version: 66.11
glider: 108
mission: 21
dive: 125
start: 7 12 112 5 4 44
data:
$ID,108
$MISSION,21
$DIVE,125
$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,-191243.84
$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,67
$R_STBD_OVSHOOT,46
$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
$GPS1,120712,045657,6701.816,-5652.021,36,1.1,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.22
$_SM_ANGLEo,-75.9
$GPS2,120712,050412,6701.807,-5652.323,21,0.8,21,-33.5
$SPEED_LIMITS,0.159,0.240
$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,112.1,3825,-16.3,-9.167
$D_GRID,579
$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,-146.6,0.0,0.0,0,98,0.00,0.00,-79.25,0.000,2,0.000,0.000,339,2104,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.72,-146.6,3.1,-1.5,14,128,9.88,2.17,-8.07,0.000,4,0.248,0.055,2900,699,3630,0,0,0,0,0,0,26.15,26.50,26.80
$GC,157,-0.72,-146.6,11.4,-12.0,23,163,0.00,2.17,0.00,0.000,6,0.000,0.039,2893,2111,3632,0,0,0,0,0,0,28.83,26.51,28.83
$GC,469,-0.72,-146.6,43.6,-10.2,84,476,0.00,2.10,0.00,0.000,4,0.000,0.050,2882,3512,3635,0,0,0,0,0,0,28.83,26.52,28.83
$GC,549,-0.72,-146.6,52.2,-10.6,99,556,0.00,2.08,0.00,0.000,6,0.000,0.030,2882,2095,3636,0,0,0,0,0,0,28.83,26.61,28.83
$GC,860,-0.72,-146.6,82.1,-9.1,160,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2095,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1173,-0.72,-146.6,112.1,-9.9,209,1181,0.00,2.15,0.00,0.000,4,0.000,0.049,2872,3508,3637,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1235,-0.72,-146.6,118.9,-11.2,215,1239,0.00,2.05,0.00,0.000,6,0.000,0.030,2873,2095,3637,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1547,-0.72,-146.6,151.5,-9.8,246,1555,0.00,2.15,0.00,0.000,4,0.000,0.049,2862,3507,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1631,-0.72,-146.6,159.9,-10.5,254,1639,0.12,2.08,0.00,0.000,6,0.178,0.030,2894,2092,3636,0,0,0,0,0,0,26.44,26.68,28.83
$GC,1939,-0.72,-146.6,186.0,-8.1,285,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2091,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2241,-0.72,-146.6,211.0,-8.9,315,2250,0.00,2.12,0.00,0.000,4,0.000,0.049,2885,3500,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2344,-0.72,-146.6,220.7,-9.2,325,2352,0.00,2.05,0.00,0.000,6,0.000,0.030,2885,2096,3634,0,0,0,0,0,0,28.83,26.71,28.83
$GC,2653,-0.72,-146.6,247.4,-8.3,356,2663,0.00,2.12,0.00,0.000,4,0.000,0.048,2875,3506,3634,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2782,-0.72,-146.6,258.0,-8.6,368,2790,0.00,2.05,0.00,0.000,6,0.000,0.029,2875,2102,3634,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3088,-0.72,-146.6,281.2,-7.1,399,3097,0.00,2.12,0.00,0.000,4,0.000,0.048,2864,3503,3633,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3124,-0.72,-146.6,283.7,-7.7,402,3131,0.12,2.05,0.00,0.000,6,0.175,0.029,2896,2094,3633,0,0,0,0,0,0,26.48,26.73,28.83
$GC,3431,-0.72,-146.6,303.5,-6.2,433,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2094,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3733,-0.72,-146.6,322.4,-6.5,463,3737,0.00,2.15,0.00,0.000,4,0.000,0.048,2887,3509,3633,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3809,-0.72,-146.6,327.7,-7.5,470,3815,0.00,2.05,0.00,0.000,6,0.000,0.029,2887,2096,3633,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4116,-0.72,-146.6,349.5,-7.1,501,4126,0.00,2.12,0.00,0.000,4,0.000,0.047,2877,3505,3633,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4190,-0.72,-146.6,355.2,-7.7,508,4199,0.00,2.05,0.00,0.000,6,0.000,0.028,2877,2092,3633,0,0,0,0,0,0,28.83,26.75,28.83
