version: 66.11
glider: 108
mission: 21
dive: 66
start: 7 1 112 16 33 5
data:
$ID,108
$MISSION,21
$DIVE,66
$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,0.00275
$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,-191169.25
$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,51
$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
$GPS1,010712,162304,6647.606,-6008.021,36,0.9,36,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-76.4
$GPS2,010712,163230,6647.597,-6008.060,18,1.0,18,-33.9
$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,317.1,14719,-16.3,-9.167
$D_GRID,584
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.72,-146.6,0.0,0.0,0,98,0.00,0.00,-79.20,0.000,2,0.000,0.000,336,2109,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,101,-0.72,-146.6,3.1,-1.1,14,133,10.12,2.25,-12.15,0.000,4,0.262,0.064,2898,706,3632,0,0,0,0,0,0,26.24,26.46,26.76
$GC,258,-0.72,-146.6,25.8,-12.6,43,265,0.00,2.20,0.00,0.000,6,0.000,0.045,2891,2108,3635,0,0,0,0,0,0,28.83,26.49,28.83
$GC,570,-0.72,-146.6,63.1,-11.8,104,577,0.00,2.20,0.00,0.000,4,0.000,0.047,2897,702,3637,0,0,0,0,0,0,28.83,26.52,28.83
$GC,601,-0.72,-146.6,66.5,-11.4,109,608,0.00,2.20,0.00,0.000,6,0.000,0.045,2890,2108,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,919,-0.72,-146.6,101.7,-10.9,170,928,0.00,2.15,0.00,0.000,4,0.000,0.057,2880,3517,3638,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1067,-0.72,-146.6,118.8,-12.0,184,1074,0.00,2.12,0.00,0.000,6,0.000,0.038,2880,2099,3638,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1372,-0.72,-146.6,152.7,-10.8,215,1376,0.00,2.22,0.00,0.000,4,0.000,0.057,2869,3518,3637,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1537,-0.72,-146.6,172.3,-12.4,231,1544,0.00,2.15,0.00,0.000,6,0.000,0.041,2869,2092,3637,0,0,0,0,0,0,28.83,26.62,28.83
$GC,1844,-0.72,-146.6,208.2,-11.1,262,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2092,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2146,-0.72,-146.6,239.2,-9.9,292,2156,0.00,2.20,0.00,0.000,4,0.000,0.057,2858,3508,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2199,-0.72,-146.6,245.0,-10.8,297,2208,0.10,2.10,0.00,0.000,6,0.158,0.041,2891,2099,3635,0,0,0,0,0,0,26.49,26.65,28.83
$GC,2509,-0.72,-146.6,272.4,-8.3,328,2518,0.00,2.15,0.00,0.000,4,0.000,0.057,2882,3502,3635,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2654,-0.72,-146.6,285.8,-9.4,342,2662,0.00,2.10,0.00,0.000,6,0.000,0.041,2882,2095,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2962,-0.72,-146.6,312.8,-8.4,373,2971,0.00,2.15,0.00,0.000,4,0.000,0.057,2871,3505,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3085,-0.72,-146.6,324.3,-9.5,385,3093,0.00,2.10,0.00,0.000,6,0.000,0.041,2872,2092,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3394,-0.72,-146.6,353.0,-9.3,416,3403,0.00,2.17,0.00,0.000,4,0.000,0.057,2861,3506,3635,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3477,-0.72,-146.6,361.3,-10.2,424,3487,0.10,2.10,0.00,0.000,6,0.151,0.041,2894,2094,3634,0,0,0,0,0,0,26.53,26.69,28.83
