version: 66.11
glider: 108
mission: 21
dive: 179
start: 7 22 112 4 18 26
data:
$ID,108
$MISSION,21
$DIVE,179
$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,-191313.83
$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,66
$R_STBD_OVSHOOT,37
$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
$GPS1,220712,041022,6647.955,-6007.246,34,0.8,34,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.37
$_SM_ANGLEo,-74.9
$GPS2,220712,041753,6647.863,-6007.509,18,1.0,18,-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,157.9,146777,-16.9,-9.167
$D_GRID,617
$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,12,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,69,0.00,0.00,-51.12,0.000,2,0.000,0.000,339,2107,2805,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.1,-1.6,9,118,10.25,2.22,-28.90,0.000,4,0.257,0.055,2895,707,3882,0,0,0,0,0,0,25.86,26.27,26.59
$GC,273,-0.75,-146.6,30.5,-11.9,46,279,0.00,2.20,0.00,0.000,6,0.000,0.041,2888,2114,3888,0,0,0,0,0,0,28.83,26.31,28.83
$GC,587,-0.75,-146.6,69.7,-12.1,107,594,0.00,2.12,0.00,0.000,4,0.000,0.051,2877,3514,3890,0,0,0,0,0,0,28.83,26.34,28.83
$GC,627,-0.75,-146.6,75.0,-13.2,114,634,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,2109,3890,0,0,0,0,0,0,28.83,26.44,28.83
$GC,940,-0.75,-146.6,116.6,-13.4,163,944,0.00,2.17,0.00,0.000,4,0.000,0.052,2867,3511,3891,0,0,0,0,0,0,28.83,26.39,28.83
$GC,982,-0.75,-146.6,122.3,-13.8,167,986,0.00,2.10,0.00,0.000,6,0.000,0.031,2867,2102,3891,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1295,-0.75,-146.6,163.1,-12.2,198,1303,0.00,2.15,0.00,0.000,4,0.000,0.051,2856,3506,3891,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1357,-0.75,-146.6,171.0,-12.6,204,1363,0.10,2.05,0.00,0.000,6,0.153,0.031,2888,2113,3890,0,0,0,0,0,0,26.25,26.53,28.83
$GC,1672,-0.75,-146.6,203.0,-10.1,235,1681,0.00,2.15,0.00,0.000,4,0.000,0.051,2880,3504,3890,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1717,-0.75,-146.6,207.4,-10.7,239,1725,0.00,2.05,0.00,0.000,6,0.000,0.031,2881,2117,3889,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2024,-0.75,-146.6,241.4,-11.6,270,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2117,3889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2325,-0.75,-146.6,274.5,-10.5,300,2333,0.00,2.12,0.00,0.000,4,0.000,0.053,2870,3503,3888,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2419,-0.75,-146.6,285.0,-11.4,309,2426,0.00,2.05,0.00,0.000,6,0.000,0.032,2870,2118,3888,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2727,-0.75,-146.6,318.7,-11.0,340,2736,0.00,2.12,0.00,0.000,4,0.000,0.051,2859,3507,3888,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2762,-0.75,-146.6,322.5,-11.3,343,2771,0.12,2.05,0.00,0.000,6,0.168,0.031,2891,2114,3887,0,0,0,0,0,0,26.35,26.62,28.83
$GC,3069,-0.75,-146.6,352.4,-9.2,374,3078,0.00,2.15,0.00,0.000,4,0.000,0.051,2883,3517,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3142,-0.75,-146.6,359.6,-10.2,381,3151,0.00,2.03,0.00,0.000,6,0.000,0.031,2883,2140,3887,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3452,-0.75,-146.6,389.6,-9.9,412,3461,0.00,2.10,0.00,0.000,4,0.000,0.051,2873,3519,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3535,-0.75,-146.6,398.1,-10.6,420,3544,0.00,2.00,0.00,0.000,6,0.000,0.031,2873,2143,3887,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3844,-0.75,-146.6,428.8,-9.8,451,3854,0.00,2.10,0.00,0.000,4,0.000,0.050,2863,3517,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3899,-0.75,-146.6,434.2,-10.5,456,3906,0.00,2.00,0.00,0.000,6,0.000,0.031,2863,2148,3887,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4207,-0.75,-146.6,463.9,-9.3,487,4217,0.00,2.08,0.00,0.000,4,0.000,0.050,2853,3506,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4260,-0.75,-146.6,469.1,-10.2,492,4270,0.12,1.98,0.00,0.000,6,0.163,0.031,2885,2157,3887,0,0,0,0,0,0,26.39,26.66,28.83