$GC,4500,-0.72,-146.6,378.2,-7.3,539,4508,0.00,2.15,0.00,0.000,4,0.000,0.047,2866,3507,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4564,-0.72,-146.6,383.1,-8.1,545,4572,0.12,2.05,0.00,0.000,6,0.173,0.028,2898,2091,3633,0,0,0,0,0,0,26.51,26.75,28.83
$GC,4872,-0.72,-146.6,402.3,-5.9,576,4876,0.00,2.15,0.00,0.000,4,0.000,0.047,2890,3509,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4938,-0.72,-146.6,406.7,-6.9,582,4944,0.00,2.05,0.00,0.000,6,0.000,0.028,2889,2091,3634,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5245,-0.72,-146.6,426.9,-6.5,613,5254,0.00,2.12,0.00,0.000,4,0.000,0.047,2879,3503,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5310,-0.72,-146.6,431.4,-7.3,619,5316,0.00,2.05,0.00,0.000,6,0.000,0.028,2879,2087,3634,0,0,0,0,0,0,28.83,26.77,28.83
$GC,5617,-0.72,-146.6,452.5,-6.8,650,5621,0.00,2.15,0.00,0.000,4,0.000,0.047,2868,3505,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5723,-0.72,-146.6,460.1,-7.6,660,5730,0.00,2.05,0.00,0.000,6,0.000,0.028,2868,2091,3634,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6030,-0.72,-146.6,481.3,-6.7,691,6038,0.00,2.15,0.00,0.000,4,0.000,0.047,2857,3507,3635,0,0,0,0,0,0,28.83,26.68,28.83
$GC,6062,-0.72,-146.6,483.5,-6.7,694,6071,0.10,2.05,0.00,0.000,6,0.146,0.028,2890,2086,3634,0,0,0,0,0,0,26.51,26.77,28.83
$GC,6372,-0.72,-146.6,501.4,-5.8,725,6381,0.00,2.12,0.00,0.000,4,0.000,0.047,2882,3502,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,6507,-0.72,-146.6,510.4,-7.5,738,6516,0.00,2.03,0.00,0.000,6,0.000,0.028,2882,2096,3635,0,0,0,0,0,0,28.83,26.77,28.83
$GC,6815,-0.72,-146.6,532.0,-7.2,769,6824,0.00,2.12,0.00,0.000,4,0.000,0.047,2871,3502,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6918,-0.72,-146.6,539.5,-6.7,779,6922,0.00,2.03,0.00,0.000,6,0.000,0.029,2871,2099,3635,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,6967,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6967,begin apogee
$GC,6974,-0.17,0.0,543.5,-7.6,784,7100,0.62,0.00,119.75,1.187,6,0.141,0.000,3072,1872,3029,0,0,0,0,0,0,26.49,28.83,24.01
$STATE,7104,end apogee,CONTROL_FINISHED_OK
$STATE,7104,begin climb
$GC,7107,0.72,146.6,544.1,0.0,797,7242,0.85,2.38,122.32,1.152,4,0.099,0.044,3355,3300,2429,0,0,0,0,0,0,24.92,24.41,23.68
$GC,7326,0.72,146.6,516.8,17.5,819,7334,0.00,2.15,0.00,0.000,6,0.000,0.028,3364,1914,2422,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7635,0.72,146.6,466.1,16.3,850,7644,0.00,2.20,0.00,0.000,4,0.000,0.037,3375,508,2418,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7738,0.72,146.6,449.6,16.1,860,7747,0.00,2.20,0.00,0.000,6,0.000,0.036,3375,1911,2417,0,0,0,0,0,0,28.83,25.92,28.83
$GC,8047,0.72,146.6,396.2,17.0,891,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1911,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8350,0.72,146.6,344.5,17.0,921,8359,0.00,2.17,0.00,0.000,4,0.000,0.037,3384,508,2414,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8382,0.72,146.6,338.5,17.3,924,8392,0.00,2.17,0.00,0.000,6,0.000,0.034,3384,1909,2414,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8693,0.72,146.6,283.3,17.7,955,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,3384,1909,