version: 66.11
glider: 108
mission: 21
dive: 171
start: 7 21 112 3 14 52
data:
$ID,108
$MISSION,21
$DIVE,171
$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,-2
$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,-191303.83
$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,63
$R_STBD_OVSHOOT,51
$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
$GPS1,210712,030704,6651.500,-6008.320,33,0.9,33,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-77.8
$GPS2,210712,031417,6651.406,-6008.537,16,1.6,16,-34.0
$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,212.0,18744,-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,17,-0.75,-146.6,0.0,0.0,0,70,0.00,0.00,-50.78,0.000,2,0.000,0.000,340,2115,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.0,-1.4,9,124,10.05,2.17,-30.20,0.000,4,0.249,0.070,2878,3493,3882,0,0,0,0,0,0,25.88,26.23,26.59
$GC,353,-0.75,-146.6,44.6,-13.9,62,360,0.00,2.08,0.00,0.000,6,0.000,0.031,2878,2101,3889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,665,-0.75,-146.6,83.9,-12.0,123,672,0.00,2.17,0.00,0.000,4,0.000,0.051,2869,3499,3890,0,0,0,0,0,0,28.83,26.34,28.83
$GC,900,-0.75,-146.6,114.5,-12.9,158,909,0.00,2.08,0.00,0.000,6,0.000,0.032,2868,2109,3890,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1211,-0.75,-146.6,156.2,-13.9,189,1219,0.00,2.15,0.00,0.000,4,0.000,0.053,2857,3500,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1447,-0.75,-146.6,190.5,-14.2,212,1456,0.12,2.05,0.00,0.000,6,0.176,0.033,2888,2122,3890,0,0,0,0,0,0,26.27,26.54,28.83
$GC,1755,-0.75,-146.6,225.4,-11.1,243,1765,0.00,2.15,0.00,0.000,4,0.000,0.053,2880,3501,3889,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1821,-0.75,-146.6,232.9,-12.3,249,1828,0.00,2.03,0.00,0.000,6,0.000,0.032,2880,2126,3888,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2129,-0.75,-146.6,270.3,-11.4,280,2133,0.00,2.12,0.00,0.000,4,0.000,0.053,2870,3500,3888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2241,-0.75,-146.6,283.6,-11.4,291,2251,0.00,2.03,0.00,0.000,6,0.000,0.033,2871,2136,3888,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2552,-0.75,-146.6,316.1,-9.9,322,2560,0.00,2.10,0.00,0.000,4,0.000,0.052,2859,3500,3887,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2634,-0.75,-146.6,324.6,-10.2,330,2642,0.00,2.00,0.00,0.000,6,0.000,0.032,2859,2145,3887,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2944,-0.75,-146.6,355.7,-10.2,361,2953,0.12,2.05,0.00,0.000,4,0.178,0.050,2888,3494,3887,0,0,0,0,0,0,26.37,26.52,28.83
$GC,3061,-0.75,-146.6,365.5,-8.5,372,3068,0.00,1.95,0.00,0.000,6,0.000,0.031,2888,2159,3887,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3367,-0.75,-146.6,391.8,-8.6,403,3376,0.00,2.03,0.00,0.000,4,0.000,0.052,2878,3494,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3449,-0.75,-146.6,399.6,-9.4,411,3460,0.00,1.95,0.00,0.000,6,0.000,0.031,2878,2163,3887,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3759,-0.75,-146.6,429.5,-9.8,442,3768,0.00,2.08,0.00,0.000,4,0.000,0.051,2868,3506,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3814,-0.75,-146.6,435.0,-10.7,447,3822,0.00,1.95,0.00,0.000,6,0.000,0.031,2868,2167,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4121,-0.75,-146.6,466.5,-10.1,478,4130,0.00,2.05,0.00,0.000,4,0.000,0.051,2858,3498,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4184,-0.75,-146.6,473.1,-10.9,484,4193,0.12,1.95,0.00,0.000,6,0.167,0.031,2889,2165,3887,0,0,0,0,0,0,26.38,26.66,28.83
