version: 66.11
glider: 108
mission: 21
dive: 26
start: 6 23 112 11 6 10
data:
$ID,108
$MISSION,21
$DIVE,26
$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,-191124.16
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,230612,065236,6702.582,-5721.039,16,0.8,17,-33.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,3.25
$_SM_ANGLEo,-69.7
$GPS2,230612,065236,6702.582,-5721.039,16,0.8,17,-33.6
$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,334.3,139618,-26.4,-9.167
$D_GRID,792
$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,-62.9,0.0,0.0,0,25,0.00,0.00,-6.32,0.000,2,0.000,0.000,341,2102,1556,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28,-1.06,-146.6,3.3,0.0,1,130,9.52,0.00,-84.32,0.000,6,0.250,0.000,2785,2102,3629,0,0,0,0,0,0,26.08,28.83,26.62
$GC,437,-1.06,-146.6,67.9,-17.9,78,444,0.00,2.20,0.00,0.000,4,0.000,0.062,2777,3515,3632,0,0,0,0,0,0,28.83,26.39,28.83
$GC,644,-1.06,-146.6,107.4,-19.0,115,653,0.00,2.17,0.00,0.000,6,0.000,0.045,2784,2092,3632,0,0,0,0,0,0,28.83,26.46,28.83
$GC,955,-1.06,-146.6,160.7,-15.7,146,964,0.00,2.20,0.00,0.000,4,0.000,0.060,2775,3509,3632,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1190,-1.06,-146.6,198.5,-16.1,169,1198,0.00,2.15,0.00,0.000,6,0.000,0.045,2781,2096,3631,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1497,-1.06,-146.6,244.6,-14.3,200,1506,0.00,2.20,0.00,0.000,4,0.000,0.060,2773,3512,3631,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1683,-1.06,-146.6,274.5,-17.0,218,1689,0.00,2.15,0.00,0.000,6,0.000,0.044,2779,2098,3631,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1990,-1.06,-146.6,321.3,-14.4,249,2000,0.00,2.20,0.00,0.000,4,0.000,0.060,2771,3517,3631,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2127,-1.06,-146.6,341.8,-15.3,262,2134,0.00,2.15,0.00,0.000,6,0.000,0.044,2776,2095,3632,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2433,-1.06,-146.6,386.4,-14.3,293,2442,0.00,2.20,0.00,0.000,4,0.000,0.059,2768,3505,3632,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2601,-1.06,-146.6,411.6,-15.1,309,2609,0.00,2.12,0.00,0.000,6,0.000,0.043,2770,2095,3633,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2908,-1.06,-146.6,457.3,-15.0,340,2917,0.00,2.20,0.00,0.000,4,0.000,0.058,2761,3507,3633,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3063,-1.06,-146.6,481.0,-15.7,355,3072,0.00,2.10,0.00,0.000,6,0.000,0.042,2765,2098,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3371,-1.06,-146.6,525.3,-14.3,386,3379,0.00,2.17,0.00,0.000,4,0.000,0.058,2757,3503,3635,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3502,-1.06,-146.6,545.9,-15.7,399,3512,0.08,2.10,0.00,0.000,6,0.174,0.042,2781,2087,3635,0,0,0,0,0,0,26.52,26.68,28.83
