version: 66.11
glider: 108
mission: 21
dive: 233
start: 7 31 112 4 10 52
data:
$ID,108
$MISSION,21
$DIVE,233
$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,-191377.58
$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,67
$R_STBD_OVSHOOT,41
$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
$GPS1,310712,040236,6702.572,-5656.062,39,0.8,39,-33.5
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-76.5
$GPS2,310712,041017,6702.543,-5656.155,18,0.9,18,-33.5
$SPEED_LIMITS,0.159,0.252
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,281.7,157309,-16.9,-9.167
$D_GRID,624
$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,-146.6,0.0,0.0,0,76,0.00,0.00,-57.22,0.000,2,0.000,0.000,334,2115,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.75,-146.6,3.0,-2.8,10,124,10.23,2.17,-24.67,0.000,4,0.249,0.052,2890,708,3881,0,0,0,0,0,0,25.67,26.23,26.58
$GC,280,-0.75,-146.6,32.9,-13.3,47,287,0.00,2.17,0.00,0.000,6,0.000,0.037,2883,2109,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,595,-0.75,-146.6,70.3,-10.8,108,602,0.00,2.12,0.00,0.000,4,0.000,0.048,2873,3504,3887,0,0,0,0,0,0,28.83,26.29,28.83
$GC,695,-0.75,-146.6,82.4,-12.0,127,702,0.00,2.05,0.00,0.000,6,0.000,0.028,2873,2104,3888,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1013,-0.75,-146.6,120.3,-12.0,172,1022,0.00,2.17,0.00,0.000,4,0.000,0.049,2864,3505,3888,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1115,-0.75,-146.6,133.3,-12.9,182,1119,0.00,2.03,0.00,0.000,6,0.000,0.029,2864,2114,3888,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1428,-0.75,-146.6,170.6,-11.6,213,1436,0.00,2.10,0.00,0.000,4,0.000,0.048,2853,3499,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1559,-0.75,-146.6,186.6,-12.0,226,1569,0.12,2.03,0.00,0.000,6,0.171,0.030,2884,2117,3887,0,0,0,0,0,0,26.20,26.55,28.83
$GC,1870,-0.75,-146.6,217.3,-9.6,257,1879,0.00,2.10,0.00,0.000,4,0.000,0.047,2877,3504,3886,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1993,-0.75,-146.6,229.6,-10.0,269,2001,0.00,2.00,0.00,0.000,6,0.000,0.029,2877,2136,3885,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2302,-0.75,-146.6,259.3,-9.5,300,2311,0.00,2.10,0.00,0.000,4,0.000,0.047,2866,3518,3885,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2408,-0.75,-146.6,270.1,-10.5,310,2415,0.00,1.98,0.00,0.000,6,0.000,0.029,2866,2155,3885,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2715,-0.75,-146.6,302.7,-10.4,341,2725,0.00,2.08,0.00,0.000,4,0.000,0.047,2856,3505,3885,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2809,-0.75,-146.6,312.8,-10.6,350,2818,0.12,1.95,0.00,0.000,6,0.163,0.029,2887,2163,3884,0,0,0,0,0,0,26.27,26.61,28.83
$GC,3119,-0.75,-146.6,339.9,-8.5,381,3128,0.00,2.05,0.00,0.000,4,0.000,0.047,2879,3516,3884,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3205,-0.75,-146.6,347.5,-9.5,389,3211,0.00,1.95,0.00,0.000,6,0.000,0.028,2879,2164,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3511,-0.75,-146.6,375.4,-9.1,420,3521,0.00,2.05,0.00,0.000,4,0.000,0.047,2869,3505,3884,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3595,-0.75,-146.6,383.5,-9.7,428,3598,0.00,1.92,0.00,0.000,6,0.000,0.028,2869,2187,3884,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3907,-0.75,-146.6,413.1,-9.3,459,3916,0.00,2.05,0.00,0.000,4,0.000,0.047,2859,3516,3884,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3979,-0.75,-146.6,420.4,-10.1,466,3982,0.00,1.92,0.00,0.000,6,0.000,0.028,2859,2198,3884,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4292,-0.75,-146.6,450.5,-9.6,497,4301,0.12,1.98,0.00,0.000,4,0.171,0.045,2887,3505,3884,0,0,0,0,0,0,26.35,26.49,28.83
