version: 66.11
glider: 108
mission: 21
dive: 227
start: 7 30 112 9 46 11
data:
$ID,108
$MISSION,21
$DIVE,227
$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,0.0038399999
$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,-191370.08
$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,71
$R_STBD_OVSHOOT,50
$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
$GPS1,300712,093824,6659.406,-5654.126,36,2.0,36,-33.4
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-71.3
$GPS2,300712,094536,6659.492,-5653.993,14,1.0,14,-33.4
$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,47.2,7807,-16.9,-9.167
$D_GRID,634
$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,-146.6,0.0,0.0,0,84,0.00,0.00,-64.97,0.000,2,0.000,0.000,336,2125,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,87,-0.75,-146.6,3.2,-1.5,11,120,10.02,2.17,-15.62,0.000,4,0.244,0.064,2876,3498,3881,0,0,0,0,0,0,25.77,26.29,26.71
$GC,350,-0.75,-146.6,44.7,-12.3,61,357,0.00,2.05,0.00,0.000,6,0.000,0.029,2880,2100,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,662,-0.75,-146.6,82.4,-12.3,122,669,0.00,2.17,0.00,0.000,4,0.000,0.047,2873,3508,3889,0,0,0,0,0,0,28.83,26.37,28.83
$GC,898,-0.75,-146.6,114.1,-13.3,158,907,0.00,2.05,0.00,0.000,6,0.000,0.029,2872,2109,3890,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1208,-0.75,-146.6,151.9,-11.6,189,1217,0.00,2.10,0.00,0.000,4,0.000,0.048,2862,3498,3889,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1405,-0.75,-146.6,175.4,-12.0,208,1413,0.00,2.00,0.00,0.000,6,0.000,0.029,2862,2126,3888,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1713,-0.75,-146.6,209.9,-10.4,239,1722,0.00,2.10,0.00,0.000,4,0.000,0.048,2852,3503,3887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1850,-0.75,-146.6,224.5,-11.3,252,1858,0.15,1.98,0.00,0.000,6,0.157,0.029,2891,2144,3887,0,0,0,0,0,0,26.22,26.59,28.83
$GC,2156,-0.75,-146.6,251.0,-8.2,283,2165,0.00,2.05,0.00,0.000,4,0.000,0.047,2884,3506,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2232,-0.75,-146.6,257.7,-9.6,290,2239,0.00,1.98,0.00,0.000,6,0.000,0.028,2884,2142,3887,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2539,-0.75,-146.6,286.1,-9.2,321,2542,0.00,2.10,0.00,0.000,4,0.000,0.047,2873,3515,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2651,-0.75,-146.6,297.2,-9.9,332,2660,0.00,1.95,0.00,0.000,6,0.000,0.028,2873,2152,3886,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2962,-0.75,-146.6,326.4,-9.0,363,2970,0.00,2.08,0.00,0.000,4,0.000,0.047,2863,3521,3886,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3066,-0.75,-146.6,336.7,-10.2,373,3073,0.00,1.95,0.00,0.000,6,0.000,0.028,2863,2171,3886,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3374,-0.75,-146.6,367.9,-10.1,404,3378,0.00,2.05,0.00,0.000,4,0.000,0.047,2853,3513,3886,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3476,-0.75,-146.6,379.1,-10.9,414,3486,0.15,1.92,0.00,0.000,6,0.155,0.028,2892,2180,3886,0,0,0,0,0,0,26.26,26.65,28.83
