version: 66.11
glider: 108
mission: 21
dive: 229
start: 7 30 112 16 19 9
data:
$ID,108
$MISSION,21
$DIVE,229
$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,-191372.58
$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,75
$R_STBD_OVSHOOT,55
$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
$GPS1,300712,160929,6701.034,-5650.383,35,2.0,35,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-73.3
$GPS2,300712,161834,6700.925,-5650.414,55,0.8,55,-33.5
$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,60.3,4220,-16.9,-9.167
$D_GRID,575
$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,-146.6,0.0,0.0,0,77,0.00,0.00,-58.33,0.000,2,0.000,0.000,333,2071,3037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.75,-146.6,3.3,-3.3,10,119,10.10,2.28,-22.33,0.000,4,0.244,0.062,2876,3504,3880,0,0,0,0,0,0,25.74,26.20,26.59
$GC,270,-0.75,-146.6,31.4,-10.5,45,277,0.00,2.08,0.00,0.000,6,0.000,0.028,2876,2097,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,585,-0.75,-146.6,69.4,-12.5,106,590,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2096,3888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,896,-0.75,-146.6,107.4,-11.7,161,905,0.00,2.15,0.00,0.000,4,0.000,0.047,2866,3497,3889,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1021,-0.75,-146.6,123.3,-13.1,173,1028,0.00,2.03,0.00,0.000,6,0.000,0.029,2866,2114,3889,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1329,-0.75,-146.6,161.1,-11.4,204,1338,0.00,2.10,0.00,0.000,4,0.000,0.047,2856,3490,3888,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1431,-0.75,-146.6,173.2,-11.6,214,1441,0.12,2.03,0.00,0.000,6,0.174,0.028,2887,2111,3888,0,0,0,0,0,0,26.20,26.54,28.83
$GC,1742,-0.75,-146.6,200.4,-8.8,245,1751,0.00,2.10,0.00,0.000,4,0.000,0.048,2879,3495,3887,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1806,-0.75,-146.6,206.5,-10.1,251,1813,0.00,2.00,0.00,0.000,6,0.000,0.028,2879,2126,3887,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2114,-0.75,-146.6,239.5,-10.9,282,2118,0.00,2.10,0.00,0.000,4,0.000,0.048,2869,3498,3886,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2189,-0.75,-146.6,247.7,-11.2,289,2195,0.00,1.98,0.00,0.000,6,0.000,0.029,2868,2137,3886,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2496,-0.75,-146.6,281.0,-10.3,320,2506,0.00,2.08,0.00,0.000,4,0.000,0.047,2858,3502,3885,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2599,-0.75,-146.6,292.4,-10.7,330,2603,0.12,1.95,0.00,0.000,6,0.167,0.029,2889,2148,3885,0,0,0,0,0,0,26.27,26.60,28.83
$GC,2912,-0.75,-146.6,321.2,-9.2,361,2916,0.00,2.08,0.00,0.000,4,0.000,0.047,2882,3509,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2977,-0.75,-146.6,327.4,-10.0,367,2984,0.00,1.98,0.00,0.000,6,0.000,0.028,2881,2141,3885,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3284,-0.75,-146.6,356.7,-9.1,398,3293,0.00,2.05,0.00,0.000,4,0.000,0.047,2872,3505,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3366,-0.75,-146.6,364.7,-10.1,406,3375,0.00,1.95,0.00,0.000,6,0.000,0.028,2872,2160,3885,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3677,-0.75,-146.6,393.9,-9.3,437,3685,0.00,2.03,0.00,0.000,4,0.000,0.047,2861,3508,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3760,-0.75,-146.6,402.6,-10.5,445,3769,0.00,1.95,0.00,0.000,6,0.000,0.028,2861,2163,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4070,-0.75,-146.6,434.3,-10.0,476,4080,0.00,2.05,0.00,0.000,4,0.000,0.047,2851,3504,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4145,-0.75,-146.6,442.1,-10.9,483,4152,0.15,1.92,0.00,0.000,6,0.155,0.028,2891,2169,3885,0,0,0,0,0,0,26.28,26.65,28.83
