version: 66.11
glider: 108
mission: 21
dive: 231
start: 7 30 112 22 13 15
data:
$ID,108
$MISSION,21
$DIVE,231
$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,-191375.08
$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,72
$R_STBD_OVSHOOT,46
$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
$GPS1,300712,220558,6702.818,-5648.582,36,0.9,36,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-74.3
$GPS2,300712,221242,6702.938,-5648.575,19,0.8,19,-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,266.5,162881,-16.9,-9.167
$D_GRID,534
$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,15,begin dive
$GC,18,-0.75,-146.6,0.0,0.0,0,83,0.00,0.00,-61.75,0.000,2,0.000,0.000,343,2119,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.75,-146.6,3.2,-2.9,11,124,10.07,2.12,-19.92,0.000,4,0.246,0.049,2895,709,3880,0,0,0,0,0,0,25.75,26.40,26.78
$GC,218,-0.75,-146.6,22.3,-13.5,35,225,0.00,2.15,0.00,0.000,6,0.000,0.037,2888,2101,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,531,-0.75,-146.6,57.2,-10.8,96,537,0.00,2.12,0.00,0.000,4,0.000,0.048,2877,3504,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,632,-0.75,-146.6,68.5,-11.5,115,639,0.00,2.03,0.00,0.000,6,0.000,0.028,2878,2110,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,948,-0.75,-146.6,104.9,-11.9,173,958,0.00,2.12,0.00,0.000,4,0.000,0.048,2868,3502,3888,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1003,-0.75,-146.6,111.6,-12.8,178,1010,0.00,2.03,0.00,0.000,6,0.000,0.028,2867,2113,3888,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1311,-0.75,-146.6,149.6,-11.9,209,1320,0.00,2.15,0.00,0.000,4,0.000,0.047,2857,3509,3888,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1396,-0.75,-146.6,160.2,-13.0,217,1404,0.12,2.03,0.00,0.000,6,0.173,0.028,2888,2121,3888,0,0,0,0,0,0,26.23,26.60,28.83
$GC,1704,-0.75,-146.6,192.6,-9.8,248,1712,0.00,2.10,0.00,0.000,4,0.000,0.047,2880,3499,3887,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1738,-0.75,-146.6,196.0,-10.7,251,1745,0.00,2.00,0.00,0.000,6,0.000,0.029,2880,2123,3887,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2046,-0.75,-146.6,227.3,-9.9,282,2055,0.00,2.10,0.00,0.000,4,0.000,0.047,2870,3499,3886,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2138,-0.75,-146.6,236.8,-9.9,291,2147,0.00,2.00,0.00,0.000,6,0.000,0.029,2870,2127,3886,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2449,-0.75,-146.6,267.4,-9.8,322,2458,0.00,2.08,0.00,0.000,4,0.000,0.048,2859,3505,3885,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2553,-0.75,-146.6,278.1,-10.2,332,2560,0.12,1.98,0.00,0.000,6,0.162,0.028,2891,2139,3885,0,0,0,0,0,0,26.29,26.63,28.83
$GC,2862,-0.75,-146.6,303.9,-8.1,363,2866,0.00,2.10,0.00,0.000,4,0.000,0.047,2883,3509,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2904,-0.75,-146.6,307.7,-8.8,367,2908,0.00,1.95,0.00,0.000,6,0.000,0.028,2883,2149,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3217,-0.75,-146.6,335.0,-8.6,398,3226,0.00,2.08,0.00,0.000,4,0.000,0.047,2873,3509,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3302,-0.75,-146.6,342.8,-9.6,406,3308,0.00,1.98,0.00,0.000,6,0.000,0.028,2873,2146,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3610,-0.75,-146.6,371.1,-9