$GC,3787,-0.75,-146.6,404.7,-8.3,445,3796,0.00,2.00,0.00,0.000,4,0.000,0.047,2884,3503,3886,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3862,-0.75,-146.6,411.0,-8.8,452,3870,0.00,1.90,0.00,0.000,6,0.000,0.028,2884,2184,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4169,-0.75,-146.6,438.2,-9.1,483,4173,0.00,2.03,0.00,0.000,4,0.000,0.047,2874,3510,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4244,-0.75,-146.6,445.2,-10.0,490,4251,0.00,1.90,0.00,0.000,6,0.000,0.028,2874,2192,3887,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4552,-0.75,-146.6,474.9,-9.4,521,4561,0.00,2.03,0.00,0.000,4,0.000,0.047,2865,3511,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4617,-0.75,-146.6,481.1,-10.0,527,4623,0.00,1.88,0.00,0.000,6,0.000,0.029,2865,2207,3887,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4926,-0.75,-146.6,511.2,-9.5,558,4935,0.00,1.98,0.00,0.000,4,0.000,0.047,2855,3509,3887,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4999,-0.75,-146.6,518.9,-10.5,565,5003,0.12,1.90,0.00,0.000,6,0.160,0.029,2887,2195,3887,0,0,0,0,0,0,26.32,26.66,28.83
$GC,5312,-0.75,-146.6,544.7,-8.5,596,5322,0.00,2.00,0.00,0.000,4,0.000,0.047,2879,3515,3887,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5376,-0.75,-146.6,550.2,-8.9,602,5380,0.00,1.88,0.00,0.000,6,0.000,0.028,2879,2222,3887,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5689,-0.75,-146.6,576.4,-8.2,633,5697,0.00,1.95,0.00,0.000,4,0.000,0.047,2869,3502,3887,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5741,-0.75,-146.6,581.3,-9.3,638,5744,0.00,1.85,0.00,0.000,6,0.000,0.029,2869,2225,3886,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6075,-0.75,-146.6,610.9,-9.0,663,6079,0.00,1.95,0.00,0.000,4,0.000,0.048,2859,3500,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6115,-0.75,-146.6,614.2,-9.2,664,6120,0.12,1.85,0.00,0.000,6,0.157,0.029,2891,2217,3886,0,0,0,0,0,0,26.32,26.66,28.83
$STATE,6371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6371,begin apogee
$GC,6378,-0.17,0.0,635.7,-8.0,673,6504,0.55,0.00,120.43,1.259,4,0.134,0.000,3072,1891,3279,0,0,0,0,0,0,26.15,28.83,23.88
$STATE,6508,end apogee,CONTROL_FINISHED_OK
$STATE,6508,begin climb
$GC,6511,0.75,146.6,639.6,0.0,677,6645,0.85,2.22,123.62,1.229,4,0.068,0.036,3372,521,2681,0,0,0,0,0,0,24.91,24.95,23.08
$GC,6652,0.79,186.4,633.1,7.5,682,6694,0.00,2.33,35.15,1.176,6,0.000,0.033,3373,1893,2519,0,0,0,0,0,0,28.83,24.18,23.08
$GC,6999,0.79,186.4,583.3,14.4,701,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3373,1893,2509,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7302,0.79,186.4,539.1,15.1,731,7310,0.00,2.15,0.00,0.000,4,0.000,0.038,3382,531,2506,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7326,0.79,186.4,535.7,14.8,733,7333,0.00,2.15,0.00,0.000,6,0.000,0.034,3382,1901,2506,0,0,0,0,0,0,28.83,25.98,28.83
$GC,7634,0.79,186.4,488.5,15.2,764,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,3382,1901,2505,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7936,0.79,186.4,441.9,15.7,794,7944,0.00,2.12,0.00,0.000,4,0.000,0.038,3391,531,2503,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7970,0.79,186.4,436.5,15.9,797,7976,0.00,2.12,0.00,0.000,6,0.000,0.034,3391,1898,2503,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8277,0.79,186.4,386.4,15.9,828,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1898,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8580,0.79,186.4,338.3,16.5,858,8586,0.00,0.00,0.00,0.000,6,0.000,0.000,3391,1898,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8890,0.79,186.4,287.0,17.1,889,8899,0.00,2.12,0.00,0.000,4,0.000,0.039,3400,528,2501,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8925,0.79,186.4,281.3,16.4,892,8933,0.00,2.10,0.00,0.000,6,0.000,0.036,3400,1892,2501,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9232,0.79,186.4,229.1,16.4,923,9241,0.00,2.12,0.00,0.000,4,0.000,0.037,3408,516,2501,