version: 66.11
glider: 108
mission: 21
dive: 180
start: 7 22 112 7 41 6
data:
$ID,108
$MISSION,21
$DIVE,180
$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,-191315.08
$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,55
$R_STBD_OVSHOOT,48
$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
$GPS1,220712,073306,6645.952,-6004.848,27,0.8,27,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.39
$_SM_ANGLEo,-74.4
$GPS2,220712,074031,6645.892,-6004.922,20,0.7,20,-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,71.6,145693,-16.9,-9.167
$D_GRID,626
$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,13,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,69,0.00,0.00,-50.97,0.000,2,0.000,0.000,337,2089,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.1,-2.4,9,124,10.12,2.20,-35.12,0.000,4,0.252,0.054,2891,700,3880,0,0,0,0,0,0,25.86,26.25,26.58
$GC,219,-0.75,-146.6,22.3,-14.4,35,226,0.00,2.20,0.00,0.000,6,0.000,0.041,2885,2107,3886,0,0,0,0,0,0,28.83,26.28,28.83
$GC,530,-0.75,-146.6,64.4,-11.9,96,537,0.00,2.12,0.00,0.000,4,0.000,0.051,2874,3503,3889,0,0,0,0,0,0,28.83,26.32,28.83
$GC,733,-0.75,-146.6,91.6,-13.9,135,739,0.00,2.10,0.00,0.000,6,0.000,0.031,2874,2103,3890,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1047,-0.75,-146.6,132.9,-12.2,172,1056,0.00,2.20,0.00,0.000,4,0.000,0.051,2864,3514,3890,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1142,-0.75,-146.6,144.5,-12.3,181,1149,0.00,2.10,0.00,0.000,6,0.000,0.031,2864,2103,3890,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1449,-0.75,-146.6,184.2,-12.4,212,1459,0.00,2.20,0.00,0.000,4,0.000,0.051,2853,3514,3889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1492,-0.75,-146.6,189.9,-13.4,216,1502,0.15,2.08,0.00,0.000,6,0.168,0.031,2892,2115,3889,0,0,0,0,0,0,26.25,26.54,28.83
$GC,1803,-0.75,-146.6,222.7,-10.3,247,1811,0.00,2.15,0.00,0.000,4,0.000,0.052,2883,3510,3888,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1917,-0.75,-146.6,235.2,-11.2,258,1925,0.00,2.03,0.00,0.000,6,0.000,0.031,2884,2124,3888,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2224,-0.75,-146.6,266.8,-9.7,289,2228,0.00,2.12,0.00,0.000,4,0.000,0.051,2873,3503,3887,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2276,-0.75,-146.6,272.4,-10.9,294,2285,0.00,2.05,0.00,0.000,6,0.000,0.031,2873,2122,3887,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2586,-0.75,-146.6,305.6,-10.9,325,2595,0.00,2.15,0.00,0.000,4,0.000,0.051,2863,3503,3887,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2709,-0.75,-146.6,319.9,-11.8,337,2717,0.00,2.03,0.00,0.000,6,0.000,0.031,2863,2136,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3019,-0.75,-146.6,355.3,-11.3,368,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2136,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,-0.75,-146.6,387.8,-10.4,398,3325,0.00,2.10,0.00,0.000,4,0.000,0.051,2852,3504,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3383,-0.75,-146.6,395.0,-11.5,404,3392,0.10,2.00,0.00,0.000,6,0.144,0.031,2886,2133,3886,0,0,0,0,0,0,26.36,26.64,28.83