$GC,3813,-1.06,-146.6,587.4,-13.4,430,3821,0.00,2.17,0.00,0.000,4,0.000,0.058,2773,3514,3636,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3928,-1.06,-146.6,600.1,-13.9,439,3934,0.00,2.12,0.00,0.000,6,0.000,0.042,2780,2096,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4235,-1.06,-146.6,643.7,-13.1,450,4241,0.00,2.17,0.00,0.000,4,0.000,0.058,2772,3507,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4365,-1.06,-146.6,660.8,-14.1,454,4370,0.00,2.12,0.00,0.000,6,0.000,0.042,2774,2092,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4685,-1.06,-146.6,705.5,-13.6,465,4689,0.00,2.17,0.00,0.000,4,0.000,0.058,2765,3507,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4796,-1.06,-146.6,719.3,-14.7,468,4800,0.00,2.12,0.00,0.000,6,0.000,0.043,2768,2092,3637,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5102,-1.06,-146.6,765.1,-14.1,478,5107,0.00,2.15,0.00,0.000,4,0.000,0.058,2760,3500,3637,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5237,-1.06,-146.6,783.8,-15.3,482,5241,0.00,2.12,0.00,0.000,6,0.000,0.042,2761,2092,3637,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,5277,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5277,begin apogee
$GC,5284,-0.17,0.0,792.0,-15.2,484,5412,0.98,0.00,122.93,1.331,6,0.160,0.000,3069,1873,3029,0,0,0,0,0,0,26.55,28.83,23.67
$STATE,5415,end apogee,CONTROL_FINISHED_OK
$STATE,5416,begin climb
$GC,5418,1.06,146.6,795.5,0.0,488,5558,1.17,2.42,127.82,1.317,4,0.073,0.049,3484,511,2431,0,0,0,0,0,0,24.70,24.24,23.34
$GC,5700,1.06,146.6,753.8,19.1,498,5705,0.00,2.33,0.00,0.000,6,0.000,0.045,3478,1905,2424,0,0,0,0,0,0,28.83,25.24,28.83
$GC,6023,1.06,146.6,692.7,18.5,509,6029,0.00,2.28,0.00,0.000,4,0.000,0.050,3485,513,2420,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6145,1.06,146.6,669.8,19.2,513,6151,0.00,2.25,0.00,0.000,6,0.000,0.046,3478,1907,2419,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6474,1.06,146.6,606.4,19.3,524,6480,0.00,2.28,0.00,0.000,4,0.000,0.050,3485,508,2418,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6586,1.06,146.6,584.4,20.3,531,6595,0.00,2.22,0.00,0.000,6,0.000,0.046,3478,1906,2418,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6895,1.06,146.6,525.1,18.9,562,6899,0.00,2.25,0.00,0.000,4,0.000,0.050,3485,518,2418,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6997,1.06,146.6,505.6,19.8,572,7006,0.00,2.20,0.00,0.000,6,0.000,0.046,3478,1901,2418,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7307,1.06,146.6,446.2,18.5,603,7316,0.00,2.17,0.00,0.000,4,0.000,0.050,3486,516,2417,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7439,1.06,146.6,420.9,19.4,616,7448,0.00,2.20,0.00,0.000,6,0.000,0.045,3485,1902,2417,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7749,1.06,146.6,358.4,20.8,647,7758,0.00,2.22,0.00,0.000,4,0.000,0.050,3493,514,2417,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7822,1.06,146.6,343.2,21.3,654,7826,0.00,2.17,0.00,0.000,6,0.000,0.045,3492,1904,2417,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8134,1.06,146.6,278.0,20.7,685,8143,0.00,2.20,0.00,0.000,4,0.000,0.050,3500,513,2417,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8281,1.06,146.6,248.2,21.1,699,8288,0.00,2.20,0.00,0.000,6,0.000,0.044,3492,1908,2417,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8587,1.06,146.6,187.3,18.8,730,8595,0.00,2.17,0.00,0.000,4,0.000,0.050,3499,520,2417,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8662,1.06,146.6,173.6,19.4,737,8669,0.00,2.17,0.00,0.000,6,0.000,0.044,3492,1902,2417,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8968,1.06,146.6,117.8,16.8