.2,437,3619,0.00,2.08,0.00,0.000,4,0.000,0.047,2863,3512,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3675,-0.75,-146.6,377.3,-10.3,443,3682,0.00,1.95,0.00,0.000,6,0.000,0.028,2863,2160,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3983,-0.75,-146.6,407.8,-10.3,474,3987,0.00,2.08,0.00,0.000,4,0.000,0.047,2854,3517,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4048,-0.75,-146.6,414.5,-11.0,480,4056,0.12,1.95,0.00,0.000,6,0.158,0.028,2885,2159,3885,0,0,0,0,0,0,26.32,26.66,28.83
$GC,4356,-0.75,-146.6,443.0,-9.2,511,4364,0.00,2.05,0.00,0.000,4,0.000,0.047,2878,3509,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4419,-0.75,-146.6,448.9,-9.8,517,4428,0.00,1.92,0.00,0.000,6,0.000,0.028,2878,2174,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4728,-0.75,-146.6,477.7,-9.4,548,4737,0.00,2.00,0.00,0.000,4,0.000,0.047,2868,3509,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4780,-0.75,-146.6,483.0,-10.2,553,4789,0.00,1.92,0.00,0.000,6,0.000,0.028,2868,2175,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5091,-0.75,-146.6,512.2,-9.2,584,5094,0.00,2.03,0.00,0.000,4,0.000,0.047,2858,3505,3885,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,5130,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5130,begin apogee
$GC,5139,-0.17,0.0,516.5,-9.8,588,5262,0.68,0.00,117.85,1.159,4,0.138,0.000,3072,1889,3278,0,0,0,0,0,0,26.10,28.83,24.03
$STATE,5265,end apogee,CONTROL_FINISHED_OK
$STATE,5266,begin climb
$GC,5269,0.75,146.6,520.4,0.0,601,5405,0.82,2.22,120.47,1.127,4,0.071,0.034,3368,510,2679,0,0,0,0,0,0,25.01,25.04,23.41
$GC,5411,0.75,146.6,512.4,10.4,615,5417,0.00,2.33,0.00,0.000,6,0.000,0.032,3368,1900,2678,0,0,0,0,0,0,28.83,24.45,28.83
$GC,5718,0.75,146.6,469.7,13.9,646,5719,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1900,2671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6020,0.75,146.6,427.8,13.8,676,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1900,2670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6333,0.75,146.6,384.0,13.9,707,6341,0.00,2.15,0.00,0.000,4,0.000,0.037,3377,514,2668,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6384,0.75,146.6,376.0,14.0,712,6393,0.00,2.17,0.00,0.000,6,0.000,0.034,3377,1910,2668,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6695,0.75,146.6,333.3,13.8,743,6704,0.00,2.15,0.00,0.000,4,0.000,0.037,3386,519,2668,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6737,0.75,146.6,327.4,14.1,747,6746,0.00,2.10,0.00,0.000,6,0.000,0.033,3386,1888,2667,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7047,0.75,146.6,283.6,13.7,778,7048,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1887,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,0.75,146.6,241.8,14.0,808,7348,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1888,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7651,0.75,146.6,202.5,13.1,838,7660,0.00,2.10,0.00,0.000,4,0.000,0.037,3395,524,2667,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7676,0.75,146.6,199.2,12.9,840,7683,0.00,2.10,0.00,0.000,6,0.000,0.033,3395,1897,2668,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7984,0.75,146.6,158.7,12.1,871,7988,0.00,2.12,0.00,0.000,4,0.000,0.037,3404,516,2667,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8059,0.75,146.6,149.8,12.4,878,8067,0.12,2.10,0.00,0.000,6,0.168,0.033,3373,1892,2668,0,0,0,0,0,0,26.21,26.51,28.83