$GC,3694,-0.75,-146.6,425.1,-9.5,435,3702,0.00,2.10,0.00,0.000,4,0.000,0.051,2878,3509,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3755,-0.75,-146.6,431.4,-10.3,441,3759,0.00,1.98,0.00,0.000,6,0.000,0.031,2877,2155,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4068,-0.75,-146.6,461.2,-9.1,472,4072,0.00,2.10,0.00,0.000,4,0.000,0.051,2868,3514,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4132,-0.75,-146.6,467.5,-10.0,478,4141,0.00,2.00,0.00,0.000,6,0.000,0.031,2867,2140,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4441,-0.75,-146.6,497.6,-9.5,509,4445,0.00,2.10,0.00,0.000,4,0.000,0.050,2857,3509,3886,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4487,-0.75,-146.6,502.0,-10.4,513,4494,0.12,1.95,0.00,0.000,6,0.164,0.031,2889,2155,3886,0,0,0,0,0,0,26.39,26.67,28.83
$GC,4794,-0.75,-146.6,528.3,-8.3,544,4795,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2151,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5096,-0.75,-146.6,552.5,-7.9,574,5100,0.00,2.08,0.00,0.000,4,0.000,0.051,2881,3507,3886,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5151,-0.75,-146.6,557.1,-8.5,579,5158,0.00,1.95,0.00,0.000,6,0.000,0.031,2881,2165,3886,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5459,-0.75,-146.6,582.4,-7.9,610,5460,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2164,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5781,-0.75,-146.6,607.8,-8.1,636,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2163,3886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6017,begin apogee
$GC,6024,-0.17,0.0,627.2,-8.0,644,6150,0.60,0.00,120.47,1.271,4,0.137,0.000,3074,1879,3279,0,0,0,0,0,0,26.37,28.83,23.83
$STATE,6153,end apogee,CONTROL_FINISHED_OK
$STATE,6153,begin climb
$GC,6156,0.75,146.6,629.9,0.0,648,6291,0.82,2.22,124.18,1.229,4,0.069,0.037,3368,523,2681,0,0,0,0,0,0,24.83,24.85,22.99
$GC,6297,0.78,175.0,622.6,8.0,653,6328,0.00,2.38,25.60,1.153,6,0.000,0.035,3368,1906,2565,0,0,0,0,0,0,28.83,24.03,23.03
$GC,6631,0.78,175.0,570.7,15.5,677,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1906,2553,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6934,0.78,175.0,525.8,14.4,707,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1906,2552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7245,0.78,175.0,481.8,14.1,738,7252,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1906,2551,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7553,0.78,175.0,438.3,13.9,769,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1906,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7864,0.78,175.0,397.0,13.3,800,7870,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1906,2550,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8175,0.78,175.0,355.9,13.6,831,8184,0.00,2.12,0.00,0.000,4,0.000,0.039,3378,526,2549,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8209,0.78,175.0,350.9,13.8,834,8219,0.00,2.12,0.00,0.000,6,0.000,0.037,3377,1898,2549,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8517,0.78,175.0,309.8,13.2,865,8526,0.00,2.12,0.00,0.000,4,0.000,0.048,3377,3301,2549,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8580,0.78,175.0,301.0,14.4,871,8589,0.00,2.08,0.00,0.000,6,0.000,0.031,3387,1910,2548,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8889,0.78,175.0,257.9,14.6,902,8899,0.00,2.12,0.00,0.000,4,0.000,0.039,3397,513,2548,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8965,0.78,175.0,247.6,14.0,909,8972,0.00,2.12,0.00,0.000,6,0.000,0.037,3397,1901,2548,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9272,0.78,175.0,204.0,13.7,940,9273,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1901,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9574,0.78,175.0,165.9,12.0,970,9584,0.00,2.12,0.00,0.000,4,0.000,0.039,3406,518,2548,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9620,0.78,175.0,160.3,12.2,974,9628,0.00,2.12,0.00,0.000,6,0.000,0.037,3406,1893,2548,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9927,0.78,175.0,123.4,11.7,1005,9931,0.00,2.15,0.00,0.000,4,0.000,0.047,3406,3314,2548,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9962,0.78,175.0,119.4,12.3,1008,9970,0.15,2.10,0.00,0.000,6,0.184,0.031,3378,1898,2548,0,0,0,0,0,0,26.28,26.56,28.83
