version: 66.11
glider: 108
mission: 21
dive: 228
start: 7 30 112 13 4 11
data:
$ID,108
$MISSION,21
$DIVE,228
$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,-191371.33
$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,84
$R_STBD_OVSHOOT,54
$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
$GPS1,300712,125604,6700.982,-5652.579,46,0.8,46,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-73.6
$GPS2,300712,130336,6700.984,-5652.433,17,1.1,17,-33.5
$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,85.0,4918,-16.9,-9.167
$D_GRID,590
$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,-57.50,0.000,2,0.000,0.000,338,2133,3000,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.75,-146.6,3.1,-2.7,10,124,10.05,2.17,-25.70,0.000,4,0.245,0.054,2892,731,3880,0,0,0,0,0,0,25.71,26.41,26.80
$GC,354,-0.75,-146.6,37.4,-10.2,62,361,0.00,2.10,0.00,0.000,6,0.000,0.037,2885,2096,3885,0,0,0,0,0,0,28.83,26.44,28.83
$GC,666,-0.75,-146.6,72.7,-11.2,123,673,0.00,2.15,0.00,0.000,4,0.000,0.048,2874,3516,3887,0,0,0,0,0,0,28.83,26.41,28.83
$GC,754,-0.75,-146.6,83.5,-12.5,139,761,0.00,2.05,0.00,0.000,6,0.000,0.028,2874,2107,3888,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1069,-0.75,-146.6,123.9,-12.3,182,1078,0.00,2.15,0.00,0.000,4,0.000,0.048,2864,3517,3888,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1174,-0.75,-146.6,137.3,-13.5,192,1180,0.00,2.05,0.00,0.000,6,0.000,0.029,2864,2112,3888,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1481,-0.75,-146.6,175.1,-11.6,223,1491,0.00,2.12,0.00,0.000,4,0.000,0.048,2853,3505,3887,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1639,-0.75,-146.6,193.4,-11.6,238,1647,0.12,1.98,0.00,0.000,6,0.171,0.029,2885,2131,3887,0,0,0,0,0,0,26.25,26.60,28.83
$GC,1946,-0.75,-146.6,224.4,-10.5,269,1949,0.00,2.10,0.00,0.000,4,0.000,0.048,2877,3505,3886,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2018,-0.75,-146.6,232.3,-11.3,276,2027,0.00,2.00,0.00,0.000,6,0.000,0.029,2876,2135,3886,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2328,-0.75,-146.6,263.3,-9.6,307,2337,0.00,2.10,0.00,0.000,4,0.000,0.047,2866,3518,3886,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2423,-0.75,-146.6,273.0,-10.8,316,2430,0.00,2.00,0.00,0.000,6,0.000,0.029,2866,2138,3885,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2731,-0.75,-146.6,304.9,-9.8,347,2740,0.00,2.08,0.00,0.000,4,0.000,0.047,2856,3505,3885,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2834,-0.75,-146.6,315.8,-10.7,357,2838,0.12,1.92,0.00,0.000,6,0.164,0.029,2887,2164,3885,0,0,0,0,0,0,26.28,26.64,28.83
$GC,3147,-0.75,-146.6,343.3,-9.1,388,3156,0.00,2.08,0.00,0.000,4,0.000,0.047,2879,3528,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3211,-0.75,-146.6,349.2,-9.4,394,3221,0.00,1.95,0.00,0.000,6,0.000,0.028,2879,2164,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3520,-0.75,-146.6,377.2,-8.8,425,3528,0.00,2.05,0.00,0.000,4,0.000,0.047,2870,3505,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3574,-0.75,-146.6,382.1,-9.8,430,3581,0.00,1.92,0.00,0.000,6,0.000,0.028,2870,2165,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3881,-0.75,-146.6,412.1,-10.0,461,3890,0.00,2.05,0.00,0.000,4,0.000,0.047,2859,3507,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3954,-0.75,-146.6,419.7,-10.9,468,3963,0.12,1.92,0.00,0.000,6,0.160,0.028,2891,2172,3885,0,0,0,0,0,0,26.31,26.65,28.83