$GC,4570,-0.75,-146.6,495.7,-8.7,523,4580,0.00,2.08,0.00,0.000,4,0.000,0.050,2877,3518,3887,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4646,-0.75,-146.6,502.3,-9.2,530,4653,0.00,1.98,0.00,0.000,6,0.000,0.031,2877,2161,3887,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4954,-0.75,-146.6,529.9,-8.9,561,4963,0.00,2.08,0.00,0.000,4,0.000,0.050,2867,3533,3887,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5019,-0.75,-146.6,535.9,-9.8,567,5027,0.00,2.00,0.00,0.000,6,0.000,0.031,2867,2161,3888,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5326,-0.75,-146.6,565.6,-9.7,598,5335,0.00,2.05,0.00,0.000,4,0.000,0.050,2857,3506,3887,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5390,-0.75,-146.6,572.0,-10.4,604,5398,0.12,1.95,0.00,0.000,6,0.161,0.031,2889,2164,3888,0,0,0,0,0,0,26.41,26.68,28.83
$GC,5698,-0.75,-146.6,598.8,-8.2,635,5708,0.00,2.08,0.00,0.000,4,0.000,0.050,2881,3508,3887,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5751,-0.75,-146.6,602.1,-9.2,638,5755,0.00,1.92,0.00,0.000,6,0.000,0.031,2881,2193,3887,0,0,0,0,0,0,28.83,26.69,28.83
$STATE,5911,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5911,begin apogee
$GC,5919,-0.17,0.0,618.4,-9.1,644,6045,0.60,0.00,120.62,1.262,4,0.135,0.000,3074,1883,3279,0,0,0,0,0,0,26.36,28.83,23.83
$STATE,6048,end apogee,CONTROL_FINISHED_OK
$STATE,6048,begin climb
$GC,6051,0.75,146.6,622.0,0.0,648,6186,0.85,2.25,123.85,1.222,4,0.076,0.037,3371,514,2681,0,0,0,0,0,0,24.82,24.86,22.99
$GC,6412,0.75,146.6,586.1,12.7,667,6420,0.00,2.25,0.00,0.000,6,0.000,0.036,3371,1909,2670,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6720,0.75,146.6,547.6,12.7,698,6729,0.00,2.20,0.00,0.000,4,0.000,0.048,3371,3315,2667,0,0,0,0,0,0,28.83,25.75,28.83
$GC,6935,0.75,146.6,515.8,15.1,719,6944,0.00,2.12,0.00,0.000,6,0.000,0.031,3381,1900,2666,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7243,0.75,146.6,472.8,13.6,750,7247,0.00,2.12,0.00,0.000,4,0.000,0.040,3391,511,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7289,0.75,146.6,467.1,13.8,754,7296,0.00,2.17,0.00,0.000,6,0.000,0.037,3391,1898,2665,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7596,0.75,146.6,424.1,13.8,785,7599,0.00,2.15,0.00,0.000,4,0.000,0.048,3391,3308,2665,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7629,0.75,146.6,419.5,14.2,788,7637,0.00,2.10,0.00,0.000,6,0.000,0.031,3400,1890,2665,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7938,0.75,146.6,376.2,13.9,819,7947,0.00,2.12,0.00,0.000,4,0.000,0.040,3411,503,2664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8075,0.75,146.6,357.8,14.4,832,8083,0.15,2.15,0.00,0.000,6,0.168,0.037,3373,1887,2664,0,0,0,0,0,0,26.13,26.36,28.83
