version: 66.11
glider: 108
mission: 21
dive: 173
start: 7 21 112 9 33 28
data:
$ID,108
$MISSION,21
$DIVE,173
$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,-191306.33
$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,64
$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
$GPS1,210712,092359,6647.258,-6011.187,40,0.8,40,-33.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.32
$_SM_ANGLEo,-77.6
$GPS2,210712,093254,6647.253,-6010.963,18,0.9,18,-33.9
$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,320.2,12542,-16.9,-9.167
$D_GRID,567
$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,-146.6,0.0,0.0,0,75,0.00,0.00,-55.88,0.000,2,0.000,0.000,339,2103,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.75,-146.6,3.3,-1.9,10,116,10.23,0.00,-22.30,0.000,6,0.258,0.000,2881,2103,3881,0,0,0,0,0,0,25.87,28.83,26.63
$GC,420,-0.75,-146.6,54.4,-13.1,76,428,0.00,2.15,0.00,0.000,4,0.000,0.054,2873,3503,3889,0,0,0,0,0,0,28.83,26.33,28.83
$GC,502,-0.75,-146.6,65.9,-13.9,91,508,0.00,2.10,0.00,0.000,6,0.000,0.032,2873,2097,3889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,819,-0.75,-146.6,107.9,-12.8,147,828,0.00,2.17,0.00,0.000,4,0.000,0.052,2865,3508,3890,0,0,0,0,0,0,28.83,26.40,28.83
$GC,962,-0.75,-146.6,128.4,-14.4,161,971,0.00,2.10,0.00,0.000,6,0.000,0.032,2865,2093,3890,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1271,-0.75,-146.6,170.4,-12.7,192,1281,0.00,2.17,0.00,0.000,4,0.000,0.052,2854,3509,3890,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1344,-0.75,-146.6,180.6,-14.1,199,1354,0.10,2.10,0.00,0.000,6,0.159,0.032,2886,2096,3889,0,0,0,0,0,0,26.25,26.54,28.83
$GC,1654,-0.75,-146.6,213.9,-10.3,230,1663,0.00,2.15,0.00,0.000,4,0.000,0.052,2877,3500,3889,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1746,-0.75,-146.6,223.7,-10.5,239,1755,0.00,2.05,0.00,0.000,6,0.000,0.033,2877,2121,3888,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2056,-0.75,-146.6,255.9,-10.2,270,2065,0.00,2.15,0.00,0.000,4,0.000,0.053,2867,3515,3888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2172,-0.75,-146.6,268.5,-11.4,281,2179,0.00,2.03,0.00,0.000,6,0.000,0.032,2867,2138,3887,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2479,-0.75,-146.6,303.8,-11.3,312,2489,0.00,2.12,0.00,0.000,4,0.000,0.053,2856,3512,3887,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2565,-0.75,-146.6,313.7,-11.9,320,2573,0.12,1.98,0.00,0.000,6,0.170,0.032,2887,2165,3887,0,0,0,0,0,0,26.33,26.61,28.83
$GC,2874,-0.75,-146.6,343.3,-9.1,351,2882,0.00,2.10,0.00,0.000,4,0.000,0.052,2879,3524,3887,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2918,-0.75,-146.6,347.6,-10.1,355,2925,0.00,2.00,0.00,0.000,6,0.000,0.031,2879,2155,3887,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3226,-0.75,-146.6,377.1,-9.5,386,3235,0.00,2.08,0.00,0.000,4,0.000,0.052,2870,3518,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3328,-0.75,-146.6,387.7,-10.5,396,3332,0.00,1.95,0.00,0.000,6,0.000,0.031,2870,2182,3887,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3640,-0.75,-146.6,418.9,-9.8,427,3644,0.00,2.05,0.00,0.000,4,0.000,0.053,2859,3515,3886,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3704,-0.75,-146.6,425.8,-11.2,433,3712,0.12,1.95,0.00,0.000,6,0.168,0.031,2891,2179,3886,0,0,0,0,0,0,26.37,26.65,28.83
