.000,6,0.000,0.044,3390,1905,2421,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10262,0.72,146.6,51.2,10.7,1144,10268,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1904,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10579,0.72,146.6,18.6,9.7,1205,10586,0.00,2.15,0.00,0.000,4,0.000,0.057,3390,3310,2421,0,0,0,0,0,0,28.83,26.62,28.83
$FREEZE,8.72,0.287,-1.778,0,1,0
$FREEZE,8.31,0.226,-1.777,0,1,0
$FREEZE,8.04,0.191,-1.776,0,1,0
$FREEZE,7.61,0.144,-1.774,0,1,0
$FREEZE,7.21,0.103,-1.772,0,1,0
$FREEZE,6.69,0.018,-1.770,0,1,0
$FREEZE,6.25,-0.032,-1.768,0,1,0
$FREEZE,5.94,-0.057,-1.768,0,1,0
$FREEZE,5.58,-0.105,-1.767,0,1,0
$FREEZE,5.30,-0.191,-1.766,0,1,0
$FREEZE,4.93,-0.245,-1.764,0,1,0
$FREEZE,4.60,-0.316,-1.762,0,1,0
$FREEZE,4.27,-0.371,-1.760,0,1,0
$FREEZE,3.89,-0.407,-1.757,0,1,0
$GC,10748,0.80,207.4,4.3,6.6,1237,10758,0.00,2.12,5.00,0.075,2,0.000,0.044,3398,1907,2378,0,0,0,0,0,0,28.83,26.65,28.83
$STATE,10759,end climb,SURFACE_DEPTH_REACHED
$STATE,10759,begin surface coast
$FREEZE,3.43,-0.535,-1.756,0,1,0
$FREEZE,3.35,-0.628,-1.755,0,1,0
$FREEZE,3.33,-0.521,-1.756,0,1,0
$FREEZE,3.33,-0.588,-1.760,0,1,0
$FREEZE,3.27,-0.495,-1.757,0,1,0
$FREEZE,3.23,-0.480,-1.757,0,1,0
$FREEZE,3.29,-0.477,-1.757,0,1,0
$FREEZE,3.39,-0.442,-1.755,0,1,0
$FREEZE,3.29,-0.497,-1.758,0,1,0
$FREEZE,3.23,-0.523,-1.759,0,1,0
$FINISH,3.2,1.025779
$STATE,10815,end surface coast,CONTROL_FINISHED_OK
$STATE,10815,begin surface
$SM_CCo,10954,214.70,0.076,0,0,487,623.31
$SM_GC,4.57,8.25,0.32,214.70,0.066,0.063,0.076,342,2106,487,-8.65,-1.02,623.31,0,0,0,0,0,0,26.62,26.65,26.29
$RAFOS_CLK,543
$RAFOS,1,1340294945,16.166666,16.151388,56,51,49,43,40,40,694,784,1600,1189,796,1329
$RAFOS,0,1340294468,16.033333,16.018888,54,51,50,43,41,41,666,1640,947,1567,693,1907
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5653.72,210612,090934
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.92
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,550.5,37.0
$24V_AH,23.7,5.395
$10V_AH,10.4,6.474
$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,20.350,105.275,246.575,214.700,0.000,0.000,0.000,275.625,2.500,0.000,18.007,3127.601,5128.809,688.479,2336.775,294.158,0.000,2081.640,0.000,2032.610,720.000,20.990,0.000
$DEVICE_MAMPS,254.745,66.555,1169.685,75.735,0.000,0.000,0.000,275.648,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,890.446,846.652,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151548
$DATA_FILE_SIZE,56736,1248
$CAP_FILE_SIZE,135676,0
$CFSIZE,260165632,244613120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.3
$CURRENT,52.426,263.7,1
$GPS,210612,131508,6702.128,-5651.924,181,99.0,181,-33.5