$GC,10271,0.78,175.0,87.3,10.2,1051,10278,0.00,2.12,0.00,0.000,4,0.000,0.041,3385,497,2548,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10366,0.78,175.0,77.7,10.2,1069,10373,0.00,2.15,0.00,0.000,6,0.000,0.037,3386,1887,2548,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10678,0.79,180.5,48.5,8.9,1130,10684,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1886,2548,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10991,0.90,271.0,25.9,5.4,1191,11051,0.00,2.28,50.45,0.845,4,0.000,0.041,3395,493,2172,0,0,0,0,0,0,28.83,25.76,25.09
$GC,11089,0.94,302.5,19.6,7.8,1207,11115,0.12,2.22,15.65,0.113,6,0.100,0.037,3446,1885,2043,0,0,0,0,0,0,25.82,25.86,25.70
$FREEZE,8.80,5.827,-1.734,2,1,0
$FREEZE,7.93,5.827,-1.734,2,1,0
$FREEZE,7.36,5.828,-1.734,2,1,0
$FREEZE,6.78,5.820,-1.734,2,1,0
$FREEZE,6.14,5.824,-1.734,2,1,0
$FREEZE,5.74,5.825,-1.734,2,1,0
$FREEZE,5.19,5.825,-1.733,2,1,0
$FREEZE,4.52,5.825,-1.733,2,1,0
$FREEZE,3.99,5.824,-1.733,2,1,0
$STATE,11234,end climb,SURFACE_DEPTH_REACHED
$STATE,11234,begin surface coast
$FREEZE,3.60,5.825,-1.733,2,1,0
$FREEZE,3.01,5.826,-1.732,2,1,0
$FREEZE,2.46,5.825,-1.732,2,1,0
$FREEZE,1.92,5.824,-1.732,2,1,0
$FREEZE,1.34,5.822,-1.731,2,1,0
$FREEZE,1.46,5.665,-1.740,2,1,0
$FREEZE,1.38,5.743,-1.736,2,1,0
$FINISH,1.4,1.024984
$STATE,11274,end surface coast,CONTROL_FINISHED_OK
$STATE,11274,begin surface
$SM_CCo,11294,42.88,0.073,0,0,1647,400.08
$SM_GC,2.32,8.35,0.30,42.88,0.046,0.059,0.073,341,2105,1647,-8.65,-1.41,400.08,0,0,0,0,0,0,25.98,26.03,25.91
$RAFOS_CLK,580
$RAFOS,6,1342946943,8.833333,8.817500,49,44,42,42,39,39,983,1310,189,138,147,1259
$RAFOS,5,1342946466,8.700000,8.685000,46,43,43,42,42,41,1493,613,996,539,1854,1165
$RAFOS,4,1342945982,8.566667,8.550555,45,44,43,42,41,41,693,1000,752,946,1228,1868
$RAFOS,3,1342945501,8.433333,8.416945,53,49,48,45,45,41,1053,175,860,1028,1469,1716
$RAFOS,2,1342945027,8.300000,8.285277,46,42,42,40,40,39,1303,391,1703,960,1381,1934
$RAFOS,1,1342944545,8.166667,8.151389,142,116,44,43,43,42,477,478,1130,204,1821,1081
$RAFOS,0,1342944063,8.033334,8.017500,45,44,42,41,40,38,443,1878,573,1246,801,1404
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6010.56,220712,040431
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.54
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.2
$24V_AH,23.0,22.580
$10V_AH,10.1,25.715
$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,20.550,85.300,336.350,42.875,0.000,0.000,0.000,305.600,2.250,0.000,21.357,3128.300,5489.226,526.695,2327.130,310.959,0.000,1913.756,0.000,2001.375,2520.000,14.987,0.000
$DEVICE_MAMPS,252.450,58.905,1271.430,73.440,0.000,0.000,0.000,273.401,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,876.563,903.844,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151568
$DATA_FILE_SIZE,56807,1241
$CAP_FILE_SIZE,129179,0
$CFSIZE,260165632,231002112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1455.0
$CURRENT,0.388,171.3,1
$GPS,220712,105134,6644.643,-6001.155,40,0.7,40,-33.9