$GC,4264,-0.75,-146.6,446.9,-8.2,499,4273,0.00,2.05,0.00,0.000,4,0.000,0.047,2884,3513,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4327,-0.75,-146.6,452.5,-8.9,505,4331,0.00,1.90,0.00,0.000,6,0.000,0.028,2883,2191,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4640,-0.75,-146.6,477.7,-7.9,536,4648,0.00,2.03,0.00,0.000,4,0.000,0.047,2873,3509,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4712,-0.75,-146.6,484.0,-8.9,543,4722,0.00,1.88,0.00,0.000,6,0.000,0.028,2874,2187,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5022,-0.75,-146.6,510.8,-8.8,574,5031,0.00,2.03,0.00,0.000,4,0.000,0.047,2864,3512,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5097,-0.75,-146.6,517.5,-9.6,581,5104,0.00,1.90,0.00,0.000,6,0.000,0.028,2864,2190,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5404,-0.75,-146.6,546.9,-9.9,612,5413,0.00,2.00,0.00,0.000,4,0.000,0.047,2853,3512,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5456,-0.75,-146.6,552.4,-11.3,617,5466,0.12,1.90,0.00,0.000,6,0.157,0.028,2885,2192,3886,0,0,0,0,0,0,26.33,26.67,28.83
$GC,5767,-0.75,-146.6,579.1,-8.3,648,5768,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2192,3886,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5904,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5904,begin apogee
$GC,5911,-0.17,0.0,590.6,-8.5,662,6036,0.57,0.00,119.40,1.222,4,0.131,0.000,3073,1881,3279,0,0,0,0,0,0,26.14,28.83,23.94
$STATE,6039,end apogee,CONTROL_FINISHED_OK
$STATE,6039,begin climb
$GC,6042,0.75,146.6,594.8,0.0,675,6173,0.82,2.20,120.45,1.104,4,0.070,0.034,3367,528,2681,0,0,0,0,0,0,24.94,24.98,23.39
$GC,6389,0.75,146.6,560.6,13.0,709,6396,0.00,2.20,0.00,0.000,6,0.000,0.034,3368,1901,2672,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6696,0.75,146.6,518.8,13.7,740,6706,0.00,2.17,0.00,0.000,4,0.000,0.036,3377,523,2669,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6934,0.75,146.6,486.5,13.8,763,6941,0.00,2.15,0.00,0.000,6,0.000,0.034,3377,1903,2667,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7240,0.75,146.6,443.3,13.7,794,7249,0.00,2.15,0.00,0.000,4,0.000,0.036,3386,523,2666,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7296,0.75,146.6,436.0,14.1,799,7302,0.00,2.12,0.00,0.000,6,0.000,0.033,3386,1895,2665,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7602,0.75,146.6,390.4,14.7,830,7611,0.00,2.12,0.00,0.000,4,0.000,0.036,3395,524,2665,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7625,0.75,146.6,387.1,14.9,832,7634,0.00,2.08,0.00,0.000,6,0.000,0.033,3395,1883,2665,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7934,0.75,146.6,339.6,15.2,863,7943,0.00,2.10,0.00,0.000,4,0.000,0.036,3403,525,2665,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7976,0.75,146.6,333.1,15.5,867,7986,0.12,2.10,0.00,0.000,6,0.172,0.033,3374,1885,2664,0,0,0,0,0,0,26.10,26.39,28.83