$GC,4388,-0.75,-146.6,458.6,-8.5,506,4395,0.00,1.88,0.00,0.000,6,0.000,0.028,2888,2198,3884,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4696,-0.75,-146.6,483.1,-7.9,537,4705,0.00,2.00,0.00,0.000,4,0.000,0.047,2880,3505,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4748,-0.75,-146.6,487.7,-8.9,542,4752,0.00,1.88,0.00,0.000,6,0.000,0.028,2880,2197,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5062,-0.75,-146.6,514.3,-8.8,573,5065,0.00,2.00,0.00,0.000,4,0.000,0.046,2871,3505,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5105,-0.75,-146.6,518.3,-9.0,577,5108,0.00,1.88,0.00,0.000,6,0.000,0.028,2870,2208,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5418,-0.75,-146.6,546.6,-9.1,608,5427,0.00,2.00,0.00,0.000,4,0.000,0.046,2860,3512,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5465,-0.75,-146.6,550.7,-9.4,612,5468,0.00,1.88,0.00,0.000,6,0.000,0.028,2861,2217,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5776,-0.75,-146.6,580.8,-9.3,643,5780,0.00,1.98,0.00,0.000,4,0.000,0.046,2850,3517,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5822,-0.75,-146.6,585.1,-10.1,647,5830,0.15,1.88,0.00,0.000,6,0.154,0.028,2890,2207,3885,0,0,0,0,0,0,26.27,26.67,28.83
$GC,6133,-0.75,-146.6,609.7,-7.7,670,6138,0.00,2.00,0.00,0.000,4,0.000,0.046,2883,3516,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6192,-0.75,-146.6,615.1,-8.2,672,6196,0.00,1.85,0.00,0.000,6,0.000,0.028,2883,2232,3885,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,6222,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6222,begin apogee
$GC,6229,-0.17,0.0,617.8,-8.5,673,6355,0.57,0.00,119.80,1.242,4,0.133,0.000,3068,1882,3278,0,0,0,0,0,0,26.13,28.83,23.91
$STATE,6358,end apogee,CONTROL_FINISHED_OK
$STATE,6359,begin climb
$GC,6361,0.75,146.6,622.1,0.0,677,6496,0.88,2.22,122.62,1.200,4,0.074,0.035,3373,513,2680,0,0,0,0,0,0,24.94,24.98,23.18
$GC,6503,0.79,182.5,615.2,7.7,682,6542,0.00,2.35,31.60,1.147,6,0.000,0.032,3373,1904,2534,0,0,0,0,0,0,28.83,24.27,23.18
$GC,6850,0.79,182.5,562.9,15.5,709,6859,0.00,2.15,0.00,0.000,4,0.000,0.044,3373,3302,2524,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6885,0.79,182.5,557.7,15.7,712,6893,0.00,2.12,0.00,0.000,6,0.000,0.028,3382,1908,2523,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7192,0.79,182.5,508.5,16.0,743,7201,0.00,2.15,0.00,0.000,4,0.000,0.037,3393,490,2522,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7284,0.79,182.5,494.0,15.6,752,7294,0.00,2.20,0.00,0.000,6,0.000,0.034,3393,1896,2521,0,0,0,0,0,0,28.83,26.08,28.83
$GC,7594,0.79,182.5,442.8,16.8,783,7603,0.00,2.17,0.00,0.000,4,0.000,0.037,3402,489,2520,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7629,0.79,182.5,437.4,16.9,786,7636,0.00,2.17,0.00,0.000,6,0.000,0.033,3402,1895,2520,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7936,0.79,182.5,382.9,17.8,817,7938,0.00,0.00,0.00,0.000,6,0.000,0.000,3402,1894,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8238,0.79,182.5,329.5,18.0,847,8242,0.00,2.15,0.00,0.000,4,0.000,0.038,3411,504,2520,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8284,0.79,182.5,321.5,18.2,851,8291,0.00,2.12,0.00,0.000,6,0.000,0.033,3411,1882,2519,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8590,0.79,182.5,264.4,18.2,882,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3411,1882,2519,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,0.79,182.5,210.9,17.9,912,8903,0.00,2.10,0.00,0.000,4,0.000,0.038,3421,516,2519,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8918,0.79,182.5,206.5,18.1,914,8926,0.15,2.10,0.00,0.000,6,0.174,0.033,3383,1886,2519,0,0,0,0,0,0,26.11,26.46,28.83
