version: 66.11
glider: 108
mission: 21
dive: 230
start: 7 30 112 19 22 40
data:
$ID,108
$MISSION,21
$DIVE,230
$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,-191373.83
$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,42
$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
$GPS1,300712,191433,6701.288,-5648.502,32,1.0,34,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-72.8
$GPS2,300712,192205,6701.368,-5648.583,17,0.8,17,-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,39.7,3052,-16.9,-9.167
$D_GRID,547
$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,-146.6,0.0,0.0,0,74,0.00,0.00,-56.00,0.000,2,0.000,0.000,338,2106,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.75,-146.6,3.1,-2.8,10,123,9.98,2.17,-25.88,0.000,4,0.243,0.063,2874,3511,3879,0,0,0,0,0,0,25.83,26.34,26.75
$GC,353,-0.75,-146.6,41.2,-12.2,62,360,0.00,2.08,0.00,0.000,6,0.000,0.028,2878,2094,3884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,666,-0.75,-146.6,76.6,-11.0,123,673,0.00,2.17,0.00,0.000,4,0.000,0.047,2870,3517,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,867,-0.75,-146.6,100.4,-12.3,161,874,0.00,2.08,0.00,0.000,6,0.000,0.028,2870,2091,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1172,-0.75,-146.6,137.1,-12.0,192,1181,0.00,2.17,0.00,0.000,4,0.000,0.047,2859,3523,3887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1277,-0.75,-146.6,149.9,-13.0,202,1285,0.00,2.05,0.00,0.000,6,0.000,0.028,2860,2114,3887,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1584,-0.75,-146.6,188.4,-12.5,233,1594,0.12,2.12,0.00,0.000,4,0.174,0.046,2887,3519,3886,0,0,0,0,0,0,26.32,26.46,28.83
$GC,1687,-0.75,-146.6,199.8,-10.4,243,1696,0.00,2.03,0.00,0.000,6,0.000,0.029,2887,2122,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,1998,-0.75,-146.6,231.0,-9.1,274,2008,0.00,2.10,0.00,0.000,4,0.000,0.047,2877,3515,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2064,-0.75,-146.6,237.3,-10.1,280,2071,0.00,2.00,0.00,0.000,6,0.000,0.028,2877,2132,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2371,-0.75,-146.6,266.3,-9.2,311,2375,0.00,2.10,0.00,0.000,4,0.000,0.047,2867,3512,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2465,-0.75,-146.6,275.4,-9.9,320,2473,0.00,2.00,0.00,0.000,6,0.000,0.028,2867,2137,3885,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2774,-0.75,-146.6,304.1,-8.9,351,2784,0.00,2.08,0.00,0.000,4,0.000,0.047,2856,3512,3884,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2841,-0.75,-146.6,310.2,-9.9,357,2848,0.12,1.98,0.00,0.000,6,0.162,0.028,2888,2143,3884,0,0,0,0,0,0,26.29,26.64,28.83
$GC,3148,-0.75,-146.6,334.8,-7.9,388,3152,0.00,2.10,0.00,0.000,4,0.000,0.047,2880,3523,3884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3204,-0.75,-146.6,339.3,-9.0,393,3211,0.00,1.98,0.00,0.000,6,0.000,0.028,2880,2151,3884,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3510,-0.75,-146.6,367.9,-9.5,424,3519,0.00,2.08,0.00,0.000,4,0.000,0.047,2870,3509,3884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3574,-0.75,-146.6,374.1,-10.4,430,3583,0.00,1.95,0.00,0.000,6,0.000,0.028,2870,2162,3884,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3884,-0.75,-146.6,404.5,-9.8,461,3892,0.00,2.03,0.00,0.000,4,0.000,0.047,2860,3511,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3948,-0.75,-146.6,410.8,-10.2,467,3955,0.00,1.95,0.00,0.000,6,0.000,0.028,2860,2158,3884,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4255,-0.75,-146.6,442.4,-9.9,498,4265,0.00,2.05,0.00,0.000,4,0.000,0.047,2849,3514,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4331,-0.75,-146.6,450.3,-10.7,505,4338,0.15,1.92,0.00,0.000,6,0.154,0.028,2890,2173,3884,0,0,0,0,0,0,26.27,26.67,28.83