$GC,8366,0.75,146.6,116.3,10.8,909,8375,0.00,2.12,0.00,0.000,4,0.000,0.037,3380,518,2668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8438,0.75,146.6,108.3,11.3,916,8442,0.00,2.08,0.00,0.000,6,0.000,0.034,3380,1877,2667,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8747,0.75,154.5,78.7,8.8,968,8760,0.00,2.10,5.82,0.747,4,0.000,0.035,3389,516,2648,0,0,0,0,0,0,28.83,26.49,25.43
$GC,8856,0.75,154.5,68.4,9.9,988,8862,0.00,2.10,0.00,0.000,6,0.000,0.034,3389,1882,2648,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9170,0.75,154.5,37.6,9.7,1049,9177,0.00,2.15,0.00,0.000,4,0.000,0.044,3389,3303,2647,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9200,0.75,154.5,34.0,11.2,1054,9208,0.00,2.10,0.00,0.000,6,0.000,0.029,3398,1880,2646,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9519,0.95,314.4,16.0,2.5,1115,9603,0.12,2.22,75.10,0.095,4,0.106,0.046,3448,3298,1993,0,0,0,0,0,0,26.53,26.32,26.17
$FREEZE,8.43,6.129,-1.772,0,1,0
$FREEZE,7.55,6.127,-1.771,0,1,0
$FREEZE,6.80,6.130,-1.770,0,1,0
$FREEZE,6.05,6.138,-1.770,0,1,0
$FREEZE,5.08,6.190,-1.768,0,1,0
$FREEZE,4.33,6.192,-1.768,0,1,0
$FREEZE,3.49,6.194,-1.767,0,1,0
$STATE,9641,end climb,SURFACE_DEPTH_REACHED
$STATE,9641,begin surface coast
$FREEZE,2.69,6.194,-1.767,0,1,0
$FREEZE,1.77,6.187,-1.766,0,1,0
$FREEZE,1.33,6.121,-1.724,0,1,0
$FREEZE,1.65,6.186,-1.766,0,1,0
$FREEZE,1.40,6.164,-1.767,0,1,0
$FINISH,1.4,1.025366
$STATE,9668,end surface coast,CONTROL_FINISHED_OK
$STATE,9668,begin surface
$SM_CCo,9690,36.50,0.068,0,0,1647,400.08
$SM_GC,2.33,8.27,1.83,36.50,0.050,0.033,0.068,346,2104,1647,-8.64,2.04,400.08,0,0,0,0,0,0,26.28,26.43,26.20
$RAFOS_CLK,462
$RAFOS,5,1343695263,0.700000,0.684167,45,44,43,40,40,38,550,1604,399,294,1032,145
$RAFOS,4,1343694784,0.566667,0.551111,45,42,42,42,41,41,744,418,499,1038,61,1282
$RAFOS,3,1343694306,0.433333,0.418333,46,44,43,42,41,39,708,1112,1799,147,1006,1860
$RAFOS,2,1343693829,0.300000,0.285833,51,47,43,43,42,41,1628,994,464,659,1,1495
$RAFOS,1,1343693349,0.166667,0.152500,46,45,43,43,42,42,1085,691,239,781,61,1482
$RAFOS,0,1343692867,0.033333,0.018611,44,43,42,42,41,41,210,1550,567,844,1736,1919
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5649.11,300712,191945
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.47
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.60
$XPDR_PINGS,8
$ALTIM_TOP_PING,20.0,18.0
$ALTIM_BOTTOM_PING,500.1,31.0
$24V_AH,23.4,27.741
$10V_AH,10.1,31.167
$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,20.475,95.700,319.250,36.500,0.000,0.000,0.000,270.650,3.750,0.000,21.034,2810.427,4383.080,513.413,2124.853,303.132,0.000,1790.135,0.000,1836.000,2520.000,14.193,0.000
$DEVICE_MAMPS,245.565,48.960,1158.975,68.085,0.000,0.000,0.000,277.146,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,816.012,781.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151688
$DATA_FILE_SIZE,53361,1141
$CAP_FILE_SIZE,121419,0
$CFSIZE,260165632,227061760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.9
$CURRENT,0.209,324.2,1
$GPS,310712,005652,6703.219,-5653.140,39,0.9,39,-33.5