$GC,4453,-0.75,-146.6,468.1,-8.5,514,4462,0.00,2.05,0.00,0.000,4,0.000,0.046,2883,3515,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4488,-0.75,-146.6,471.0,-8.7,517,4494,0.00,1.92,0.00,0.000,6,0.000,0.028,2883,2172,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4795,-0.75,-146.6,497.2,-7.9,548,4805,0.00,2.03,0.00,0.000,4,0.000,0.047,2873,3497,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4858,-0.75,-146.6,502.7,-8.6,554,4862,0.00,1.90,0.00,0.000,6,0.000,0.028,2873,2173,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5171,-0.75,-146.6,529.5,-8.8,585,5180,0.00,2.03,0.00,0.000,4,0.000,0.046,2863,3518,3885,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5235,-0.75,-146.6,535.4,-9.6,591,5242,0.00,1.92,0.00,0.000,6,0.000,0.028,2863,2177,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5543,-0.75,-146.6,565.2,-9.6,622,5551,0.00,2.00,0.00,0.000,4,0.000,0.047,2853,3499,3885,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,5592,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5592,begin apogee
$GC,5602,-0.17,0.0,570.5,-10.8,627,5725,0.68,0.00,118.47,1.189,4,0.142,0.000,3067,1882,3278,0,0,0,0,0,0,26.12,28.83,24.06
$STATE,5729,end apogee,CONTROL_FINISHED_OK
$STATE,5729,begin climb
$GC,5732,0.75,146.6,574.6,0.0,640,5860,0.88,2.22,118.85,1.038,4,0.073,0.034,3373,508,2681,0,0,0,0,0,0,24.98,25.02,23.52
$GC,6086,0.75,146.6,535.7,14.0,675,6094,0.00,2.22,0.00,0.000,6,0.000,0.033,3373,1898,2672,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6393,0.75,146.6,490.5,14.4,706,6402,0.00,2.15,0.00,0.000,4,0.000,0.044,3373,3307,2669,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6587,0.75,146.6,460.3,16.0,725,6596,0.00,2.12,0.00,0.000,6,0.000,0.029,3382,1897,2667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6898,0.75,146.6,412.9,15.4,756,6906,0.00,2.10,0.00,0.000,4,0.000,0.037,3393,508,2667,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7030,0.75,146.6,392.9,14.9,769,7039,0.00,2.15,0.00,0.000,6,0.000,0.033,3393,1895,2667,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7341,0.75,146.6,345.8,15.5,800,7349,0.00,2.12,0.00,0.000,4,0.000,0.036,3402,500,2667,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7365,0.75,146.6,342.4,15.8,802,7373,0.12,2.12,0.00,0.000,6,0.172,0.032,3372,1888,2667,0,0,0,0,0,0,26.08,26.36,28.83
$GC,7672,0.75,146.6,298.4,13.8,833,7673,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1887,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7974,0.75,146.6,257.3,13.4,863,7984,0.00,2.08,0.00,0.000,4,0.000,0.037,3379,511,2667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7999,0.75,146.6,254.2,13.4,865,8006,0.00,2.10,0.00,0.000,6,0.000,0.034,3379,1881,2667,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8307,0.75,146.6,213.0,12.6,896,8316,0.00,2.08,0.00,0.000,4,0.000,0.036,3387,509,2667,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8329,0.75,146.6,210.2,13.0,898,8333,0.00,2.12,0.00,0.000,6,0.000,0.033,3387,1892,2667,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8641,0.75,146.6,168.7,13.3,929,8650,0.00,2.12,0.00,0.000,4,0.000,0.037,3396,508,2667,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8733,0.75,146.6,156.1,14.1,938,8741,0.00,2.10,0.00,0.000,6,0.000,0.033,3396,1876,2667,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9043,0.75,146.6,114.5,12.9,969,9052,0.00,2.15,0.00,0.000,4,0.000,0.044,3396,3304,2667,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9066,0.75,146.6,111.7,12.8,971,9076,0.10,2.12,0.00,0.000,6,0.158,0.029,3375,1859,2667,0,0,0,0,0,0,26.22,26.56,28.83
