version: 66.11
glider: 108
mission: 21
dive: 176
start: 7 21 112 18 50 0
data:
$ID,108
$MISSION,21
$DIVE,176
$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,-191310.08
$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,49
$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
$GPS1,210712,184252,6647.150,-6015.376,38,0.8,38,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.33
$_SM_ANGLEo,-77.9
$GPS2,210712,184930,6647.148,-6015.570,18,0.8,18,-33.9
$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,109.3,152744,-16.9,-9.167
$D_GRID,558
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.75,-146.6,0.0,0.0,0,71,0.00,0.00,-49.85,0.000,2,0.000,0.000,337,2087,2768,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.75,-146.6,3.1,-1.1,9,125,10.27,2.17,-30.55,0.000,4,0.258,0.057,2894,707,3881,0,0,0,0,0,0,25.82,26.25,26.58
$GC,147,-0.75,-146.6,13.6,-18.3,21,154,0.00,2.17,0.00,0.000,6,0.000,0.041,2887,2093,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,460,-0.75,-146.6,56.2,-13.0,82,466,0.00,2.15,0.00,0.000,4,0.000,0.051,2876,3504,3888,0,0,0,0,0,0,28.83,26.30,28.83
$GC,631,-0.75,-146.6,79.5,-13.5,115,638,0.00,2.10,0.00,0.000,6,0.000,0.032,2880,2096,3888,0,0,0,0,0,0,28.83,26.44,28.83
$GC,947,-0.75,-146.6,121.6,-13.0,161,956,0.00,2.17,0.00,0.000,4,0.000,0.052,2872,3513,3889,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1060,-0.75,-146.6,137.2,-14.2,172,1068,0.00,2.10,0.00,0.000,6,0.000,0.032,2872,2099,3889,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1370,-0.75,-146.6,178.2,-12.9,203,1379,0.00,2.15,0.00,0.000,4,0.000,0.052,2861,3503,3888,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1504,-0.75,-146.6,196.6,-13.9,216,1512,0.00,2.08,0.00,0.000,6,0.000,0.032,2861,2106,3888,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1813,-0.75,-146.6,237.2,-12.5,247,1823,0.00,2.17,0.00,0.000,4,0.000,0.052,2850,3527,3888,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1951,-0.75,-146.6,254.3,-12.9,260,1959,0.15,2.08,0.00,0.000,6,0.168,0.032,2889,2123,3887,0,0,0,0,0,0,26.27,26.56,28.83
$GC,2257,-0.75,-146.6,285.8,-10.1,291,2266,0.00,2.17,0.00,0.000,4,0.000,0.052,2882,3519,3887,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2312,-0.75,-146.6,291.4,-10.8,296,2319,0.00,2.03,0.00,0.000,6,0.000,0.031,2882,2142,3886,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2620,-0.75,-146.6,323.8,-10.2,327,2629,0.00,2.10,0.00,0.000,4,0.000,0.052,2872,3506,3886,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2683,-0.75,-146.6,330.7,-11.0,333,2691,0.00,2.00,0.00,0.000,6,0.000,0.031,2872,2147,3886,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2993,-0.75,-146.6,365.0,-11.1,364,3001,0.00,2.08,0.00,0.000,4,0.000,0.052,2861,3512,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3095,-0.75,-146.6,377.2,-11.9,374,3103,0.00,1.98,0.00,0.000,6,0.000,0.031,2862,2153,3886,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3405,-0.75,-146.6,412.9,-11.8,405,3413,0.00,2.08,0.00,0.000,4,0.000,0.052,2851,3508,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3497,-0.75,-146.6,424.1,-12.3,414,3506,0.15,1.98,0.00,0.000,6,0.162,0.031,2890,2163,3886,0,0,0,0,0,0,26.33,26.63,28.83
