version: 66.11
glider: 108
mission: 21
dive: 340
start: 8 20 112 1 54 0
data:
$ID,108
$MISSION,21
$DIVE,340
$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,-191516.11
$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,73
$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
$GPS1,200812,014619,6702.663,-5646.789,31,2.0,31,-33.5
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-78.6
$GPS2,200812,015325,6702.630,-5646.673,28,1.3,29,-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,262.6,164119,-16.9,-9.167
$D_GRID,516
$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,-146.6,0.0,0.0,0,64,0.00,0.00,-45.35,0.000,2,0.000,0.000,340,2106,2731,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.75,-146.6,3.0,-0.5,8,118,10.43,2.20,-30.85,0.000,4,0.251,0.053,2892,725,3882,0,0,0,0,0,0,25.52,26.20,26.65
$GC,162,-0.75,-146.6,16.8,-17.9,24,169,0.00,2.15,0.00,0.000,6,0.000,0.037,2885,2101,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,476,-0.75,-146.6,54.5,-10.6,85,483,0.00,2.15,0.00,0.000,4,0.000,0.047,2875,3507,3888,0,0,0,0,0,0,28.83,26.17,28.83
$GC,623,-0.75,-146.6,72.0,-11.8,113,630,0.00,2.08,0.00,0.000,6,0.000,0.029,2875,2102,3889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,941,-0.75,-146.6,111.3,-12.0,166,951,0.00,2.15,0.00,0.000,4,0.000,0.048,2864,3498,3889,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1054,-0.75,-146.6,125.4,-12.5,177,1058,0.00,2.03,0.00,0.000,6,0.000,0.030,2865,2120,3889,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1366,-0.75,-146.6,163.8,-12.2,208,1376,0.00,2.15,0.00,0.000,4,0.000,0.048,2854,3504,3889,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1452,-0.75,-146.6,174.3,-12.6,216,1459,0.12,2.03,0.00,0.000,6,0.164,0.029,2885,2121,3889,0,0,0,0,0,0,26.06,26.46,28.83
$GC,1760,-0.75,-146.6,205.3,-9.7,247,1768,0.00,2.15,0.00,0.000,4,0.000,0.047,2877,3518,3888,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1842,-0.75,-146.6,213.4,-10.0,255,1851,0.00,2.03,0.00,0.000,6,0.000,0.029,2877,2137,3887,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2152,-0.75,-146.6,242.6,-9.1,286,2161,0.00,2.12,0.00,0.000,4,0.000,0.048,2867,3510,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2245,-0.75,-146.6,251.5,-9.7,295,2254,0.00,2.00,0.00,0.000,6,0.000,0.029,2867,2143,3886,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2555,-0.75,-146.6,281.6,-9.9,326,2564,0.00,2.12,0.00,0.000,4,0.000,0.048,2857,3518,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2648,-0.75,-146.6,290.9,-10.1,335,2657,0.12,2.00,0.00,0.000,6,0.156,0.029,2889,2150,3886,0,0,0,0,0,0,26.12,26.50,28.83
$GC,2958,-0.75,-146.6,316.1,-8.2,366,2968,0.00,2.10,0.00,0.000,4,0.000,0.047,2881,3507,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3041,-0.75,-146.6,323.2,-8.4,374,3045,0.00,1.95,0.00,0.000,6,0.000,0.029,2881,2158,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3354,-0.75,-146.6,350.2,-8.6,405,3358,0.00,2.08,0.00,0.000,4,0.000,0.047,2871,3510,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3440,-0.75,-146.6,357.9,-9.0,413,3447,0.00,1.95,0.00,0.000,6,0.000,0.028,2871,2161,3886,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3747,-0.75,-146.6,386.4,-9.2,444,3755,0.00,2.08,0.00,0.000,4,0.000,0.047,2861,3509,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3841,-0.75,-146.6,395.5,-9.9,453,3848,0.00,1.92,0.00,0.000,6,0.000,0.028,2861,2172,3885,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4148,-0.75,-146.6,426.4,-9.8,484,4152,0.00,2.05,0.00,0.000,4,0.000,0.047,2850,3511,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4213,-0.75,-146.6,433.1,-10.7,490,4221,0.15,1.92,0.00,0.000,6,0.145,0.028,2891,2180,3886,0,0,0,0,0,0,26.08,26.52,28.83