$GC,4493,-0.75,-146.6,501.0,-9.0,515,4503,0.00,2.03,0.00,0.000,4,0.000,0.050,2882,3492,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4567,-0.75,-146.6,508.1,-9.7,522,4576,0.00,1.92,0.00,0.000,6,0.000,0.031,2882,2176,3886,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4876,-0.75,-146.6,537.8,-9.2,553,4885,0.00,2.05,0.00,0.000,4,0.000,0.051,2872,3503,3887,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4948,-0.75,-146.6,544.9,-10.0,560,4957,0.00,1.92,0.00,0.000,6,0.000,0.031,2872,2188,3886,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5258,-0.75,-146.6,574.8,-9.3,591,5267,0.00,2.03,0.00,0.000,4,0.000,0.051,2862,3499,3887,0,0,0,0,0,0,28.83,26.56,28.83
$GC,5311,-0.75,-146.6,579.8,-10.1,596,5319,0.00,1.92,0.00,0.000,6,0.000,0.031,2862,2183,3887,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5641,-0.75,-146.6,611.8,-9.5,621,5644,0.00,2.03,0.00,0.000,4,0.000,0.051,2852,3497,3887,0,0,0,0,0,0,28.83,26.57,28.83
$GC,5720,-0.75,-146.6,618.5,-10.1,623,5725,0.15,1.88,0.00,0.000,6,0.159,0.031,2891,2203,3886,0,0,0,0,0,0,26.38,26.69,28.83
$STATE,5785,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5785,begin apogee
$GC,5792,-0.17,0.0,625.9,-9.6,625,5919,0.55,0.00,121.03,1.280,4,0.134,0.000,3072,1882,3278,0,0,0,0,0,0,26.35,28.83,23.83
$STATE,5922,end apogee,CONTROL_FINISHED_OK
$STATE,5922,begin climb
$GC,5925,0.75,146.6,629.7,0.0,629,6061,0.85,2.22,124.25,1.247,4,0.074,0.037,3369,521,2681,0,0,0,0,0,0,24.82,24.85,22.97
$GC,6087,0.81,196.3,623.6,7.1,634,6136,0.00,2.33,43.67,1.191,6,0.000,0.035,3370,1893,2478,0,0,0,0,0,0,28.83,24.27,23.01
$GC,6440,0.81,196.3,566.9,15.5,660,6449,0.00,2.20,0.00,0.000,4,0.000,0.047,3370,3300,2467,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6465,0.81,196.3,563.3,15.6,662,6472,0.00,2.15,0.00,0.000,6,0.000,0.031,3379,1913,2467,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6772,0.81,196.3,514.7,16.0,693,6781,0.00,2.20,0.00,0.000,4,0.000,0.040,3389,501,2466,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6888,0.81,196.3,497.1,15.0,704,6895,0.00,2.20,0.00,0.000,6,0.000,0.035,3389,1898,2465,0,0,0,0,0,0,28.83,25.96,28.83
$GC,7196,0.81,196.3,446.6,16.5,735,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1897,2465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7497,0.81,196.3,396.5,17.3,765,7506,0.00,2.17,0.00,0.000,4,0.000,0.040,3399,500,2464,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7522,0.81,196.3,392.5,17.6,767,7530,0.00,2.17,0.00,0.000,6,0.000,0.036,3399,1896,2464,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7829,0.81,196.3,339.0,16.8,798,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1896,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8132,0.81,196.3,290.3,15.9,828,8140,0.00,2.15,0.00,0.000,4,0.000,0.040,3407,508,2463,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8206,0.81,196.3,278.4,16.1,835,8214,0.00,2.12,0.00,0.000,6,0.000,0.037,3408,1880,2463,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8514,0.81,196.3,230.7,14.9,866,8522,0.00,2.15,0.00,0.000,4,0.000,0.039,3417,494,2463,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8548,0.81,196.3,225.9,15.1,869,8555,0.00,2.15,0.00,0.000,6,0.000,0.036,3417,1884,2463,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8856,0.81,196.3,180.9,13.4,900,8865,0.00,2.12,0.00,0.000,4,0.000,0.040,3426,503,2462,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8922,0.81,196.3,172.1,13.8,906,8929,0.12,2.12,0.00,0.000,6,0.187,0.037,3394,1879,2463,0,0,0,0,0,0,26.22,26.47,28.83