$GC,9376,0.75,146.6,80.2,9.2,1022,9383,0.00,2.05,0.00,0.000,4,0.000,0.037,3383,497,2667,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9492,0.76,161.7,69.9,8.5,1044,9511,0.00,2.08,11.60,0.842,6,0.000,0.033,3383,1850,2619,0,0,0,0,0,0,28.83,26.55,25.46
$GC,9816,0.76,161.7,39.6,9.4,1107,9824,0.00,2.20,0.00,0.000,4,0.000,0.044,3383,3303,2616,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9871,0.76,161.7,34.0,10.0,1117,9878,0.00,2.15,0.00,0.000,6,0.000,0.029,3392,1843,2616,0,0,0,0,0,0,28.83,26.47,28.83
$GC,10185,0.91,281.3,14.1,4.2,1178,10245,0.00,0.00,55.80,0.092,6,0.000,0.000,3392,1843,2131,0,0,0,0,0,0,28.83,28.83,26.17
$FREEZE,8.64,6.547,-1.776,0,1,0
$FREEZE,8.16,6.548,-1.775,0,1,0
$FREEZE,7.77,6.546,-1.775,0,1,0
$FREEZE,7.36,6.550,-1.775,0,1,0
$FREEZE,6.76,6.547,-1.774,0,1,0
$FREEZE,6.33,6.549,-1.774,0,1,0
$FREEZE,5.81,6.548,-1.774,0,1,0
$FREEZE,5.45,6.550,-1.773,0,1,0
$FREEZE,4.88,6.552,-1.773,0,1,0
$FREEZE,4.38,6.553,-1.772,0,1,0
$FREEZE,3.84,6.553,-1.772,0,1,0
$STATE,10319,end climb,SURFACE_DEPTH_REACHED
$STATE,10319,begin surface coast
$FREEZE,3.31,6.555,-1.772,0,1,0
$FREEZE,2.76,6.554,-1.771,0,1,0
$FREEZE,2.34,6.555,-1.771,0,1,0
$FREEZE,1.86,6.550,-1.771,0,1,0
$FREEZE,1.53,6.506,-1.773,0,1,0
$FREEZE,1.33,6.354,-1.781,0,1,0
$FREEZE,1.42,6.394,-0.646,0,1,0
$FREEZE,1.43,6.120,-0.747,0,1,0
$FREEZE,1.33,6.376,-1.596,0,1,0
$FINISH,1.3,1.022955
$STATE,10367,end surface coast,CONTROL_FINISHED_OK
$STATE,10367,begin surface
$SM_CCo,10387,50.92,0.068,0,0,1647,400.08
$SM_GC,2.14,8.15,0.40,50.92,0.053,0.055,0.068,341,2093,1647,-8.65,-1.53,400.08,0,0,0,0,0,0,26.33,26.39,26.20
$RAFOS_CLK,499
$RAFOS,6,1343666944,16.833334,16.817778,44,41,40,40,39,39,396,1365,1,1911,303,1317
$RAFOS,5,1343666464,16.700001,16.684444,44,44,43,42,41,40,71,293,1821,404,1787,1680
$RAFOS,4,1343665992,16.566668,16.553333,49,46,43,43,41,40,1541,1428,89,1838,1110,620
$RAFOS,3,1343665501,16.433332,16.416945,46,46,44,44,41,39,821,1767,200,1141,1,711
$RAFOS,0,1343664065,16.033333,16.018055,51,45,45,43,42,40,1324,568,705,1744,1522,188
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5658.34,300712,121217
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.92
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.80
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.9,18.1
$ALTIM_BOTTOM_PING,550.8,34.1
$24V_AH,23.5,27.578
$10V_AH,10.1,30.985
$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,20.425,100.050,304.725,50.925,0.000,0.000,0.000,372.200,6.250,0.000,56.926,3000.054,4685.824,525.762,2471.198,304.726,0.000,1997.838,0.000,2033.239,1440.000,15.975,0.000
$DEVICE_MAMPS,244.035,61.965,1188.810,68.085,0.000,0.000,0.000,273.401,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,864.841,827.139,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,56810,1211
$CAP_FILE_SIZE,130032,0
$CFSIZE,260165632,227192832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1467.4
$CURRENT,0.100,183.6,1
$GPS,300712,191433,6701.288,-5648.502,32,1.0,34,-33.5