$GC,4639,-0.75,-146.6,476.0,-8.1,536,4647,0.00,2.03,0.00,0.000,4,0.000,0.047,2882,3509,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4681,-0.75,-146.6,479.7,-8.9,540,4690,0.00,1.92,0.00,0.000,6,0.000,0.028,2881,2173,3884,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4991,-0.75,-146.6,505.4,-8.3,571,5000,0.00,2.03,0.00,0.000,4,0.000,0.047,2872,3509,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5055,-0.75,-146.6,510.9,-8.8,577,5064,0.00,1.92,0.00,0.000,6,0.000,0.028,2872,2173,3884,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,5111,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5111,begin apogee
$GC,5118,-0.17,0.0,516.3,-9.0,583,5243,0.62,0.00,117.70,1.169,4,0.135,0.000,3071,1879,3277,0,0,0,0,0,0,26.13,28.83,24.01
$STATE,5246,end apogee,CONTROL_FINISHED_OK
$STATE,5246,begin climb
$GC,5249,0.75,146.6,520.2,0.0,596,5385,0.85,2.17,120.47,1.132,4,0.072,0.034,3372,532,2679,0,0,0,0,0,0,25.01,25.06,23.40
$GC,5614,0.75,146.6,481.2,13.6,632,5621,0.00,2.20,0.00,0.000,6,0.000,0.033,3372,1915,2671,0,0,1,0,0,0,28.83,25.51,28.83
$GC,5922,0.75,146.6,439.2,13.2,663,5930,0.00,2.15,0.00,0.000,4,0.000,0.044,3372,3304,2668,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6138,0.75,146.6,406.1,16.1,684,6145,0.00,2.05,0.00,0.000,6,0.000,0.028,3379,1921,2667,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6446,0.75,146.6,359.8,14.9,715,6454,0.00,2.15,0.00,0.000,4,0.000,0.037,3389,512,2667,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6527,0.75,146.6,347.5,14.9,723,6536,0.00,2.15,0.00,0.000,6,0.000,0.033,3390,1898,2667,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6838,0.75,146.6,302.6,13.9,754,6839,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1898,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7140,0.75,146.6,258.9,14.8,784,7148,0.00,2.12,0.00,0.000,4,0.000,0.037,3399,516,2667,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7182,0.75,146.6,252.4,14.8,788,7190,0.00,2.10,0.00,0.000,6,0.000,0.033,3399,1886,2667,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7492,0.75,146.6,209.1,13.4,819,7500,0.00,2.10,0.00,0.000,4,0.000,0.037,3407,510,2667,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7553,0.75,146.6,200.7,13.4,825,7564,0.15,2.12,0.00,0.000,6,0.164,0.032,3370,1894,2667,0,0,0,0,0,0,26.14,26.46,28.83
$GC,7863,0.75,146.6,166.1,11.1,856,7872,0.00,2.10,0.00,0.000,4,0.000,0.044,3369,3301,2667,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7888,0.75,146.6,163.5,11.1,858,7894,0.00,2.08,0.00,0.000,6,0.000,0.028,3377,1873,2667,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8195,0.75,146.6,128.8,10.5,889,8205,0.00,2.05,0.00,0.000,4,0.000,0.037,3387,504,2667,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8278,0.75,146.6,119.9,10.8,897,8288,0.00,2.12,0.00,0.000,6,0.000,0.033,3386,1884,2667,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8590,0.75,146.6,88.2,9.8,939,8597,0.00,2.12,0.00,0.000,4,0.000,0.044,3387,3308,2667,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8675,0.75,146.6,79.5,10.1,955,8682,0.00,2.10,0.00,0.000,6,0.000,0.029,3396,1877,2667,0,0,0,0,0,0,28.83,26.56,28.83
