version: 66.11
glider: 108
mission: 21
dive: 175
start: 7 21 112 15 46 17
data:
$ID,108
$MISSION,21
$DIVE,175
$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,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-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,-191308.83
$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,62
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3279
$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
$GPS1,210712,153834,6648.162,-6017.283,36,0.7,36,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-79.7
$GPS2,210712,154542,6648.078,-6017.518,14,0.8,14,-33.9
$SPEED_LIMITS,0.159,0.252
$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,148.2,153806,-16.9,-9.167
$D_GRID,556
$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,-0.75,-146.6,0.0,0.0,0,58,0.00,0.00,-39.40,0.000,2,0.000,0.000,339,2090,2535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.75,-146.6,3.1,-2.1,7,118,10.07,2.17,-38.70,0.000,4,0.251,0.056,2893,708,3881,0,0,0,0,0,0,25.91,26.33,26.67
$GC,199,-0.75,-146.6,19.5,-12.8,31,206,0.00,2.15,0.00,0.000,6,0.000,0.041,2886,2104,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,512,-0.75,-146.6,62.6,-13.5,92,519,0.00,2.15,0.00,0.000,4,0.000,0.052,2876,3502,3888,0,0,0,0,0,0,28.83,26.37,28.83
$GC,718,-0.75,-146.6,90.6,-13.7,132,725,0.00,2.08,0.00,0.000,6,0.000,0.032,2881,2104,3889,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1033,-0.75,-146.6,129.8,-12.0,170,1042,0.00,2.15,0.00,0.000,4,0.000,0.052,2872,3506,3889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1098,-0.75,-146.6,137.5,-12.5,176,1105,0.00,2.08,0.00,0.000,6,0.000,0.031,2872,2104,3889,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1405,-0.75,-146.6,175.1,-12.2,207,1414,0.00,2.17,0.00,0.000,4,0.000,0.053,2861,3513,3889,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1478,-0.75,-146.6,184.4,-12.9,214,1486,0.00,2.05,0.00,0.000,6,0.000,0.032,2862,2119,3888,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1787,-0.75,-146.6,224.0,-12.6,245,1797,0.00,2.15,0.00,0.000,4,0.000,0.053,2850,3511,3888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1853,-0.75,-146.6,232.3,-13.3,251,1862,0.10,2.05,0.00,0.000,6,0.153,0.032,2884,2122,3888,0,0,0,0,0,0,26.29,26.59,28.83
$GC,2161,-0.75,-146.6,266.0,-10.6,282,2165,0.00,2.15,0.00,0.000,4,0.000,0.053,2875,3509,3887,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2273,-0.75,-146.6,278.7,-11.1,293,2283,0.00,2.05,0.00,0.000,6,0.000,0.031,2875,2125,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2584,-0.75,-146.6,312.5,-10.6,324,2592,0.00,2.15,0.00,0.000,4,0.000,0.051,2865,3508,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2711,-0.75,-146.6,326.3,-11.5,336,2718,0.00,2.00,0.00,0.000,6,0.000,0.032,2865,2145,3887,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3016,-0.75,-146.6,358.9,-9.9,367,3025,0.00,2.10,0.00,0.000,4,0.000,0.052,2854,3513,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3051,-0.75,-146.6,362.5,-10.8,370,3058,0.12,2.00,0.00,0.000,6,0.168,0.031,2886,2146,3886,0,0,0,0,0,0,26.36,26.63,28.83