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9257,0.79,186.4,225.4,16.6,925,9264,0.00,2.10,0.00,0.000,6,0.000,0.033,3409,1882,2501,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9564,0.79,186.4,175.5,15.7,956,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1882,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9866,0.79,186.4,131.3,13.9,986,9870,0.00,2.10,0.00,0.000,4,0.000,0.038,3418,523,2501,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9908,0.79,186.4,125.2,14.0,990,9913,0.12,2.08,0.00,0.000,6,0.175,0.034,3387,1882,2501,0,0,0,0,0,0,26.20,26.51,28.83
$GC,10219,0.79,186.4,88.7,11.9,1029,10225,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1882,2501,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10531,0.79,186.4,54.5,10.3,1090,10537,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1882,2502,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10842,0.79,186.4,26.2,9.6,1151,10849,0.00,2.08,0.00,0.000,4,0.000,0.039,3393,526,2501,0,0,0,0,0,0,28.83,26.52,28.83
$GC,11082,0.88,259.8,11.4,6.1,1197,11123,0.00,2.08,33.20,0.086,6,0.000,0.034,3393,1875,2217,0,0,0,0,0,0,28.83,26.55,26.27
$FREEZE,8.37,6.181,-1.770,0,1,0
$FREEZE,7.95,6.182,-1.769,0,1,0
$FREEZE,7.51,6.181,-1.769,0,1,0
$FREEZE,7.12,6.181,-1.769,0,1,0
$FREEZE,6.67,6.180,-1.768,0,1,0
$FREEZE,6.30,6.172,-1.768,0,1,0
$FREEZE,5.78,6.179,-1.768,0,1,0
$FREEZE,5.31,6.177,-1.767,0,1,0
$FREEZE,4.68,6.181,-1.767,0,1,0
$FREEZE,3.99,6.181,-1.766,0,1,0
$STATE,11177,end climb,SURFACE_DEPTH_REACHED
$STATE,11177,begin surface coast
$FREEZE,3.47,6.179,-1.766,0,1,0
$FREEZE,2.92,6.173,-1.766,0,1,0
$FREEZE,2.63,6.173,-1.765,0,1,0
$FREEZE,2.06,6.177,-1.765,0,1,0
$FREEZE,1.61,6.174,-1.764,0,1,0
$FREEZE,1.32,6.170,-0.861,0,1,0
$FREEZE,1.29,5.955,-1.716,0,1,0
$FINISH,1.3,1.024692
$STATE,11214,end surface coast,CONTROL_FINISHED_OK
$STATE,11214,begin surface
$SM_CCo,11234,60.95,0.068,0,0,1647,400.08
$SM_GC,2.29,8.12,0.32,60.95,0.052,0.057,0.068,342,2114,1647,-8.65,-1.24,400.08,0,0,0,0,0,0,26.37,26.51,26.26
$RAFOS_CLK,555
$RAFOS,5,1343652064,12.700000,12.684444,46,41,40,39,38,38,941,871,907,1266,1,1621
$RAFOS,4,1343651590,12.566667,12.552778,48,43,42,40,40,39,1370,1454,1029,811,483,1249
$RAFOS,3,1343651102,12.433333,12.417222,55,42,41,40,39,39,1669,1097,977,1847,914,608
$RAFOS,2,1343650630,12.300000,12.286111,44,44,44,42,42,41,61,489,534,990,1426,1051
$RAFOS,1,1343650146,12.166667,12.151667,46,43,42,42,41,41,1335,428,1788,1121,1420,1754
$RAFOS,0,1343649666,12.033333,12.018333,48,44,43,41,41,40,502,1061,943,61,1359,157
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5704.33,300712,060628
$TT8_MAMPS,0.028462,0.028462
$HUMID,42.55
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,16.50
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.9,18.0
$24V_AH,23.1,27.397
$10V_AH,10.0,30.785
$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,20.225,90.375,312.400,60.950,0.000,0.000,0.000,299.625,5.250,0.000,15.445,3107.971,5417.742,514.824,2370.115,318.906,0.000,1915.619,0.000,2049.773,2520.000,14.986,0.000
$DEVICE_MAMPS,244.035,64.260,1259.190,68.085,0.000,0.000,0.000,281.640,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,875.439,841.290,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151668
$DATA_FILE_SIZE,56746,1221
$CAP_FILE_SIZE,131087,0
$CFSIZE,260165632,227328000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1464.7
$CURRENT,0.048,317.1,1
$GPS,300712,125604,6700.982,-5652.579,46,0.8,46,-33.5