$GC,4521,-0.75,-146.6,458.8,-7.8,521,4530,0.00,2.05,0.00,0.000,4,0.000,0.046,2883,3510,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4586,-0.75,-146.6,464.2,-8.7,527,4592,0.00,1.92,0.00,0.000,6,0.000,0.028,2883,2177,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4893,-0.75,-146.6,489.2,-7.7,558,4897,0.00,2.03,0.00,0.000,4,0.000,0.046,2873,3508,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4956,-0.75,-146.6,494.6,-8.8,564,4959,0.00,1.92,0.00,0.000,6,0.000,0.028,2873,2190,3885,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,5030,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5030,begin apogee
$GC,5038,-0.17,0.0,500.9,-8.4,571,5160,0.62,0.00,117.47,1.082,4,0.131,0.000,3072,1892,3279,0,0,0,0,0,0,25.70,28.83,24.01
$STATE,5163,end apogee,CONTROL_FINISHED_OK
$STATE,5163,begin climb
$GC,5166,0.75,146.6,506.0,0.0,584,5299,0.85,2.22,118.35,0.964,4,0.064,0.036,3375,527,2680,0,0,0,0,0,0,25.02,25.06,23.35
$GC,5314,0.75,146.6,499.2,10.4,599,5321,0.00,2.30,0.00,0.000,6,0.000,0.031,3374,1907,2677,0,0,0,0,0,0,28.83,24.51,28.83
$GC,5622,0.75,146.6,460.0,12.5,630,5633,0.00,2.17,0.00,0.000,4,0.000,0.043,3375,3304,2671,0,0,0,0,0,0,28.83,25.63,28.83
$GC,5656,0.75,146.6,455.5,12.8,633,5665,0.00,2.12,0.00,0.000,6,0.000,0.028,3384,1912,2670,0,0,0,0,0,0,28.83,25.79,28.83
$GC,5966,0.75,146.6,416.2,12.5,664,5975,0.00,2.17,0.00,0.000,4,0.000,0.037,3395,494,2669,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6098,0.75,146.6,399.2,13.2,677,6107,0.00,2.20,0.00,0.000,6,0.000,0.033,3395,1900,2668,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6408,0.75,146.6,359.8,12.3,708,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,3395,1901,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6710,0.75,146.6,322.7,12.5,738,6719,0.00,2.12,0.00,0.000,4,0.000,0.044,3394,3308,2668,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6734,0.75,146.6,319.4,12.9,740,6743,0.10,2.12,0.00,0.000,6,0.157,0.029,3372,1872,2667,0,0,0,0,0,0,25.89,26.32,28.83
$GC,7044,0.75,146.6,283.4,11.6,771,7048,0.00,2.10,0.00,0.000,4,0.000,0.038,3380,494,2667,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7140,0.75,146.6,272.6,11.5,780,7147,0.00,2.15,0.00,0.000,6,0.000,0.033,3380,1889,2667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7447,0.75,146.6,237.3,11.3,811,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1888,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7749,0.75,146.6,205.5,10.2,841,7757,0.00,2.12,0.00,0.000,4,0.000,0.037,3389,512,2667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7811,0.75,146.6,198.9,10.0,847,7820,0.00,2.10,0.00,0.000,6,0.000,0.033,3389,1878,2667,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8121,0.75,146.6,166.6,11.0,878,8130,0.00,2.15,0.00,0.000,4,0.000,0.037,3398,494,2667,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8166,0.75,146.6,161.8,11.3,882,8174,0.00,2.15,0.00,0.000,6,0.000,0.033,3398,1889,2667,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8473,0.75,146.6,127.3,10.9,913,8478,0.00,2.12,0.00,0.000,4,0.000,0.037,3407,513,2667,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8526,0.75,146.6,121.4,11.2,918,8536,0.15,2.10,0.00,0.000,6,0.159,0.034,3369,1873,2667,0,0,0,0,0,0,25.99,26.40,28.83
