version: 66.11
glider: 108
mission: 21
dive: 126
start: 7 12 112 8 15 14
data:
$ID,108
$MISSION,21
$DIVE,126
$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,-191245.09
$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,47
$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
$GPS1,120712,080722,6703.061,-5650.229,39,0.7,39,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-76.3
$GPS2,120712,081441,6703.169,-5650.182,19,0.8,19,-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,245.8,161827,-16.3,-9.167
$D_GRID,555
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.72,-146.6,0.0,0.0,0,99,0.00,0.00,-78.25,0.000,2,0.000,0.000,343,2109,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.72,-146.6,3.1,-1.2,14,130,9.95,2.17,-8.80,0.000,4,0.252,0.067,2882,3505,3630,0,0,0,0,0,0,26.15,26.46,26.79
$GC,163,-0.72,-146.6,11.6,-11.9,24,171,0.00,2.08,0.00,0.000,6,0.000,0.030,2890,2092,3632,0,0,0,0,0,0,28.83,26.55,28.83
$GC,476,-0.72,-146.6,44.5,-10.3,85,484,0.00,2.17,0.00,0.000,4,0.000,0.048,2881,3504,3635,0,0,0,0,0,0,28.83,26.51,28.83
$GC,506,-0.72,-146.6,47.5,-10.4,90,513,0.00,2.08,0.00,0.000,6,0.000,0.029,2883,2087,3635,0,0,0,0,0,0,28.83,26.59,28.83
$GC,819,-0.72,-146.6,79.8,-11.4,151,825,0.00,2.17,0.00,0.000,4,0.000,0.048,2875,3503,3637,0,0,0,0,0,0,28.83,26.54,28.83
$GC,888,-0.72,-146.6,88.1,-12.0,164,896,0.00,2.08,0.00,0.000,6,0.000,0.030,2876,2086,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1201,-0.72,-146.6,121.9,-11.0,205,1209,0.00,2.17,0.00,0.000,4,0.000,0.049,2868,3516,3637,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1355,-0.72,-146.6,138.8,-10.6,220,1364,0.00,2.05,0.00,0.000,6,0.000,0.031,2868,2103,3636,0,0,0,0,0,0,28.83,26.66,28.83
$GC,1663,-0.72,-146.6,168.1,-9.7,251,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2103,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1963,-0.72,-146.6,196.8,-9.3,281,1972,0.00,2.12,0.00,0.000,4,0.000,0.049,2857,3496,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2025,-0.72,-146.6,203.2,-10.5,287,2030,0.10,2.03,0.00,0.000,6,0.158,0.031,2892,2094,3634,0,0,0,0,0,0,26.44,26.70,28.83
$GC,2339,-0.72,-146.6,228.2,-7.3,318,2347,0.00,2.12,0.00,0.000,4,0.000,0.048,2885,3506,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2447,-0.72,-146.6,236.5,-8.2,328,2454,0.00,2.05,0.00,0.000,6,0.000,0.029,2885,2101,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,2753,-0.72,-146.6,261.4,-8.5,359,2762,0.00,2.12,0.00,0.000,4,0.000,0.048,2874,3502,3632,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2838,-0.72,-146.6,269.2,-9.5,367,2845,0.00,2.05,0.00,0.000,6,0.000,0.030,2874,2098,3633,0,0,0,0,0,0,28.83,26.72,28.83
$GC,3146,-0.72,-146.6,296.1,-8.5,398,3154,0.00,2.12,0.00,0.000,4,0.000,0.047,2864,3508,3632,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3228,-0.72,-146.6,303.7,-9.3,406,3237,0.12,2.05,0.00,0.000,6,0.172,0.029,2895,2095,3633,0,0,0,0,0,0,26.48,26.72,28.83
$GC,3538,-0.72,-146.6,325.7,-7.0,437,3547,0.00,2.12,0.00,0.000,4,0.000,0.047,2887,3501,3632,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3634,-0.72,-146.6,332.7,-7.6,446,3640,0.00,2.05,0.00,0.000,6,0.000,0.029,2887,2094,3632,0,0,0,0,0,0,28.83,26.73,28.83