$GC,3787,-0.72,-146.6,385.7,-7.5,455,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2094,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4091,-0.72,-146.6,409.2,-8.0,485,4100,0.00,2.15,0.00,0.000,4,0.000,0.056,2885,3505,3635,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4183,-0.72,-146.6,417.2,-8.1,494,4192,0.00,2.10,0.00,0.000,6,0.000,0.039,2885,2097,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4494,-0.72,-146.6,440.2,-7.2,525,4503,0.00,2.15,0.00,0.000,4,0.000,0.055,2875,3512,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4589,-0.72,-146.6,447.6,-8.1,534,4596,0.00,2.10,0.00,0.000,6,0.000,0.039,2875,2098,3635,0,0,0,0,0,0,28.83,26.72,28.83
$GC,4897,-0.72,-146.6,471.9,-8.1,565,4900,0.00,2.17,0.00,0.000,4,0.000,0.055,2864,3519,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5020,-0.72,-146.6,482.4,-8.7,577,5029,0.10,2.10,0.00,0.000,6,0.148,0.038,2897,2102,3636,0,0,0,0,0,0,26.57,26.72,28.83
$GC,5331,-0.72,-146.6,503.5,-6.7,608,5340,0.00,2.12,0.00,0.000,4,0.000,0.054,2888,3503,3636,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5384,-0.72,-146.6,507.5,-7.7,613,5393,0.00,2.08,0.00,0.000,6,0.000,0.039,2888,2096,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5694,-0.72,-146.6,529.2,-6.9,644,5703,0.00,2.15,0.00,0.000,4,0.000,0.054,2878,3516,3636,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5780,-0.72,-146.6,535.5,-7.6,652,5787,0.00,2.12,0.00,0.000,6,0.000,0.038,2878,2088,3636,0,0,0,0,0,0,28.83,26.73,28.83
$GC,6086,-0.72,-146.6,558.8,-7.8,683,6095,0.00,2.17,0.00,0.000,4,0.000,0.054,2867,3509,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,6159,-0.72,-146.6,564.9,-8.4,690,6168,0.00,2.08,0.00,0.000,6,0.000,0.038,2867,2101,3637,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,6396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6396,begin apogee
$GC,6405,-0.17,0.0,584.5,-7.6,714,6532,0.62,0.00,122.28,1.229,6,0.145,0.000,3067,1883,3029,0,0,0,0,0,0,26.58,28.83,23.81
$STATE,6535,end apogee,CONTROL_FINISHED_OK
$STATE,6535,begin climb
$GC,6538,0.72,146.6,586.8,0.0,727,6677,0.88,2.35,124.78,1.194,4,0.096,0.047,3367,519,2429,0,0,0,0,0,0,24.76,24.22,23.36
$GC,6713,0.72,146.6,568.6,13.9,744,6720,0.00,2.33,0.00,0.000,6,0.000,0.039,3368,1904,2425,0,0,1,0,0,0,28.83,24.71,28.83
$GC,7020,0.72,146.6,520.2,15.6,775,7029,0.00,2.25,0.00,0.000,4,0.000,0.051,3368,3304,2418,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7044,0.72,146.6,516.5,15.6,777,7052,0.00,2.17,0.00,0.000,6,0.000,0.038,3377,1911,2418,0,0,0,0,0,0,28.83,25.58,28.83
$GC,7353,0.72,146.6,464.3,16.8,808,7362,0.00,2.25,0.00,0.000,4,0.000,0.047,3387,499,2416,0,0,0,0,0,0,28.83,25.88,28.83
$GC,7469,0.72,146.6,445.7,16.5,819,7475,0.00,2.25,0.00,0.000,6,0.000,0.040,3387,1907,2416,0,0,0,0,0,0,28.83,25.97,28.83
$GC,7775,0.72,146.6,393.1,17.2,850,7777,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1907,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8078,0.72,146.6,340.9,17.1,880,8087,0.00,2.22,0.00,0.000,4,0.000,0.048,3397,501,2415,0,0,0,0,0,0,28.83,26.23,28.83
$GC,8123,0.72,146.6,333.1,17.4,884,8132,0.12,2.22,0.00,0.000,6,0.171,0.040,3366,1911,2415,0,0,0,0,0,0,26.13,26.25,28.83