$GC,8838,0.75,153.4,92.5,8.9,957,8852,0.00,2.15,4.97,0.700,4,0.000,0.037,3375,494,2653,0,0,0,0,0,0,28.83,26.45,25.01
$GC,8905,0.77,164.6,86.5,8.7,969,8925,0.00,2.10,11.35,0.838,6,0.000,0.034,3375,1854,2606,0,0,0,0,0,0,28.83,26.41,25.17
$GC,9233,0.79,181.3,59.0,8.5,1032,9253,0.00,2.28,14.77,0.851,4,0.000,0.044,3376,3304,2540,0,0,0,0,0,0,28.83,26.14,25.08
$GC,9301,0.79,181.3,52.6,10.5,1044,9308,0.00,2.20,0.00,0.000,6,0.000,0.029,3385,1841,2537,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9619,0.82,204.6,22.7,8.2,1105,9639,0.00,2.08,11.95,0.786,4,0.000,0.040,3395,507,2442,0,0,0,0,0,0,28.83,26.13,25.06
$GC,9715,0.94,302.1,15.9,5.1,1122,9772,0.12,2.10,47.17,0.096,6,0.109,0.034,3442,1841,2045,0,0,0,0,0,0,26.01,26.14,25.79
$FREEZE,8.79,6.794,-1.705,0,1,0
$FREEZE,8.43,6.793,-1.705,0,1,0
$FREEZE,8.02,6.789,-1.704,0,1,0
$FREEZE,7.47,6.721,-1.702,0,1,0
$FREEZE,7.03,6.694,-1.700,0,1,0
$FREEZE,6.70,6.677,-1.698,0,1,0
$FREEZE,6.29,6.788,-1.694,0,1,0
$FREEZE,5.92,6.788,-1.694,0,1,0
$FREEZE,5.62,6.791,-1.693,0,1,0
$FREEZE,5.23,6.791,-1.693,0,1,0
$FREEZE,4.88,6.796,-1.692,0,1,0
$FREEZE,4.59,6.795,-1.692,0,1,0
$FREEZE,4.27,6.796,-1.692,0,1,0
$FREEZE,3.83,6.796,-1.691,0,1,0
$STATE,9883,end climb,SURFACE_DEPTH_REACHED
$STATE,9884,begin surface coast
$FREEZE,3.58,6.794,-1.691,0,1,0
$FREEZE,3.20,6.797,-1.691,0,1,0
$FREEZE,2.79,6.797,-1.691,0,1,0
$FREEZE,2.50,6.796,-1.690,0,1,0
$FREEZE,2.03,6.795,-1.690,0,1,0
$FREEZE,1.58,6.793,-1.690,0,1,0
$FREEZE,1.30,6.719,-0.921,0,1,0
$FREEZE,1.38,6.783,-0.926,0,1,0
$FREEZE,1.40,6.695,-0.815,0,1,0
$FREEZE,1.34,6.746,-1.690,0,1,0
$FREEZE,1.41,6.611,-1.698,0,1,0
$FREEZE,1.43,6.788,-0.852,0,1,0
$FINISH,1.4,1.012297
$STATE,9949,end surface coast,CONTROL_FINISHED_OK
$STATE,9949,begin surface
$SM_CCo,9969,42.58,0.070,0,0,1647,400.08
$SM_GC,2.68,8.27,0.38,42.58,0.045,0.052,0.070,343,2103,1647,-8.65,-1.33,400.08,0,0,0,0,0,0,26.03,26.16,25.91
$RAFOS_CLK,475
$RAFOS,4,1345437182,4.566667,4.550556,46,45,43,42,41,41,248,816,974,332,523,1059
$RAFOS,3,1345436703,4.433333,4.417500,44,42,41,41,41,40,1458,1844,551,1890,530,183
$RAFOS,2,1345436223,4.300000,4.284167,46,45,44,43,41,40,696,931,1490,1785,1024,1048
$RAFOS,1,1345435748,4.166667,4.152222,52,48,43,42,41,41,1318,1868,1552,655,528,717
$RAFOS,0,1345435263,4.033333,4.017500,45,43,42,40,40,40,1801,579,526,1,520,694
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5646.10,190812,222220
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.95
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,16.00
$XPDR_PINGS,15
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,500.9,10.0
$24V_AH,23.4,39.144
$10V_AH,9.9,43.857
$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,20.950,101.400,326.050,42.575,0.000,0.000,0.000,278.500,5.500,0.000,29.818,2933.228,4441.865,528.090,2224.329,312.727,0.000,1858.714,0.000,1916.726,1800.000,16.173,0.000
$DEVICE_MAMPS,250.920,52.785,1081.710,70.380,0.000,0.000,0.000,283.887,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,821.163,826.699,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151580
$DATA_FILE_SIZE,53357,1164
$CAP_FILE_SIZE,128474,0
$CFSIZE,260165632,217985024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1463.8
$CURRENT,0.217,345.7,1
$GPS,200812,044225,6703.146,-5650.366,41,0.8,41,-33.5