version: 66.11
glider: 108
mission: 21
dive: 11
start: 6 21 112 4 46 50
data:
$ID,108
$MISSION,21
$DIVE,11
$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,-190194.86
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,210612,044005,6702.726,-5648.722,28,1.0,28,-33.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-73.8
$GPS2,210612,044619,6702.725,-5648.589,20,1.0,21,-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,291.2,162786,-16.3,-9.167
$D_GRID,534
$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,-146.6,0.0,0.0,0,139,0.00,0.00,-120.07,0.000,2,0.000,0.000,347,2009,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,143,-0.72,-146.6,3.7,-6.5,21,164,10.25,2.15,-5.62,0.000,4,0.263,0.066,2902,690,3631,0,0,0,0,0,0,26.10,26.35,26.65
$GC,178,-0.72,-146.6,15.8,-31.4,26,184,0.00,2.25,0.00,0.000,6,0.000,0.049,2895,2104,3635,0,0,0,0,0,0,28.83,26.36,28.83
$GC,489,-0.72,-146.6,56.8,-12.5,87,496,0.00,2.20,0.00,0.000,4,0.000,0.060,2884,3520,3638,0,0,0,0,0,0,28.83,26.41,28.83
$GC,601,-0.72,-146.6,70.7,-12.6,108,608,0.00,2.15,0.00,0.000,6,0.000,0.044,2884,2101,3637,0,0,0,0,0,0,28.83,26.47,28.83
$GC,913,-0.72,-146.6,105.8,-10.7,164,922,0.00,2.17,0.00,0.000,4,0.000,0.061,2874,3509,3638,0,0,0,0,0,0,28.83,26.47,28.83
$GC,998,-0.72,-146.6,114.9,-11.0,172,1004,0.00,2.15,0.00,0.000,6,0.000,0.044,2874,2093,3638,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1305,-0.72,-146.6,148.1,-11.0,203,1315,0.00,2.22,0.00,0.000,4,0.000,0.061,2863,3515,3638,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1450,-0.72,-146.6,164.5,-11.3,217,1454,0.12,2.12,0.00,0.000,6,0.181,0.044,2893,2097,3638,0,0,0,0,0,0,26.41,26.57,28.83
$GC,1763,-0.72,-146.6,195.3,-9.8,248,1767,0.00,2.20,0.00,0.000,4,0.000,0.062,2885,3508,3638,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1835,-0.72,-146.6,202.6,-10.1,255,1845,0.00,2.12,0.00,0.000,6,0.000,0.044,2885,2097,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2145,-0.72,-146.6,232.6,-9.7,286,2154,0.00,2.22,0.00,0.000,4,0.000,0.062,2874,3517,3638,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2180,-0.72,-146.6,235.8,-9.9,289,2187,0.00,2.15,0.00,0.000,6,0.000,0.044,2874,2094,3638,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2488,-0.72,-146.6,265.0,-8.8,320,2496,0.00,2.20,0.00,0.000,4,0.000,0.060,2864,3506,3638,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2560,-0.72,-146.6,272.0,-9.8,327,2570,0.12,2.12,0.00,0.000,6,0.178,0.044,2894,2094,3638,0,0,0,0,0,0,26.48,26.63,28.83
$GC,2870,-0.72,-146.6,296.2,-7.7,358,2879,0.00,2.17,0.00,0.000,4,0.000,0.060,2886,3503,3638,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2942,-0.72,-146.6,302.5,-8.7,365,2951,0.00,2.10,0.00,0.000,6,0.000,0.043,2886,2090,3639,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3253,-0.72,-146.6,329.5,-8.9,396,3262,0.00,2.20,0.00,0.000,4,0.000,0.060,2875,3516,3639,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3327,-0.72,-146.6,336.3,-9.5,403,3335,0.00,2.12,0.00,0.000,6,0.000,0.042,2875,2096,3639,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3635,-0.72,-146.6,364.8,-9.2,434,3644,0.00,2.17,0.00,0.000,4,0.000,0.060,2865,3501,3640,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3700,-0.72,-146.6,371.1,-10.3,440,3708,0.12,2.10,0.00,0.000,6,0.175,0.042,2896,2097,3640,0,0,0,0,0,0,26.52,26.68,28.83