,768,8977,0.00,2.20,0.00,0.000,4,0.000,0.049,3500,504,2417,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9033,1.06,146.6,107.6,16.7,774,9040,0.00,2.20,0.00,0.000,6,0.000,0.044,3497,1904,2417,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9341,1.06,146.6,60.1,14.3,831,9348,0.00,2.17,0.00,0.000,4,0.000,0.056,3497,3314,2417,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9385,1.06,146.6,53.2,15.5,839,9393,0.12,2.10,0.00,0.000,6,0.211,0.043,3477,1916,2417,0,0,0,0,0,0,26.42,26.58,28.83
$GC,9700,1.06,146.6,13.4,9.7,900,9707,0.00,2.22,0.00,0.000,4,0.000,0.050,3486,492,2417,0,0,0,0,0,0,28.83,26.59,28.83
$FREEZE,8.86,-1.156,-1.775,1,2,0
$FREEZE,8.44,-1.149,-1.774,1,2,0
$FREEZE,8.00,-1.138,-1.773,1,2,0
$FREEZE,7.50,-1.131,-1.772,1,2,0
$FREEZE,7.22,-1.118,-1.771,1,2,0
$FREEZE,6.77,-1.101,-1.769,1,2,0
$FREEZE,6.32,-1.088,-1.767,1,2,0
$FREEZE,5.83,-1.055,-1.763,1,2,0
$FREEZE,5.46,-1.031,-1.760,1,2,0
$FREEZE,5.05,-0.999,-1.758,1,2,0
$FREEZE,4.49,-0.960,-1.755,1,2,0
$FREEZE,4.11,-0.947,-1.754,1,2,0
$FREEZE,3.62,-0.929,-1.752,1,2,0
$STATE,9805,end climb,SURFACE_DEPTH_REACHED
$STATE,9805,begin surface coast
$FREEZE,3.21,-0.916,-1.750,1,2,0
$FREEZE,2.77,-0.919,-1.748,1,2,0
$FREEZE,2.44,-0.892,-1.744,1,2,0
$FREEZE,1.89,-0.866,-1.740,1,2,0
$FREEZE,1.69,-0.925,-1.734,1,2,0
$FREEZE,1.41,-0.848,-1.728,1,2,0
$FREEZE,1.59,-0.796,-1.726,1,2,0
$FREEZE,1.60,-0.818,-1.727,1,2,0
$FREEZE,1.66,-0.831,-1.728,1,2,0
$FINISH,1.7,1.025374
$STATE,9853,end surface coast,CONTROL_FINISHED_OK
$STATE,9853,begin surface
$SM_CCo,9875,108.95,0.071,0,0,1397,400.08
$SM_GC,3.02,8.65,2.55,108.95,0.076,0.044,0.071,340,2111,1397,-8.66,-1.07,400.08,0,0,1,0,0,0,26.58,26.61,26.40
$RAFOS_CLK,544
$RAFOS,6,1340455741,12.833333,12.816944,46,44,43,40,37,36,1687,1301,458,349,178,1
$RAFOS,5,1340455264,12.700000,12.684444,53,48,48,47,47,46,1278,443,683,1182,1523,594
$RAFOS,4,1340454781,12.566667,12.550278,45,44,44,43,35,34,1371,61,379,1258,1,224
$RAFOS,3,1340454304,12.433333,12.417778,52,50,50,40,39,39,1900,1396,1819,1538,532,1923
$RAFOS,2,1340453821,12.300000,12.283611,64,54,50,47,42,41,771,1411,1933,594,1415,194
$RAFOS,1,1340453350,12.166667,12.152778,49,47,47,43,42,40,294,567,1009,972,1640,107
$RAFOS,0,1340452868,12.033333,12.018888,57,55,53,43,42,41,1798,1741,1757,1895,912,617
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5721.18,230612,020210
$TT8_MAMPS,0.026215,0.026215
$HUMID,37.71
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$24V_AH,23.3,6.533
$10V_AH,10.3,7.738
$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,20.525,96.975,250.750,108.950,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2449.735,4983.691,520.512,1876.167,220.626,0.000,1512.887,0.000,1851.908,2520.000,22.369,0.000
$DEVICE_MAMPS,250.155,62.730,1331.100,71.145,0.000,0.000,0.000,0.000,420.000,0.000,0.000,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,654.035,692.483,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151700
$DATA_FILE_SIZE,43444,929
$CAP_FILE_SIZE,109825,0
$CFSIZE,260165632,243761152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1461.3
$CURRENT,0.167,324.8,1
$GPS,230612,065236,6702.582,-5721.039,16,0.8,17,-33.6