$GC,3807,-0.75,-146.6,454.0,-9.1,445,3811,0.00,2.08,0.00,0.000,4,0.000,0.051,2883,3508,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3841,-0.75,-146.6,457.1,-9.7,448,3848,0.00,1.95,0.00,0.000,6,0.000,0.031,2882,2169,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4149,-0.75,-146.6,486.2,-9.3,479,4159,0.00,2.08,0.00,0.000,4,0.000,0.050,2872,3513,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4215,-0.75,-146.6,492.4,-9.6,485,4222,0.00,1.92,0.00,0.000,6,0.000,0.031,2873,2176,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4522,-0.75,-146.6,522.1,-9.7,516,4531,0.00,2.05,0.00,0.000,4,0.000,0.051,2863,3508,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4577,-0.75,-146.6,527.4,-10.4,521,4584,0.00,1.92,0.00,0.000,6,0.000,0.031,2862,2187,3886,0,0,0,0,0,0,28.83,26.67,28.83
$STATE,4873,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4873,begin apogee
$GC,4880,-0.17,0.0,558.3,-10.3,551,5006,0.65,0.00,119.45,1.219,4,0.146,0.000,3068,1885,3279,0,0,0,0,0,0,26.31,28.83,23.89
$STATE,5009,end apogee,CONTROL_FINISHED_OK
$STATE,5009,begin climb
$GC,5012,0.75,146.6,562.8,0.0,564,5148,0.88,2.25,122.68,1.179,4,0.080,0.037,3371,514,2679,0,0,0,0,0,0,24.85,24.89,23.09
$GC,5164,0.75,146.6,554.2,10.4,579,5172,0.00,2.35,0.00,0.000,6,0.000,0.034,3371,1900,2675,0,0,1,0,0,0,28.83,24.22,28.83
$GC,5472,0.75,146.6,513.5,13.2,610,5480,0.00,2.22,0.00,0.000,4,0.000,0.038,3380,514,2668,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5513,0.75,146.6,507.9,13.3,614,5522,0.00,2.22,0.00,0.000,6,0.000,0.035,3380,1906,2668,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5823,0.75,146.6,465.4,13.4,645,5825,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1905,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6123,0.75,146.6,425.6,13.2,675,6133,0.00,2.20,0.00,0.000,4,0.000,0.039,3389,516,2666,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6177,0.75,146.6,418.4,13.5,680,6187,0.00,2.15,0.00,0.000,6,0.000,0.037,3389,1902,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6486,0.75,146.6,377.5,13.2,711,6487,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1903,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6786,0.75,146.6,339.3,12.3,741,6787,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1903,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7086,0.75,146.6,301.3,12.8,771,7096,0.00,2.15,0.00,0.000,4,0.000,0.039,3397,522,2664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7153,0.75,146.6,293.3,12.9,777,7161,0.00,2.12,0.00,0.000,6,0.000,0.037,3398,1894,2664,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7460,0.75,146.6,253.0,12.1,808,7464,0.00,2.12,0.00,0.000,4,0.000,0.039,3406,526,2664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7503,0.75,146.6,247.5,13.1,812,7513,0.15,2.10,0.00,0.000,6,0.171,0.037,3369,1887,2663,0,0,0,0,0,0,26.19,26.42,28.83
$GC,7812,0.75,146.6,213.5,10.7,843,7822,0.00,2.15,0.00,0.000,4,0.000,0.047,3369,3313,2664,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7845,0.75,146.6,209.6,11.4,846,7854,0.00,2.10,0.00,0.000,6,0.000,0.031,3376,1901,2664,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8155,0.75,146.6,175.2,10.4,877,8164,0.00,2.12,0.00,0.000,4,0.000,0.041,3386,506,2664,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8210,0.75,146.6,169.5,10.8,882,8217,0.00,2.12,0.00,0.000,6,0.000,0.036,3387,1884,2664,0,0,0,0,0,0,28.83,26.49,28.83
$GC,8517,0.75,146.6,138.3,9.5,913,8526,0.00,2.15,0.00,0.000,4,0.000,0.047,3387,3313,2664,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8551,0.75,146.6,135.0,10.1,916,8558,0.00,2.12,0.00,0.000,6,0.000,0.031,3396,1880,2664,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8859,0.75,146.6,105.2,9.4,947,8868,0.00,2.08,0.00,0.000,4,0.000,0.041,3406,505,2664,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8927,0.75,146.6,98.4,10.0,955,8936,0.15,2.12,0.00,0.000,6,0.167,0.037,3368,1893,2663,0,0,0,0,0,0,26.29,26.53,28.83