$GC,4013,-0.75,-146.6,453.5,-8.3,464,4022,0.00,2.05,0.00,0.000,4,0.000,0.052,2883,3527,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4129,-0.75,-146.6,464.0,-9.1,475,4135,0.00,1.95,0.00,0.000,6,0.000,0.032,2883,2191,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4435,-0.75,-146.6,491.5,-9.3,506,4444,0.00,2.05,0.00,0.000,4,0.000,0.052,2873,3516,3887,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4517,-0.75,-146.6,499.6,-10.0,514,4521,0.00,1.92,0.00,0.000,6,0.000,0.031,2873,2208,3886,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4829,-0.75,-146.6,530.4,-9.8,545,4838,0.00,2.00,0.00,0.000,4,0.000,0.052,2863,3506,3886,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4894,-0.75,-146.6,536.9,-10.8,551,4901,0.00,1.90,0.00,0.000,6,0.000,0.031,2863,2204,3887,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,5199,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5199,begin apogee
$GC,5206,-0.17,0.0,567.7,-9.4,582,5332,0.65,0.00,119.78,1.245,4,0.145,0.000,3069,1884,3279,0,0,0,0,0,0,26.32,28.83,23.86
$STATE,5335,end apogee,CONTROL_FINISHED_OK
$STATE,5335,begin climb
$GC,5338,0.75,146.6,570.3,0.0,595,5474,0.85,2.25,123.43,1.207,4,0.080,0.038,3364,516,2680,0,0,0,0,0,0,24.83,24.87,23.03
$GC,5510,0.75,146.6,558.5,11.6,612,5517,0.00,2.35,0.00,0.000,6,0.000,0.036,3364,1902,2675,0,0,0,0,0,0,28.83,24.39,28.83
$GC,5818,0.75,146.6,517.4,13.1,643,5826,0.00,2.22,0.00,0.000,4,0.000,0.048,3364,3308,2668,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5849,0.75,146.6,513.0,13.7,646,5859,0.00,2.15,0.00,0.000,6,0.000,0.031,3374,1914,2668,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6160,0.75,146.6,469.7,13.8,677,6169,0.00,2.17,0.00,0.000,4,0.000,0.040,3384,500,2667,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6232,0.75,146.6,459.8,13.6,684,6241,0.00,2.20,0.00,0.000,6,0.000,0.036,3384,1896,2666,0,0,0,0,0,0,28.83,25.97,28.83
$GC,6542,0.75,146.6,417.4,13.7,715,6546,0.00,2.17,0.00,0.000,4,0.000,0.048,3385,3310,2665,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6574,0.75,146.6,412.5,15.0,718,6584,0.00,2.15,0.00,0.000,6,0.000,0.031,3393,1886,2665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6884,0.75,146.6,369.2,13.2,749,6893,0.00,2.12,0.00,0.000,4,0.000,0.040,3404,501,2665,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6920,0.75,146.6,365.0,13.1,752,6927,0.12,2.17,0.00,0.000,6,0.178,0.037,3375,1898,2664,0,0,0,0,0,0,26.04,26.26,28.83
$GC,7227,0.75,146.6,326.1,12.4,783,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1898,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7529,0.75,146.6,289.8,11.7,813,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1897,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7840,0.75,146.6,254.0,11.3,844,7848,0.00,2.12,0.00,0.000,4,0.000,0.040,3381,504,2664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7895,0.75,146.6,247.7,11.5,849,7902,0.00,2.15,0.00,0.000,6,0.000,0.037,3381,1890,2664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8201,0.75,146.6,210.9,12.3,880,8210,0.00,2.15,0.00,0.000,4,0.000,0.048,3381,3312,2664,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8257,0.75,146.6,204.1,13.1,885,8264,0.00,2.10,0.00,0.000,6,0.000,0.031,3391,1900,2664,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8563,0.75,146.6,167.3,11.4,916,8572,0.00,2.10,0.00,0.000,4,0.000,0.041,3401,509,2663,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8677,0.75,146.6,154.5,10.8,927,8686,0.10,2.12,0.00,0.000,6,0.153,0.037,3370,1892,2664,0,0,0,0,0,0,26.28,26.51,28.83