$GC,9228,0.81,196.3,135.9,11.6,937,9230,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1878,2463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9531,0.81,196.3,99.5,12.0,967,9538,0.00,2.15,0.00,0.000,4,0.000,0.041,3400,499,2463,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9576,0.81,196.3,93.7,12.5,975,9584,0.00,2.10,0.00,0.000,6,0.000,0.037,3400,1867,2463,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9889,0.81,196.3,57.4,10.6,1036,9896,0.00,2.20,0.00,0.000,4,0.000,0.048,3400,3313,2463,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9918,0.81,196.3,53.9,12.1,1041,9925,0.00,2.17,0.00,0.000,6,0.000,0.032,3410,1859,2463,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10232,0.85,233.6,22.4,7.6,1102,10257,0.00,2.08,18.38,0.861,4,0.000,0.041,3420,501,2325,0,0,0,0,0,0,28.83,26.24,25.41
$FREEZE,8.97,4.024,-1.728,2,1,0
$FREEZE,8.74,4.127,-1.731,2,1,0
$FREEZE,8.29,5.051,-1.720,2,1,0
$FREEZE,7.93,4.873,-1.710,2,1,0
$FREEZE,7.57,3.610,-1.704,2,1,0
$FREEZE,7.09,3.246,-1.708,2,1,0
$FREEZE,6.67,3.296,-1.699,2,1,0
$FREEZE,6.33,3.287,-1.696,2,1,0
$FREEZE,6.01,3.266,-1.694,2,1,0
$FREEZE,5.76,3.264,-1.693,2,1,0
$FREEZE,5.44,3.264,-1.691,2,1,0
$FREEZE,5.14,3.259,-1.690,2,1,0
$FREEZE,4.87,3.257,-1.689,2,1,0
$FREEZE,4.54,3.257,-1.688,2,1,0
$FREEZE,4.24,3.259,-1.687,2,1,0
$FREEZE,3.90,3.259,-1.687,2,1,0
$STATE,10478,end climb,SURFACE_DEPTH_REACHED
$STATE,10479,begin surface coast
$FREEZE,3.58,3.258,-1.686,2,1,0
$FREEZE,3.31,3.257,-1.686,2,1,0
$FREEZE,3.11,3.260,-1.686,2,1,0
$FREEZE,2.80,3.260,-1.685,2,1,0
$FREEZE,2.56,3.262,-1.685,2,1,0
$FREEZE,2.25,3.262,-1.684,2,1,0
$FREEZE,1.94,3.263,-1.684,2,1,0
$FREEZE,1.64,3.263,-1.684,2,1,0
$FREEZE,1.43,3.213,-1.686,2,1,0
$FREEZE,1.38,3.194,-1.687,2,1,0
$FINISH,1.4,1.024558
$STATE,10531,end surface coast,CONTROL_FINISHED_OK
$STATE,10531,begin surface
$SM_CCo,10554,74.60,0.075,0,0,1647,400.08
$SM_GC,2.54,8.35,2.53,74.60,0.059,0.040,0.075,338,2096,1647,-8.66,-1.39,400.08,0,0,1,0,0,0,26.28,26.32,26.14
$RAFOS_CLK,538
$RAFOS,6,1342846146,4.833333,4.818333,44,44,43,43,42,41,349,869,1254,1727,675,1028
$RAFOS,5,1342845670,4.700000,4.686111,44,44,43,43,41,40,919,1351,742,1942,1512,1
$RAFOS,4,1342845185,4.566667,4.551389,46,44,44,44,41,39,1286,262,1911,375,1773,572
$RAFOS,3,1342844702,4.433333,4.417222,49,47,47,46,42,41,1664,831,576,781,1096,1358
$RAFOS,2,1342844229,4.300000,4.285833,42,39,39,38,37,36,728,1,1866,1267,644,54
$RAFOS,1,1342843746,4.166667,4.151667,45,44,43,42,42,40,1261,39,1604,1672,1785,94
$RAFOS,0,1342843263,4.033333,4.017500,45,44,41,40,40,38,1469,1234,1847,1485,768,1844
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-6000.37,200712,232346
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.92
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,23.0,21.683
$10V_AH,10.1,24.845
$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,20.450,101.000,307.325,74.600,0.000,0.000,0.000,298.125,2.000,0.000,17.407,2992.879,4900.906,559.920,2304.415,304.703,0.000,1936.804,0.000,1986.102,2520.000,14.984,0.000
$DEVICE_MAMPS,248.625,69.615,1279.845,74.970,0.000,0.000,0.000,277.146,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,808.347,858.767,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151564
$DATA_FILE_SIZE,53355,1159
$CAP_FILE_SIZE,130031,0
$CFSIZE,260165632,231632896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1454.6
$CURRENT,0.050,185.2,1
$GPS,210712,061313,6649.906,-6009.590,20,1.6,20,-34.0