$GC,9227,0.79,182.5,159.8,14.3,945,9236,0.00,2.10,0.00,0.000,4,0.000,0.044,3382,3301,2519,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9252,0.79,182.5,156.4,14.2,947,9259,0.00,2.10,0.00,0.000,6,0.000,0.029,3389,1873,2519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9559,0.79,182.5,116.0,12.5,978,9568,0.00,2.08,0.00,0.000,4,0.000,0.038,3399,504,2519,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9615,0.79,182.5,109.3,12.9,983,9622,0.00,2.12,0.00,0.000,6,0.000,0.032,3400,1893,2519,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9923,0.79,182.5,71.2,11.4,1037,9929,0.00,2.12,0.00,0.000,4,0.000,0.037,3409,514,2519,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9953,0.79,182.5,67.6,11.9,1042,9959,0.00,2.08,0.00,0.000,6,0.000,0.034,3408,1874,2519,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10265,0.79,182.5,31.5,12.5,1103,10272,0.00,2.08,0.00,0.000,4,0.000,0.038,3415,516,2519,0,0,0,0,0,0,28.83,26.50,28.83
$GC,10504,0.90,269.7,13.2,5.5,1149,10553,0.00,2.08,40.10,0.090,6,0.000,0.034,3416,1867,2178,0,0,0,0,0,0,28.83,26.55,26.22
$FREEZE,8.83,6.143,-1.767,0,1,0
$FREEZE,8.27,6.141,-1.767,0,1,0
$FREEZE,7.79,6.142,-1.766,0,1,0
$FREEZE,7.36,6.140,-1.765,0,1,0
$FREEZE,6.77,6.135,-1.765,0,1,0
$FREEZE,6.24,6.135,-1.764,0,1,0
$FREEZE,5.86,6.133,-1.764,0,1,0
$FREEZE,5.39,6.133,-1.764,0,1,0
$FREEZE,4.71,6.134,-1.763,0,1,0
$FREEZE,4.32,6.134,-1.763,0,1,0
$FREEZE,3.76,6.134,-1.762,0,1,0
$STATE,10617,end climb,SURFACE_DEPTH_REACHED
$STATE,10617,begin surface coast
$FREEZE,3.17,6.135,-1.762,0,1,0
$FREEZE,2.64,6.134,-1.762,0,1,0
$FREEZE,2.18,6.131,-1.761,0,1,0
$FREEZE,1.74,6.116,-1.762,0,1,0
$FREEZE,1.29,5.933,-1.771,0,1,0
$FREEZE,1.22,5.949,-1.460,0,1,0
$FREEZE,1.38,5.815,-1.400,0,1,0
$FREEZE,1.34,6.024,-1.012,0,1,0
$FINISH,1.3,1.014682
$STATE,10661,end surface coast,CONTROL_FINISHED_OK
$STATE,10661,begin surface
$SM_CCo,10682,56.45,0.069,0,0,1648,400.08
$SM_GC,2.14,8.18,0.32,56.45,0.050,0.057,0.069,345,2107,1648,-8.65,-1.44,400.08,0,0,0,0,0,0,26.36,26.48,26.24
$RAFOS_CLK,510
$RAFOS,6,1343710141,4.833333,4.816945,45,43,42,42,42,41,396,1095,1056,259,1561,61
$RAFOS,5,1343709669,4.700000,4.685833,48,46,45,45,42,42,409,1651,357,1651,231,848
$RAFOS,4,1343709187,4.566667,4.551944,48,45,42,41,41,40,651,1758,659,1299,1462,121
$RAFOS,3,1343708702,4.433333,4.417222,44,42,42,41,41,40,1737,1236,733,210,1909,1918
$RAFOS,2,1343708225,4.300000,4.284722,47,45,43,43,41,41,1572,820,665,1024,1732,1725
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5653.72,310712,000003
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.91
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.60
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.9,18.3
$ALTIM_BOTTOM_PING,550.7,80.7
$24V_AH,23.2,27.937
$10V_AH,10.1,31.357
$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,20.525,107.700,314.125,56.450,0.000,0.000,0.000,326.275,5.000,0.000,19.585,3026.528,4973.871,538.807,2348.143,316.227,0.000,1958.695,0.000,1997.673,1800.000,16.097,0.000
$DEVICE_MAMPS,249.390,56.610,1242.360,68.850,0.000,0.000,0.000,277.146,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.262,809.644,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151620
$DATA_FILE_SIZE,56692,1177
$CAP_FILE_SIZE,133657,0
$CFSIZE,260165632,226914304
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.2
$CURRENT,0.196,120.1,1
$GPS,310712,071122,6701.722,-5657.448,40,0.9,40,-33.5