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8995,0.72,146.6,231.1,16.8,985,9003,0.00,2.15,0.00,0.000,4,0.000,0.038,3393,512,2414,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9046,0.72,146.6,221.9,16.5,990,9055,0.00,2.15,0.00,0.000,6,0.000,0.034,3393,1909,2414,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9357,0.72,146.6,168.4,16.7,1021,9358,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1909,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9659,0.72,146.6,119.8,15.1,1051,9668,0.00,2.15,0.00,0.000,4,0.000,0.038,3402,507,2414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9704,0.72,146.6,113.4,14.8,1055,9711,0.15,2.15,0.00,0.000,6,0.158,0.035,3363,1909,2413,0,0,0,0,0,0,26.35,26.53,28.83
$GC,10013,0.72,146.6,75.3,11.5,1106,10019,0.00,2.08,0.00,0.000,4,0.000,0.046,3363,3299,2414,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10057,0.72,146.6,69.6,13.5,1114,10064,0.00,2.08,0.00,0.000,6,0.000,0.030,3370,1889,2414,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10369,0.72,146.6,33.4,11.0,1175,10376,0.00,2.10,0.00,0.000,4,0.000,0.040,3380,512,2413,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10504,0.72,146.6,19.8,10.5,1200,10512,0.00,2.12,0.00,0.000,6,0.000,0.034,3380,1901,2414,0,0,0,0,0,0,28.83,26.60,28.83
$FREEZE,8.63,5.350,-1.816,0,1,0
$FREEZE,8.19,5.424,-1.815,0,1,0
$FREEZE,7.85,5.591,-1.811,0,1,0
$FREEZE,7.45,5.746,-1.802,0,1,0
$FREEZE,6.91,5.878,-1.802,0,1,0
$FREEZE,6.60,6.094,-1.800,0,1,0
$FREEZE,6.15,6.192,-1.796,0,1,0
$FREEZE,5.83,6.214,-1.795,0,1,0
$FREEZE,5.50,6.205,-1.794,0,1,0
$FREEZE,5.06,6.179,-1.795,0,1,0
$FREEZE,4.69,6.191,-1.796,0,1,0
$FREEZE,4.43,6.207,-1.791,0,1,0
$FREEZE,4.07,6.140,-1.792,0,1,0
$FREEZE,3.55,6.134,-1.794,0,1,0
$STATE,10680,end climb,SURFACE_DEPTH_REACHED
$STATE,10680,begin surface coast
$FREEZE,3.25,6.154,-1.793,0,1,0
$FREEZE,2.93,6.165,-1.793,0,1,0
$FREEZE,2.50,6.169,-1.792,0,1,0
$FREEZE,2.09,6.167,-1.791,0,1,0
$FREEZE,1.70,6.165,-1.791,0,1,0
$FREEZE,1.38,6.167,-1.790,0,1,0
$FREEZE,1.29,5.968,-0.317,0,1,0
$FREEZE,1.38,6.008,-0.775,0,1,0
$FREEZE,1.39,5.618,-0.208,0,1,0
$FREEZE,1.39,5.913,-1.107,0,1,0
$FREEZE,1.27,5.914,-1.652,0,1,0
$FINISH,1.3,1.023796
$STATE,10740,end surface coast,CONTROL_FINISHED_OK
$STATE,10740,begin surface
$SM_CCo,10760,108.80,0.067,0,0,1398,400.08
$SM_GC,2.24,8.05,0.28,108.80,0.054,0.060,0.067,344,2104,1398,-8.64,-1.36,400.08,0,0,0,0,0,0,26.55,26.61,26.38
$RAFOS_CLK,529
$RAFOS,6,1342068541,4.833333,4.816945,48,45,44,43,42,42,1776,1788,1866,151,650,1556
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5649.11,120712,010110
$TT8_MAMPS,0.029211,0.029211
$HUMID,41.29
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,500.3,57.9
$24V_AH,23.7,16.570
$10V_AH,10.2,19.328
$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,20.025,97.900,242.075,108.800,0.000,0.000,0.000,293.925,1.750,0.000,21.987,3148.328,4938.937,545.493,2351.257,315.114,0.000,1933.599,0.000,2039.701,360.000,16.793,0.000
$DEVICE_MAMPS,247.860,60.435,1186.515,67.320,0.000,0.000,0.000,278.644,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,858.046,980.159,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151576
$DATA_FILE_SIZE,56786,1245
$CAP_FILE_SIZE,134143,0
$CFSIZE,260165632,235507712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1465.9
$CURRENT,0.215,343.6,1
$GPS,120712,080722,6703.061,-5650.229,39,0.7,39,-33.5