$GC,3359,-0.75,-146.6,390.8,-8.8,401,3362,0.00,2.10,0.00,0.000,4,0.000,0.051,2877,3509,3886,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3420,-0.75,-146.6,396.7,-9.5,407,3429,0.00,1.98,0.00,0.000,6,0.000,0.031,2877,2163,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3731,-0.75,-146.6,425.2,-9.0,438,3740,0.00,2.05,0.00,0.000,4,0.000,0.051,2868,3512,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3786,-0.75,-146.6,430.4,-10.1,443,3793,0.00,1.98,0.00,0.000,6,0.000,0.031,2868,2160,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4094,-0.75,-146.6,460.5,-9.5,474,4102,0.00,2.05,0.00,0.000,4,0.000,0.051,2858,3509,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4189,-0.75,-146.6,470.3,-10.8,483,4196,0.12,1.95,0.00,0.000,6,0.164,0.031,2889,2174,3886,0,0,0,0,0,0,26.39,26.67,28.83
$GC,4498,-0.75,-146.6,496.9,-8.7,514,4506,0.00,2.03,0.00,0.000,4,0.000,0.051,2881,3503,3886,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4541,-0.75,-146.6,500.7,-8.8,518,4549,0.00,1.95,0.00,0.000,6,0.000,0.031,2882,2172,3886,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4849,-0.75,-146.6,528.4,-9.2,549,4859,0.00,2.08,0.00,0.000,4,0.000,0.051,2871,3516,3886,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4922,-0.75,-146.6,535.5,-9.8,556,4930,0.00,1.95,0.00,0.000,6,0.000,0.031,2872,2182,3886,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,5143,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5144,begin apogee
$GC,5151,-0.17,0.0,556.4,-9.2,578,5274,0.62,0.00,119.22,1.212,4,0.142,0.000,3069,1882,3280,0,0,0,0,0,0,26.33,28.83,23.97
$STATE,5278,end apogee,CONTROL_FINISHED_OK
$STATE,5278,begin climb
$GC,5281,0.75,146.6,560.8,0.0,591,5415,0.90,2.25,120.07,1.050,4,0.076,0.037,3377,513,2679,0,0,0,0,0,0,24.86,24.90,23.36
$GC,5451,0.75,146.6,549.2,12.2,608,5459,0.00,2.33,0.00,0.000,6,0.000,0.035,3376,1897,2674,0,0,0,0,0,0,28.83,24.55,28.83
$GC,5758,0.75,146.6,507.4,13.4,639,5767,0.00,2.20,0.00,0.000,4,0.000,0.048,3376,3309,2668,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5793,0.75,146.6,502.9,14.2,642,5800,0.00,2.15,0.00,0.000,6,0.000,0.031,3386,1916,2667,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6101,0.75,146.6,459.4,13.7,673,6109,0.00,2.17,0.00,0.000,4,0.000,0.040,3396,512,2665,0,0,0,0,0,0,28.83,25.94,28.83
$GC,6185,0.75,146.6,448.0,13.8,681,6192,0.00,2.20,0.00,0.000,6,0.000,0.037,3396,1906,2665,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6493,0.75,146.6,405.0,13.9,712,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1907,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6794,0.75,146.6,364.0,13.2,742,6803,0.00,2.20,0.00,0.000,4,0.000,0.040,3405,501,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6827,0.75,146.6,359.5,13.6,745,6836,0.10,2.15,0.00,0.000,6,0.156,0.037,3371,1890,2664,0,0,0,0,0,0,26.03,26.27,28.83
$GC,7136,0.75,146.6,323.3,11.3,776,7137,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1890,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7439,0.75,146.6,288.6,11.4,806,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1890,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,0.75,146.6,253.7,11.0,837,7757,0.00,2.12,0.00,0.000,4,0.000,0.040,3378,501,2664,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7791,0.75,146.6,248.9,10.5,841,7800,0.00,2.12,0.00,0.000,6,0.000,0.037,3379,1883,2664,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8100,0.75,146.6,213.9,11.5,872,8102,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1882,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8403,0.75,146.6,180.6,11.0,902,8409,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1882,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8713,0.75,146.6,148.7,9.8,933,8721,0.00,2.10,0.00,0.000,4,0.000,0.040,3386,508,2664,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8795,0.75,146.6,140.5,9.5,941,8804,0.00,2.12,0.00,0.000,6,0.000,0.037,3386,1890,2664,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9105,0.76,157.9,112.3,8.7,972,9117,0.00,2.17,8.02,0.855,4,0.000,0.049,3387,3304,2635,0,0,0,0,0,0,28.83,26.39,25.43