$GC,9244,0.75,146.7,70.6,9.2,1016,9251,0.00,2.12,0.00,0.000,4,0.000,0.048,3368,3303,2664,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9295,0.75,146.7,65.8,9.3,1025,9302,0.00,2.12,0.00,0.000,6,0.000,0.032,3375,1878,2664,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9607,0.79,184.1,40.6,7.6,1086,9644,0.00,2.12,29.00,0.908,4,0.000,0.041,3386,501,2526,0,0,0,0,0,0,28.83,26.05,25.23
$GC,9765,0.88,257.9,29.3,6.1,1115,9820,0.00,2.17,45.03,0.868,6,0.000,0.037,3386,1876,2225,0,0,0,0,0,0,28.83,26.15,24.70
$FREEZE,8.94,2.120,-1.724,2,1,0
$FREEZE,8.60,2.218,-1.714,2,1,0
$FREEZE,8.14,2.253,-1.714,2,1,0
$FREEZE,7.84,3.192,-1.707,2,1,0
$FREEZE,7.42,5.638,-1.686,2,1,0
$FREEZE,7.04,5.597,-1.686,2,1,0
$FREEZE,6.74,5.370,-1.684,2,1,0
$FREEZE,6.38,5.381,-1.680,2,1,0
$FREEZE,6.01,5.431,-1.683,2,1,0
$FREEZE,5.70,5.446,-1.689,2,1,0
$FREEZE,5.34,4.962,-1.672,2,1,0
$FREEZE,5.09,5.020,-1.670,2,1,0
$FREEZE,4.73,4.962,-1.671,2,1,0
$FREEZE,4.46,5.011,-1.670,2,1,0
$FREEZE,4.12,4.981,-1.667,2,1,0
$FREEZE,3.84,4.906,-1.668,2,1,0
$STATE,10130,end climb,SURFACE_DEPTH_REACHED
$STATE,10130,begin surface coast
$FREEZE,3.38,4.905,-1.663,2,1,0
$FREEZE,3.13,4.762,-1.662,2,1,0
$FREEZE,2.83,4.744,-1.662,2,1,0
$FREEZE,2.72,4.630,-1.666,2,1,0
$FREEZE,2.45,4.744,-1.660,2,1,0
$FREEZE,2.38,4.753,-1.659,2,1,0
$FREEZE,2.22,4.750,-1.659,2,1,0
$FREEZE,1.91,4.747,-1.658,2,1,0
$FREEZE,1.68,4.740,-1.658,2,1,0
$FREEZE,1.41,4.724,-1.660,2,1,0
$FREEZE,1.30,4.549,-1.119,2,1,0
$FREEZE,1.36,4.358,-0.862,2,1,0
$FREEZE,1.36,4.538,-1.664,2,1,0
$FREEZE,1.29,4.203,-0.783,2,1,0
$FINISH,1.3,1.011467
$STATE,10205,end surface coast,CONTROL_FINISHED_OK
$STATE,10205,begin surface
$SM_CCo,10224,63.28,0.076,0,0,1647,400.08
$SM_GC,2.22,8.40,0.32,63.28,0.062,0.060,0.076,344,2103,1647,-8.65,-1.36,400.08,0,0,0,0,0,0,25.98,26.02,25.89
$RAFOS_CLK,526
$RAFOS,6,1342903747,20.833334,20.818611,45,42,41,41,40,38,565,1585,406,1617,229,669
$RAFOS,5,1342903263,20.700001,20.684166,48,45,43,43,43,42,192,1173,404,1645,882,1773
$RAFOS,4,1342902784,20.566668,20.551111,49,45,44,44,43,42,204,362,1,1449,532,1642
$RAFOS,3,1342902311,20.433332,20.419722,44,42,41,38,38,37,574,354,942,959,1866,1069
$RAFOS,2,1342901829,20.299999,20.285833,45,44,44,44,41,41,1028,1067,1265,1616,1749,1254
$RAFOS,1,1342901341,20.166666,20.150278,61,59,47,44,42,42,509,1757,151,1682,1620,1230
$RAFOS,0,1342900869,20.033333,20.019167,43,43,43,43,42,41,954,465,973,1383,680,223
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6013.28,210712,151543
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,550.9,39.1
$24V_AH,23.1,22.167
$10V_AH,10.1,25.325
$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,20.800,97.875,316.150,63.275,0.000,0.000,0.000,263.775,2.000,0.000,20.105,2963.367,4630.510,559.706,2226.295,306.740,0.000,1886.659,0.000,1944.064,2520.000,18.657,0.000
$DEVICE_MAMPS,257.805,59.670,1219.410,75.735,0.000,0.000,0.000,277.895,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.148,874.484,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151532
$DATA_FILE_SIZE,53345,1198
$CAP_FILE_SIZE,127626,0
$CFSIZE,260165632,231284736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1453.4
$CURRENT,0.218,181.1,1
$GPS,210712,214257,6645.915,-6012.147,36,1.2,36,-33.9