$GC,8987,0.75,146.6,51.2,9.2,1016,8994,0.00,2.08,0.00,0.000,4,0.000,0.038,3406,506,2667,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9113,0.75,146.6,39.9,9.2,1040,9120,0.15,2.10,0.00,0.000,6,0.158,0.034,3368,1887,2667,0,0,0,0,0,0,26.25,26.55,28.83
$GC,9429,0.93,296.8,19.5,2.9,1101,9509,0.15,2.20,71.15,0.106,4,0.092,0.038,3442,508,2067,0,0,0,0,0,0,26.58,26.39,26.13
$GC,9555,0.93,296.8,10.4,12.2,1122,9561,0.00,2.05,0.00,0.000,6,0.000,0.034,3442,1839,2060,0,0,0,0,0,0,28.83,26.43,28.83
$FREEZE,8.34,6.469,-1.775,0,1,0
$FREEZE,7.75,6.469,-1.775,0,1,0
$FREEZE,7.09,6.469,-1.774,0,1,0
$FREEZE,6.57,6.470,-1.774,0,1,0
$FREEZE,6.12,6.471,-1.773,0,1,0
$FREEZE,5.65,6.471,-1.773,0,1,0
$FREEZE,5.03,6.472,-1.773,0,1,0
$FREEZE,4.45,6.472,-1.772,0,1,0
$FREEZE,3.86,6.472,-1.772,0,1,0
$STATE,9607,end climb,SURFACE_DEPTH_REACHED
$STATE,9607,begin surface coast
$FREEZE,3.34,6.472,-1.771,0,1,0
$FREEZE,2.81,6.473,-1.771,0,1,0
$FREEZE,2.15,6.472,-1.770,0,1,0
$FREEZE,1.57,6.469,-1.770,0,1,0
$FREEZE,1.29,6.382,-0.930,0,1,0
$FREEZE,1.42,6.219,-0.395,0,1,0
$FREEZE,1.41,6.388,-0.993,0,1,0
$FINISH,1.4,1.014368
$STATE,9646,end surface coast,CONTROL_FINISHED_OK
$STATE,9646,begin surface
$SM_CCo,9666,43.92,0.068,0,0,1646,400.08
$SM_GC,2.52,8.20,0.38,43.92,0.047,0.055,0.068,346,2104,1646,-8.64,-1.33,400.08,0,0,0,0,0,0,26.32,26.42,26.22
$RAFOS_CLK,455
$RAFOS,6,1343681345,20.833334,20.818056,42,42,41,41,40,39,901,1602,1634,1360,1822,1005
$RAFOS,5,1343680868,20.700001,20.685556,47,43,41,40,39,38,1290,214,803,836,984,1650
$RAFOS,4,1343680383,20.566668,20.550833,46,46,44,43,42,42,250,605,1733,1087,154,1279
$RAFOS,3,1343679910,20.433332,20.419445,43,43,43,42,40,39,183,883,951,1496,289,1720
$RAFOS,2,1343679428,20.299999,20.285555,51,46,42,42,41,41,820,708,151,332,208,1434
$RAFOS,1,1343678941,20.166666,20.150278,44,43,41,41,40,39,1405,101,1735,1811,1,1848
$RAFOS,0,1343678468,20.033333,20.018888,47,45,44,43,43,41,1497,1545,154,247,883,138
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5653.72,300712,161639
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.87
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.60
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.9,19.0
$ALTIM_BOTTOM_PING,500.6,30.6
$24V_AH,23.4,27.659
$10V_AH,10.1,31.079
$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,20.500,96.125,309.325,43.925,0.000,0.000,0.000,317.125,4.750,0.000,19.228,2806.634,4292.585,530.010,2247.692,289.793,0.000,1886.638,0.000,1903.154,2520.000,16.164,0.000
$DEVICE_MAMPS,242.505,63.495,1168.920,68.085,0.000,0.000,0.000,274.150,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,813.579,775.606,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,53382,1139
$CAP_FILE_SIZE,123198,0
$CFSIZE,260165632,227127296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1466.7
$CURRENT,0.112,326.5,1
$GPS,300712,220558,6702.818,-5648.582,36,0.9,36,-33.5