$GC,8986,0.76,162.1,126.1,8.5,958,9004,0.00,0.00,11.43,0.900,6,0.000,0.000,3370,1891,2617,0,0,0,0,0,0,28.83,28.83,25.39
$GC,9307,0.81,200.1,99.0,7.6,991,9346,0.00,2.22,32.28,0.935,4,0.000,0.047,3370,3306,2462,0,0,0,0,0,0,28.83,25.78,24.98
$GC,9369,0.81,200.1,93.0,10.4,1001,9375,0.00,2.17,0.00,0.000,6,0.000,0.031,3377,1886,2458,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9680,0.81,200.1,61.0,9.8,1062,9688,0.00,2.12,0.00,0.000,4,0.000,0.041,3387,504,2455,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9762,0.81,200.1,52.9,9.8,1077,9769,0.00,2.17,0.00,0.000,6,0.000,0.037,3387,1880,2455,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10075,0.81,200.1,23.9,9.3,1138,10081,0.00,0.00,0.00,0.000,6,0.000,0.000,3388,1879,2453,0,0,0,0,0,0,28.83,28.83,28.83
$FREEZE,8.87,3.801,-1.690,2,1,0
$FREEZE,8.76,3.814,-1.692,2,1,0
$FREEZE,8.60,3.837,-1.694,2,1,0
$FREEZE,8.44,3.790,-1.698,2,1,0
$FREEZE,8.27,3.717,-1.700,2,1,0
$FREEZE,8.09,3.582,-1.702,2,1,0
$FREEZE,7.89,3.353,-1.708,2,1,0
$FREEZE,7.69,3.349,-1.704,2,1,0
$FREEZE,7.27,3.117,-1.707,2,1,0
$FREEZE,6.99,3.099,-1.699,2,1,0
$FREEZE,6.66,3.335,-1.684,2,1,0
$FREEZE,6.27,3.362,-1.672,2,1,0
$FREEZE,5.94,3.512,-1.653,2,1,0
$FREEZE,5.66,3.638,-1.639,2,1,0
$FREEZE,5.44,3.571,-1.631,2,1,0
$FREEZE,5.11,3.559,-1.625,2,1,0
$GC,10396,0.99,346.9,7.9,3.0,1199,10473,0.15,2.25,66.90,0.081,4,0.093,0.050,3455,3305,1859,0,0,0,0,0,0,26.34,26.22,26.15
$FREEZE,4.23,3.369,-1.619,2,1,0
$FREEZE,3.88,3.326,-1.616,2,1,0
$STATE,10487,end climb,SURFACE_DEPTH_REACHED
$STATE,10487,begin surface coast
$FREEZE,3.61,3.312,-1.614,2,1,0
$FREEZE,3.18,3.452,-1.608,2,1,0
$FREEZE,2.88,3.487,-1.606,2,1,0
$FREEZE,2.56,3.498,-1.606,2,1,0
$FREEZE,2.20,3.498,-1.605,2,1,0
$FREEZE,1.82,3.496,-1.605,2,1,0
$FREEZE,1.49,3.492,-1.605,2,1,0
$FREEZE,1.33,3.422,-1.610,2,1,0
$FREEZE,1.24,3.414,-0.792,2,1,0
$FREEZE,1.28,3.401,-1.607,2,1,0
$FREEZE,1.30,3.437,-0.326,2,1,0
$FREEZE,1.33,3.218,-0.192,2,1,0
$FREEZE,1.32,3.407,-1.050,2,1,0
$FREEZE,1.32,3.383,-0.744,2,1,0
$FREEZE,1.33,3.478,-1.601,2,1,0
$FREEZE,1.33,3.366,-0.796,2,1,0
$FREEZE,1.37,3.301,-0.735,2,1,0
$FREEZE,1.43,3.369,-0.774,2,1,0
$FINISH,1.4,1.011377
$STATE,10581,end surface coast,CONTROL_FINISHED_OK
$STATE,10582,begin surface
$SM_CCo,10602,22.25,0.076,0,0,1647,400.08
$SM_GC,2.11,8.43,1.85,22.25,0.057,0.032,0.076,341,2098,1647,-8.66,1.95,400.08,0,0,0,0,0,0,26.23,26.32,26.16
$RAFOS_CLK,544
$RAFOS,2,1342873022,12.300000,12.283889,49,46,43,41,41,39,1125,200,1443,1781,1173,1848
$RAFOS,1,1342872544,12.166667,12.151111,47,45,43,43,41,40,1502,494,301,1693,907,537
$RAFOS,0,1342872061,12.033333,12.016945,44,43,42,41,41,41,1348,868,1729,150,1144,1610
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6003.10,210712,060621
$TT8_MAMPS,0.029211,0.029211
$HUMID,41.84
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,23.0,21.880
$10V_AH,9.9,25.045
$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,20.875,97.200,353.800,22.250,0.000,0.000,0.000,340.650,2.250,0.000,19.173,3060.968,4879.359,547.157,2375.883,300.599,0.000,1981.070,0.000,2012.078,1440.000,13.221,0.000
$DEVICE_MAMPS,257.805,53.550,1245.420,76.500,0.000,0.000,0.000,274.899,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,867.991,887.872,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151556
$DATA_FILE_SIZE,56675,1229
$CAP_FILE_SIZE,131125,0
$CFSIZE,260165632,231489536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.9
$CURRENT,0.133,165.7,1
$GPS,210712,123204,6647.125,-6013.546,39,0.9,39,-33.9