$GC,8381,0.75,146.6,320.3,12.0,863,8382,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1886,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8683,0.75,146.6,284.3,12.0,893,8687,0.00,2.12,0.00,0.000,4,0.000,0.040,3380,507,2664,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8805,0.75,146.6,269.4,12.0,905,8814,0.00,2.15,0.00,0.000,6,0.000,0.037,3380,1887,2664,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9116,0.75,146.6,231.9,11.8,936,9125,0.00,2.10,0.00,0.000,4,0.000,0.040,3389,510,2664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9160,0.75,146.6,226.9,11.9,940,9167,0.00,2.12,0.00,0.000,6,0.000,0.037,3389,1882,2664,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9468,0.75,146.6,191.8,10.8,971,9477,0.00,2.17,0.00,0.000,4,0.000,0.048,3389,3308,2664,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9533,0.75,146.6,184.4,12.4,977,9540,0.00,2.12,0.00,0.000,6,0.000,0.031,3398,1862,2664,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9841,0.75,146.6,151.0,10.3,1008,9845,0.00,2.05,0.00,0.000,4,0.000,0.040,3409,503,2664,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9913,0.75,146.6,143.0,11.1,1015,9924,0.15,2.15,0.00,0.000,6,0.161,0.037,3369,1893,2664,0,0,0,0,0,0,26.32,26.54,28.83
$GC,10224,0.75,150.6,115.0,9.0,1046,10232,0.00,2.12,0.00,0.000,4,0.000,0.040,3376,510,2664,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10308,0.75,152.5,107.6,9.1,1054,10315,0.00,2.10,0.00,0.000,6,0.000,0.037,3376,1873,2664,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10617,0.78,176.4,81.1,8.2,1107,10642,0.00,0.00,22.73,0.926,6,0.000,0.000,3376,1873,2560,0,0,0,0,0,0,28.83,28.83,25.30
$GC,10949,0.83,219.2,52.9,7.4,1171,10993,0.00,2.28,35.67,0.912,4,0.000,0.047,3375,3306,2384,0,0,0,0,0,0,28.83,25.65,24.86
$GC,11062,0.83,219.2,42.6,10.6,1191,11069,0.00,2.20,0.00,0.000,6,0.000,0.032,3385,1867,2379,0,0,0,0,0,0,28.83,25.84,28.83
$GC,11378,0.94,305.6,16.7,5.6,1252,11428,0.12,2.35,42.25,0.104,4,0.104,0.048,3441,3305,2030,0,0,0,0,0,0,26.08,26.00,25.89
$FREEZE,8.44,6.075,-1.734,2,1,0
$FREEZE,7.90,6.082,-1.734,2,1,0
$FREEZE,7.39,6.081,-1.735,2,1,0
$FREEZE,6.62,6.080,-1.735,2,1,0
$FREEZE,6.00,6.082,-1.734,2,1,0
$FREEZE,5.42,6.081,-1.734,2,1,0
$FREEZE,4.77,6.082,-1.734,2,1,0
$FREEZE,4.10,6.082,-1.734,2,1,0
$FREEZE,3.56,6.081,-1.734,2,1,0
$STATE,11506,end climb,SURFACE_DEPTH_REACHED
$STATE,11506,begin surface coast
$FREEZE,3.01,6.082,-1.733,2,1,0
$FREEZE,2.33,6.080,-1.733,2,1,0
$FREEZE,1.55,6.075,-1.733,2,1,0
$FREEZE,1.39,5.769,-1.749,2,1,0
$FREEZE,1.35,5.723,-1.139,2,1,0
$FREEZE,1.29,6.059,-1.733,2,1,0
$FINISH,1.3,1.024913
$STATE,11540,end surface coast,CONTROL_FINISHED_OK
$STATE,11540,begin surface
$SM_CCo,11562,41.30,0.073,0,0,1647,400.08
$SM_GC,2.28,8.45,1.88,41.30,0.056,0.031,0.073,339,2101,1647,-8.67,1.72,400.08,0,0,0,0,0,0,26.06,26.15,25.98
$RAFOS_CLK,592
$RAFOS,6,1342932547,4.833333,4.818611,52,48,47,45,43,41,1052,639,212,868,1262,537
$RAFOS,5,1342932067,4.700000,4.685278,46,45,44,42,40,40,1639,1883,471,738,657,1803
$RAFOS,4,1342931583,4.566667,4.550833,47,45,45,44,42,41,1234,690,1664,258,1040,1925
$RAFOS,3,1342931102,4.433333,4.417222,44,44,42,41,39,39,877,886,1760,107,316,1514
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6008.55,220712,000039
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,23.0,22.471
$10V_AH,10.0,25.618
$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,21.050,114.175,345.125,41.300,0.000,0.000,0.000,315.150,2.250,0.000,19.732,3260.609,5367.514,566.712,2536.215,321.854,0.000,2066.377,0.000,2189.229,1440.000,17.883,0.000
$DEVICE_MAMPS,257.040,55.080,1262.250,73.440,0.000,0.000,0.000,271.154,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,904.234,929.360,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151524
$DATA_FILE_SIZE,56797,1281
$CAP_FILE_SIZE,142104,0
$CFSIZE,260165632,231063552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.5
$CURRENT,0.164,177.5,1
$GPS,220712,073306,6645.952,-6004.848,27,0.8,27,-33.9