$GC,8286,0.75,146.6,290.5,13.3,898,8295,0.00,2.10,0.00,0.000,4,0.000,0.036,3380,528,2665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8339,0.75,146.6,283.8,13.0,903,8347,0.00,2.08,0.00,0.000,6,0.000,0.033,3380,1889,2665,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8649,0.75,146.6,244.7,12.4,934,8657,0.00,2.10,0.00,0.000,4,0.000,0.036,3389,524,2665,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8673,0.75,146.6,242.0,12.3,936,8681,0.00,2.05,0.00,0.000,6,0.000,0.033,3389,1879,2665,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8981,0.75,146.6,202.9,12.9,967,8985,0.00,2.08,0.00,0.000,4,0.000,0.036,3398,516,2665,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9015,0.75,146.6,198.7,13.3,970,9022,0.00,2.08,0.00,0.000,6,0.000,0.032,3398,1874,2665,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9323,0.75,146.6,159.3,13.1,1001,9324,0.00,0.00,0.00,0.000,6,0.000,0.000,3398,1874,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9625,0.75,146.6,122.3,11.5,1031,9634,0.00,2.08,0.00,0.000,4,0.000,0.037,3407,521,2665,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9660,0.75,146.6,118.4,11.3,1034,9668,0.15,2.05,0.00,0.000,6,0.158,0.032,3368,1882,2665,0,0,0,0,0,0,26.22,26.53,28.83
$GC,9969,0.75,146.6,88.7,9.8,1076,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1882,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10283,0.77,169.7,61.5,8.2,1137,10308,0.00,2.15,17.67,0.879,4,0.000,0.043,3368,3304,2586,0,0,0,0,0,0,28.83,26.29,25.43
$GC,10429,0.77,169.7,46.8,9.5,1164,10436,0.00,2.10,0.00,0.000,6,0.000,0.029,3375,1882,2583,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10746,0.93,298.0,24.5,3.8,1225,10819,0.12,2.30,67.22,0.782,4,0.100,0.044,3431,3289,2063,0,0,1,0,0,0,26.41,25.48,24.87
$FREEZE,8.31,6.225,-1.772,0,1,0
$FREEZE,7.53,6.226,-1.771,0,1,0
$FREEZE,6.90,6.226,-1.771,0,1,0
$FREEZE,6.28,6.227,-1.770,0,1,0
$FREEZE,5.65,6.227,-1.770,0,1,0
$FREEZE,4.69,6.227,-1.769,0,1,0
$FREEZE,4.03,6.227,-1.768,0,1,0
$FREEZE,3.43,6.228,-1.768,0,1,0
$STATE,10943,end climb,SURFACE_DEPTH_REACHED
$STATE,10943,begin surface coast
$FREEZE,2.66,6.225,-1.767,0,1,0
$FREEZE,2.24,6.231,-1.767,0,1,0
$FREEZE,1.54,6.232,-1.766,0,1,0
$FREEZE,1.49,6.219,-1.767,0,1,0
$FINISH,1.5,1.025365
$STATE,10967,end surface coast,CONTROL_FINISHED_OK
$STATE,10968,begin surface
$SM_CCo,10989,44.28,0.067,0,0,1648,400.08
$SM_GC,2.52,8.40,1.85,44.28,0.050,0.028,0.067,337,2083,1648,-8.67,1.75,400.08,0,0,0,0,0,0,25.83,25.94,25.79
$RAFOS_CLK,530
$RAFOS,6,1343652543,12.833333,12.817500,44,42,42,41,39,38,1307,698,1308,416,1518,61
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5653.72,300712,090936
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.87
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.30
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.1,17.2
$24V_AH,23.4,27.496
$10V_AH,10.0,30.884
$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,20.750,103.400,324.750,44.275,0.000,0.000,0.000,317.825,5.000,0.000,18.802,3123.302,5041.666,554.201,2449.533,319.827,0.000,2008.700,0.000,2106.139,360.000,15.739,0.000
$DEVICE_MAMPS,244.800,54.315,1221.705,67.320,0.000,0.000,0.000,274.150,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,901.867,866.583,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,60049,1265
$CAP_FILE_SIZE,133682,0
$CFSIZE,260165632,227254272
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1465.9
$CURRENT,0.101,210.3,1
$GPS,300712,160929,6701.034,-5650.383,35,2.0,35,-33.5