$GC,8430,0.72,146.6,287.4,14.4,915,8439,0.00,2.17,0.00,0.000,4,0.000,0.051,3366,3314,2414,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8475,0.72,146.6,281.2,15.0,919,8482,0.00,2.17,0.00,0.000,6,0.000,0.039,3374,1886,2414,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8782,0.72,146.6,237.1,13.1,950,8791,0.00,2.15,0.00,0.000,4,0.000,0.048,3384,508,2414,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8877,0.72,146.6,224.1,14.0,959,8884,0.00,2.20,0.00,0.000,6,0.000,0.041,3384,1909,2414,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9185,0.72,146.6,179.9,13.9,990,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1909,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9486,0.72,146.6,141.7,11.9,1020,9490,0.00,2.22,0.00,0.000,4,0.000,0.048,3393,498,2414,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9518,0.72,146.6,137.7,11.9,1023,9527,0.00,2.20,0.00,0.000,6,0.000,0.041,3392,1908,2414,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9828,0.72,146.6,102.0,11.5,1054,9837,0.00,2.25,0.00,0.000,4,0.000,0.047,3399,494,2413,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9859,0.72,146.6,98.5,11.1,1058,9867,0.12,2.20,0.00,0.000,6,0.164,0.041,3366,1904,2413,0,0,0,0,0,0,26.41,26.53,28.83
$GC,10174,0.72,146.6,68.1,9.8,1119,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3366,1904,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10483,0.74,156.4,39.4,8.8,1180,10497,0.00,2.20,6.88,0.794,4,0.000,0.048,3373,505,2391,0,0,0,0,0,0,28.83,26.44,25.63
$GC,10516,0.74,156.4,36.3,10.0,1185,10523,0.00,2.20,0.00,0.000,6,0.000,0.042,3373,1904,2390,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10830,0.79,198.8,11.9,7.4,1246,10857,0.00,2.22,20.67,0.094,4,0.000,0.054,3373,3308,2215,0,0,0,0,0,0,28.83,26.44,26.39
$FREEZE,8.94,1.998,-1.752,2,1,0
$FREEZE,8.68,2.019,-1.753,2,1,0
$FREEZE,8.07,2.030,-1.752,2,1,0
$FREEZE,7.70,2.024,-1.753,2,1,0
$FREEZE,7.31,2.099,-1.752,2,1,0
$FREEZE,6.78,2.080,-1.754,2,1,0
$FREEZE,6.29,2.125,-1.752,2,1,0
$FREEZE,5.68,2.134,-1.752,2,1,0
$FREEZE,5.33,2.139,-1.752,2,1,0
$FREEZE,4.65,2.144,-1.751,2,1,0
$FREEZE,4.18,2.148,-1.750,2,1,0
$FREEZE,3.63,2.147,-1.750,2,1,0
$STATE,10926,end climb,SURFACE_DEPTH_REACHED
$STATE,10926,begin surface coast
$FREEZE,3.21,2.139,-1.750,2,1,0
$FREEZE,2.63,2.142,-1.749,2,1,0
$FINISH,2.6,1.025505
$STATE,10939,end surface coast,CONTROL_FINISHED_OK
$STATE,10939,begin surface
$SM_CCo,10960,88.30,0.074,0,0,1397,400.08
$SM_GC,2.29,8.12,1.90,88.30,0.055,0.042,0.074,345,2090,1397,-8.65,1.33,400.08,0,0,0,0,0,0,26.44,26.48,26.29
$RAFOS_CLK,564
$RAFOS,6,1341161343,16.833334,16.817499,48,43,42,39,38,38,368,1117,1801,321,609,1064
$RAFOS,5,1341160862,16.700001,16.683889,47,44,44,42,41,40,801,61,578,1393,1081,1278
$RAFOS,4,1341160413,16.566668,16.559166,46,46,46,44,42,42,933,87,1325,1307,139,1324
$RAFOS,2,1341159423,16.299999,16.284166,48,43,42,41,41,40,762,1383,1417,278,1820,632
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6023.41,010712,161627
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.03
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$24V_AH,23.4,10.797
$10V_AH,10.1,12.616
$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,20.300,104.500,274.600,88.300,0.000,0.000,0.000,369.900,1.750,0.000,19.314,3141.026,5108.400,562.504,2491.416,311.890,0.000,2059.537,0.000,2097.031,1080.000,13.222,0.000
$DEVICE_MAMPS,261.630,64.260,1228.590,74.205,0.000,0.000,0.000,276.397,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,881.589,949.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151572
$DATA_FILE_SIZE,56697,1265
$CAP_FILE_SIZE,136406,0
$CFSIZE,260165632,240295936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1454.5
$CURRENT,0.087,167.0,1
$GPS,010712,193834,6647.564,-6010.763,31,0.8,31,-33.9