$GC,3941,-0.72,-146.6,354.4,-6.5,477,3950,0.00,2.10,0.00,0.000,4,0.000,0.047,2877,3498,3632,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4014,-0.72,-146.6,359.3,-6.9,484,4023,0.00,2.05,0.00,0.000,6,0.000,0.029,2876,2086,3632,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4323,-0.72,-146.6,379.8,-6.5,515,4332,0.00,2.12,0.00,0.000,4,0.000,0.047,2867,3501,3632,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4451,-0.72,-146.6,388.6,-7.2,527,4458,0.00,2.05,0.00,0.000,6,0.000,0.029,2866,2093,3633,0,0,0,0,0,0,28.83,26.74,28.83
$GC,4756,-0.72,-146.6,410.1,-6.8,558,4765,0.12,2.12,0.00,0.000,4,0.174,0.045,2894,3506,3633,0,0,0,0,0,0,26.53,26.67,28.83
$GC,4839,-0.72,-146.6,415.6,-6.6,566,4848,0.00,2.05,0.00,0.000,6,0.000,0.028,2893,2088,3633,0,0,0,0,0,0,28.83,26.75,28.83
$GC,5149,-0.72,-146.6,435.7,-6.5,597,5158,0.00,2.15,0.00,0.000,4,0.000,0.047,2883,3507,3633,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5294,-0.72,-146.6,446.3,-7.7,611,5298,0.00,2.03,0.00,0.000,6,0.000,0.028,2883,2096,3633,0,0,0,0,0,0,28.83,26.76,28.83
$GC,5607,-0.72,-146.6,468.4,-6.9,642,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2094,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5908,-0.72,-146.6,490.3,-6.2,672,5918,0.00,2.12,0.00,0.000,4,0.000,0.047,2873,3500,3634,0,0,0,0,0,0,28.83,26.69,28.83
$GC,6036,-0.72,-146.6,500.5,-9.4,684,6040,0.00,2.03,0.00,0.000,6,0.000,0.029,2873,2096,3634,0,0,0,0,0,0,28.83,26.77,28.83
$STATE,6326,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6326,begin apogee
$GC,6333,-0.17,0.0,522.5,-6.1,713,6458,0.62,0.00,118.85,1.144,6,0.143,0.000,3074,1883,3029,0,0,0,0,0,0,26.50,28.83,24.13
$STATE,6462,end apogee,CONTROL_FINISHED_OK
$STATE,6462,begin climb
$GC,6464,0.72,146.6,524.0,0.0,726,6589,0.82,0.00,120.05,1.007,6,0.084,0.000,3358,1883,2431,0,0,0,0,0,0,24.98,28.83,23.84
$GC,6889,0.72,146.6,466.2,15.9,769,6890,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1883,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7191,0.72,146.6,417.8,16.2,799,7195,0.00,2.22,0.00,0.000,4,0.000,0.046,3358,3306,2417,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7216,0.72,146.6,413.6,16.6,801,7223,0.00,2.10,0.00,0.000,6,0.000,0.030,3367,1913,2416,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7523,0.72,146.6,361.0,17.0,832,7533,0.00,2.17,0.00,0.000,4,0.000,0.039,3378,506,2415,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7640,0.72,146.6,342.2,16.3,843,7647,0.00,2.17,0.00,0.000,6,0.000,0.035,3379,1905,2414,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7946,0.72,146.6,287.0,17.9,874,7950,0.00,2.12,0.00,0.000,4,0.000,0.046,3378,3306,2414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7971,0.72,146.6,282.8,18.4,876,7979,0.00,2.10,0.00,0.000,6,0.000,0.030,3387,1893,2414,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8278,0.72,146.6,224.7,18.6,907,8287,0.00,2.12,0.00,0.000,4,0.000,0.039,3398,496,2414,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8380,0.72,146.6,206.3,17.6,917,8385,0.15,2.17,0.00,0.000,6,0.158,0.034,3360,1913,2414,0,0,0,0,0,0,26.27,26.45,28.83