$GC,4007,-0.72,-146.6,396.9,-8.2,471,4011,0.00,2.20,0.00,0.000,4,0.000,0.059,2887,3521,3641,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4064,-0.72,-146.6,401.6,-9.0,476,4071,0.00,2.12,0.00,0.000,6,0.000,0.042,2887,2096,3641,0,0,0,0,0,0,28.83,26.69,28.83
$GC,4371,-0.72,-146.6,428.1,-8.5,507,4381,0.00,2.17,0.00,0.000,4,0.000,0.058,2877,3505,3641,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4457,-0.72,-146.6,435.7,-9.4,515,4465,0.00,2.10,0.00,0.000,6,0.000,0.041,2877,2095,3642,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4764,-0.72,-146.6,463.4,-9.3,546,4773,0.00,2.17,0.00,0.000,4,0.000,0.058,2866,3513,3642,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4846,-0.72,-146.6,471.5,-9.8,554,4855,0.12,2.10,0.00,0.000,6,0.173,0.041,2897,2101,3643,0,0,0,0,0,0,26.55,26.71,28.83
$GC,5156,-0.72,-146.6,498.1,-8.2,585,5165,0.00,2.17,0.00,0.000,4,0.000,0.058,2889,3511,3643,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5203,-0.72,-146.6,502.3,-9.7,589,5210,0.00,2.08,0.00,0.000,6,0.000,0.041,2889,2097,3643,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,5388,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5388,begin apogee
$GC,5395,-0.17,0.0,518.0,-9.4,608,5521,0.55,0.00,119.60,1.150,6,0.136,0.000,3068,1880,3029,0,0,0,0,0,0,26.57,28.83,23.83
$STATE,5523,end apogee,CONTROL_FINISHED_OK
$STATE,5524,begin climb
$GC,5526,0.72,146.6,522.5,0.0,621,5662,0.85,2.35,123.53,1.087,4,0.080,0.048,3369,513,2431,0,0,0,0,0,0,24.79,24.47,23.65
$GC,5708,0.72,146.6,505.4,14.5,639,5715,0.00,2.33,0.00,0.000,6,0.000,0.044,3369,1903,2428,0,0,1,0,0,0,28.83,25.03,28.83
$GC,6016,0.72,146.6,458.3,15.5,670,6025,0.00,2.28,0.00,0.000,4,0.000,0.048,3378,512,2423,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6060,0.72,146.6,451.6,15.8,674,6067,0.00,2.28,0.00,0.000,6,0.000,0.044,3377,1914,2423,0,0,0,0,0,0,28.83,25.80,28.83
$GC,6368,0.72,146.6,402.9,16.0,705,6372,0.00,2.25,0.00,0.000,4,0.000,0.048,3384,508,2422,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6440,0.72,146.6,391.3,15.9,712,6450,0.00,2.25,0.00,0.000,6,0.000,0.044,3384,1911,2423,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6750,0.72,146.6,340.1,16.5,743,6759,0.00,2.22,0.00,0.000,4,0.000,0.049,3392,509,2422,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6795,0.72,146.6,333.1,16.4,747,6802,0.00,2.22,0.00,0.000,6,0.000,0.045,3390,1901,2421,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7102,0.72,146.6,281.3,16.3,778,7111,0.00,2.22,0.00,0.000,4,0.000,0.048,3397,508,2422,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7144,0.72,146.6,274.2,16.6,782,7154,0.08,2.22,0.00,0.000,6,0.171,0.044,3371,1920,2422,0,0,0,0,0,0,26.17,26.33,28.83
$GC,7455,0.72,146.6,228.8,14.7,813,7463,0.00,2.22,0.00,0.000,4,0.000,0.048,3378,514,2421,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7489,0.72,146.6,224.1,14.7,816,7497,0.00,2.20,0.00,0.000,6,0.000,0.044,3377,1902,2422,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7797,0.72,146.6,180.1,13.8,847,7805,0.00,2.22,0.00,0.000,4,0.000,0.049,3384,510,2422,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7871,0.72,146.6,169.8,14.6,854,7878,0.00,2.20,0.00,0.000,6,0.000,0.045,3384,1902,2422,