$GC,9166,0.76,157.9,106.4,10.0,978,9170,0.00,2.12,0.00,0.000,6,0.000,0.032,3396,1874,2634,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9475,0.76,157.9,78.2,9.5,1032,9482,0.00,2.08,0.00,0.000,4,0.000,0.041,3406,504,2633,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9555,0.76,157.9,70.4,9.3,1047,9563,0.12,2.15,0.00,0.000,6,0.171,0.037,3376,1887,2633,0,0,0,0,0,0,26.26,26.47,28.83
$GC,9870,0.81,197.9,44.9,7.5,1108,9906,0.00,0.00,33.70,0.909,6,0.000,0.000,3376,1886,2471,0,0,0,0,0,0,28.83,28.83,25.09
$GC,10215,0.88,259.4,18.4,6.6,1174,10253,0.12,2.28,30.27,0.109,4,0.101,0.050,3428,3309,2218,0,0,0,0,0,0,26.13,26.06,25.93
$FREEZE,8.84,3.078,-1.702,2,1,0
$FREEZE,8.23,3.079,-1.697,2,1,0
$FREEZE,7.73,3.098,-1.693,2,1,0
$FREEZE,7.49,3.107,-1.689,2,1,0
$FREEZE,7.09,3.091,-1.688,2,1,0
$FREEZE,6.72,3.076,-1.687,2,1,0
$FREEZE,6.37,3.081,-1.686,2,1,0
$FREEZE,5.99,3.073,-1.684,2,1,0
$FREEZE,5.65,3.072,-1.682,2,1,0
$FREEZE,5.19,3.043,-1.678,2,1,0
$FREEZE,4.82,3.022,-1.674,2,1,0
$FREEZE,4.45,3.025,-1.671,2,1,0
$FREEZE,4.07,3.107,-1.657,2,1,0
$FREEZE,3.59,3.139,-1.653,2,1,0
$STATE,10392,end climb,SURFACE_DEPTH_REACHED
$STATE,10392,begin surface coast
$FREEZE,3.19,3.158,-1.650,2,1,0
$FREEZE,2.70,3.126,-1.627,2,1,0
$FREEZE,2.23,3.193,-1.599,2,1,0
$FREEZE,1.93,3.222,-1.591,2,1,0
$FREEZE,1.59,3.565,-1.573,2,1,0
$FINISH,1.6,1.022908
$STATE,10422,end surface coast,CONTROL_FINISHED_OK
$STATE,10422,begin surface
$SM_CCo,10443,62.47,0.076,0,0,1647,400.08
$SM_GC,2.21,8.45,1.88,62.47,0.060,0.032,0.076,340,2091,1647,-8.66,1.78,400.08,0,0,0,0,0,0,26.11,26.21,26.01
$RAFOS_CLK,534
$RAFOS,6,1342889342,16.833334,16.817223,49,45,44,43,42,42,1642,656,1412,669,916,1852
$RAFOS,5,1342888862,16.700001,16.683889,45,44,43,43,42,41,772,137,232,233,569,573
$RAFOS,4,1342888391,16.566668,16.553055,46,44,42,42,40,39,159,1358,707,735,1529,1889
$RAFOS,3,1342887908,16.433332,16.418888,50,44,43,42,42,42,1151,1376,1489,71,615,1593
$RAFOS,2,1342887424,16.299999,16.284445,50,47,46,43,43,41,1908,1785,1661,1312,1803,582
$RAFOS,1,1342886949,16.166666,16.152500,50,48,45,43,41,41,1852,478,1797,213,1046,1704
$RAFOS,0,1342886467,16.033333,16.018612,50,49,47,46,42,41,882,1270,1165,1395,636,151
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6008.55,210712,121213
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.04
$INTERNAL_PRESSURE,8.99449
$TCM_TEMP,15.40
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,550.9,37.0
$24V_AH,23.4,22.064
$10V_AH,10.1,25.234
$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,20.750,92.925,311.300,62.475,0.000,0.000,0.000,297.900,2.500,0.000,15.879,3009.766,4821.778,532.632,2262.286,310.361,0.000,1888.491,0.000,1954.093,2520.000,15.983,0.000
$DEVICE_MAMPS,250.920,55.845,1211.760,76.500,0.000,0.000,0.000,275.648,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,851.691,891.296,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56662,1212
$CAP_FILE_SIZE,127872,0
$CFSIZE,260165632,231354368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$CURRENT,0.043,237.8,1
$GPS,210712,184252,6647.150,-6015.376,38,0.8,38,-33.9