$GC,8693,0.72,146.6,161.3,13.7,948,8697,0.00,2.10,0.00,0.000,4,0.000,0.045,3359,3299,2413,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8725,0.72,146.6,156.6,14.5,951,8734,0.00,2.08,0.00,0.000,6,0.000,0.030,3367,1889,2413,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9035,0.72,146.6,115.4,12.4,982,9044,0.00,2.10,0.00,0.000,4,0.000,0.039,3377,504,2413,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9080,0.72,146.6,110.2,12.5,986,9087,0.00,2.15,0.00,0.000,6,0.000,0.034,3377,1907,2413,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9392,0.72,146.6,69.6,12.7,1040,9399,0.00,2.10,0.00,0.000,4,0.000,0.047,3377,3312,2414,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9432,0.72,146.6,64.1,13.1,1047,9439,0.00,2.10,0.00,0.000,6,0.000,0.030,3386,1891,2413,0,0,0,0,0,0,28.83,26.59,28.83
$GC,9745,0.72,146.6,26.5,10.9,1108,9753,0.00,2.10,0.00,0.000,4,0.000,0.040,3397,513,2413,0,0,0,0,0,0,28.83,26.58,28.83
$FREEZE,8.84,5.004,-1.783,0,1,0
$FREEZE,8.33,5.047,-1.779,0,1,0
$FREEZE,7.91,5.111,-1.773,0,1,0
$FREEZE,7.49,5.190,-1.770,0,1,0
$FREEZE,7.07,5.251,-1.769,0,1,0
$FREEZE,6.69,5.316,-1.766,0,1,0
$FREEZE,6.24,5.387,-1.764,0,1,0
$FREEZE,5.89,5.456,-1.764,0,1,0
$FREEZE,5.35,5.592,-1.759,0,1,0
$FREEZE,4.87,5.674,-1.758,0,1,0
$FREEZE,4.43,5.801,-1.756,0,1,0
$FREEZE,4.26,6.024,-1.758,0,1,0
$FREEZE,3.85,6.494,-1.749,0,1,0
$STATE,9959,end climb,SURFACE_DEPTH_REACHED
$STATE,9959,begin surface coast
$FREEZE,3.42,6.667,-1.745,0,1,0
$FREEZE,3.00,6.725,-1.743,0,1,0
$FREEZE,2.71,6.743,-1.743,0,1,0
$FREEZE,2.31,6.754,-1.743,0,1,0
$FREEZE,2.01,6.758,-1.743,0,1,0
$FREEZE,1.59,6.758,-1.744,0,1,0
$FREEZE,1.34,6.287,-1.770,0,1,0
$FREEZE,1.36,6.608,-0.879,0,1,0
$FREEZE,1.42,6.492,-0.900,0,1,0
$FREEZE,1.51,6.526,-1.757,0,1,0
$FREEZE,1.36,6.589,-1.754,0,1,0
$FREEZE,1.34,6.553,-1.057,0,1,0
$FINISH,1.3,1.015278
$STATE,10023,end surface coast,CONTROL_FINISHED_OK
$STATE,10023,begin surface
$SM_CCo,10044,108.88,0.068,0,0,1398,400.08
$SM_GC,2.23,8.05,2.47,108.88,0.049,0.037,0.068,343,2104,1398,-8.65,-1.19,400.08,0,0,1,0,0,0,26.54,26.58,26.38
$RAFOS_CLK,487
$RAFOS,6,1342082942,8.833333,8.817223,47,44,44,43,43,42,570,61,1574,1320,1242,1477
$RAFOS,5,1342082464,8.700000,8.684444,44,43,42,41,41,41,1785,839,284,1090,1171,811
$RAFOS,4,1342081984,8.566667,8.551111,43,43,42,42,41,40,1670,271,315,824,906,337
$RAFOS,3,1342081502,8.433333,8.417222,50,45,44,43,42,41,1501,1612,1300,1182,251,1649
$RAFOS,2,1342081022,8.300000,8.283889,41,41,41,39,39,39,90,969,1552,1450,1735,1856
$RAFOS,0,1342080065,8.033334,8.018056,47,46,42,40,40,39,1549,1450,579,682,859,448
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5647.69,120712,040413
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.94
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,20.0,18.5
$ALTIM_BOTTOM_PING,500.5,36.8
$24V_AH,23.8,16.645
$10V_AH,10.2,19.420
$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,19.950,93.275,238.900,108.875,0.000,0.000,0.000,303.225,2.000,0.000,20.155,2933.406,4598.024,535.502,2231.010,295.999,0.000,1853.588,0.000,1906.731,1800.000,14.211,0.000
$DEVICE_MAMPS,252.450,67.320,1144.440,68.085,0.000,0.000,0.000,271.154,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,800.271,910.474,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,53357,1161
$CAP_FILE_SIZE,125527,0
$CFSIZE,260165632,235446272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1465.8
$CURRENT,0.176,328.0,1
$GPS,120712,110558,6703.281,-5653.493,38,0.7,38,-33.5