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8180,0.72,146.6,128.6,12.9,885,8188,0.00,2.17,0.00,0.000,4,0.000,0.050,3393,520,2421,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8272,0.72,146.6,116.7,12.7,894,8280,0.00,2.17,0.00,0.000,6,0.000,0.045,3393,1914,2422,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8582,0.72,146.6,79.8,11.4,942,8589,0.00,2.22,0.00,0.000,4,0.000,0.050,3402,509,2422,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8617,0.72,146.6,75.9,11.6,948,8626,0.15,2.20,0.00,0.000,6,0.173,0.045,3364,1906,2422,0,0,0,0,0,0,26.40,26.55,28.83
$GC,8931,0.72,146.6,43.9,9.7,1009,8938,0.00,2.22,0.00,0.000,4,0.000,0.050,3370,511,2422,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8991,0.73,149.6,38.2,9.0,1020,8999,0.00,2.20,0.00,0.000,6,0.000,0.046,3371,1909,2421,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9324,0.79,201.3,11.3,7.0,1081,9356,0.00,2.12,25.00,0.088,4,0.000,0.057,3371,3302,2207,0,0,0,0,0,0,28.83,26.52,26.48
$FREEZE,8.44,0.436,-1.776,0,1,0
$FREEZE,7.94,0.377,-1.775,0,1,0
$FREEZE,7.45,0.173,-1.769,0,1,0
$FREEZE,7.00,0.129,-1.767,0,1,0
$FREEZE,6.51,0.063,-1.765,0,1,0
$GC,9385,0.79,201.3,6.5,9.6,1091,9392,0.00,2.12,0.00,0.000,6,0.000,0.044,3379,1905,2205,0,0,0,0,0,0,28.83,26.56,28.83
$FREEZE,5.11,-0.326,-1.753,0,1,0
$FREEZE,4.71,-0.428,-1.750,0,1,0
$FREEZE,4.41,-0.497,-1.745,0,1,0
$FREEZE,4.02,-0.518,-1.743,0,1,0
$FREEZE,3.72,-0.564,-1.735,0,1,0
$STATE,9418,end climb,SURFACE_DEPTH_REACHED
$STATE,9418,begin surface coast
$FREEZE,3.22,-0.647,-1.734,0,1,0
$FREEZE,2.95,-0.699,-1.734,0,1,0
$FREEZE,2.64,-0.746,-1.732,0,1,0
$FREEZE,2.23,-0.809,-1.730,0,1,0
$FREEZE,1.99,-0.969,-1.728,0,1,0
$FREEZE,1.67,-1.156,-1.721,0,1,0
$FREEZE,1.33,-1.321,-1.713,0,1,0
$FREEZE,1.44,-1.460,-1.706,0,1,0
$FREEZE,1.34,-1.450,-1.708,0,1,0
$FREEZE,1.28,-1.440,-1.713,0,1,0
$FREEZE,1.32,-1.472,-1.718,0,1,0
$FREEZE,1.39,-1.516,-1.722,0,1,0
$FINISH,1.4,1.025300
$STATE,9484,end surface coast,CONTROL_FINISHED_OK
$STATE,9484,begin surface
$SM_CCo,9503,192.77,0.122,1,0,487,623.31
$SM_GC,2.41,8.18,0.32,192.77,0.061,0.066,0.122,331,2105,487,-8.66,-1.07,623.31,0,0,0,0,1,0,26.55,26.55,25.42
$RAFOS_CLK,466
$RAFOS,6,1340254146,4.833333,4.818333,45,45,45,45,42,42,300,331,458,854,753,809
$RAFOS,4,1340253181,4.566667,4.550278,47,43,42,41,35,34,1285,454,154,478,1,1858
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5646.10,210612,020234
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.06
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,19.7
$ALTIM_BOTTOM_PING,500.1,32.2
$24V_AH,23.7,5.137
$10V_AH,10.4,6.184
$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,20.550,109.975,268.125,192.775,0.000,0.000,0.000,256.075,2.000,0.000,21.712,2770.850,4199.158,695.290,2149.722,269.360,0.000,1965.067,0.000,1833.158,360.000,14.200,0.000
$DEVICE_MAMPS,263.160,65.790,1149.795,122.400,0.000,0.000,0.000,262.915,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,788.557,804.421,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151564
$DATA_FILE_SIZE,50061,1109
$CAP_FILE_SIZE,123705,0
$CFSIZE,260165632,244822016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,1,1,17
$SOUNDSPEED,1464.8
$CURRENT,49.770,272.1,1
$GPS,210612,044619,6702.725,-5648.589,181,99.0,181,-33.5