version: 66.11
glider: 108
mission: 21
dive: 232
start: 7 31 112 1 4 20
data:
$ID,108
$MISSION,21
$DIVE,232
$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,-191376.33
$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,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
$GPS1,310712,005652,6703.219,-5653.140,39,0.9,39,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.27
$_SM_ANGLEo,-73.5
$GPS2,310712,010348,6703.229,-5653.043,18,1.0,18,-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,245.6,159809,-16.9,-9.167
$D_GRID,577
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.75,-146.6,0.0,0.0,0,81,0.00,0.00,-59.03,0.000,2,0.000,0.000,345,2090,3050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.75,-146.6,3.0,-2.3,10,129,9.93,2.17,-23.48,0.000,4,0.241,0.051,2894,699,3882,0,0,0,0,0,0,25.77,26.39,26.76
$GC,177,-0.75,-146.6,15.4,-15.1,26,184,0.00,2.17,0.00,0.000,6,0.000,0.039,2886,2103,3884,0,0,0,0,0,0,28.83,26.38,28.83
$GC,491,-0.75,-146.6,55.6,-12.7,87,497,0.00,2.12,0.00,0.000,4,0.000,0.047,2876,3511,3886,0,0,0,0,0,0,28.83,26.37,28.83
$GC,728,-0.75,-146.6,85.7,-12.4,133,735,0.00,2.08,0.00,0.000,6,0.000,0.028,2877,2094,3887,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1038,-0.75,-146.6,124.1,-12.1,175,1047,0.00,2.15,0.00,0.000,4,0.000,0.047,2866,3507,3888,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1113,-0.75,-146.6,132.9,-12.2,182,1120,0.00,2.03,0.00,0.000,6,0.000,0.028,2866,2114,3888,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1421,-0.75,-146.6,169.3,-11.4,213,1430,0.00,2.10,0.00,0.000,4,0.000,0.048,2855,3505,3888,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1493,-0.75,-146.6,177.8,-11.9,220,1503,0.12,2.03,0.00,0.000,6,0.172,0.028,2886,2117,3888,0,0,0,0,0,0,26.23,26.60,28.83
$GC,1803,-0.75,-146.6,206.4,-9.2,251,1812,0.00,2.15,0.00,0.000,4,0.000,0.047,2878,3516,3887,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1925,-0.75,-146.6,218.8,-10.4,263,1934,0.00,2.03,0.00,0.000,6,0.000,0.028,2877,2124,3887,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2235,-0.75,-146.6,249.2,-9.9,294,2244,0.00,2.12,0.00,0.000,4,0.000,0.047,2868,3520,3886,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2330,-0.75,-146.6,258.7,-10.2,303,2337,0.00,2.00,0.00,0.000,6,0.000,0.029,2868,2138,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2637,-0.75,-146.6,289.3,-9.8,334,2646,0.00,2.10,0.00,0.000,4,0.000,0.047,2857,3507,3885,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2729,-0.75,-146.6,299.1,-10.9,343,2739,0.12,1.98,0.00,0.000,6,0.164,0.029,2888,2144,3885,0,0,0,0,0,0,26.28,26.63,28.83
$GC,3040,-0.75,-146.6,325.0,-8.0,374,3049,0.00,2.10,0.00,0.000,4,0.000,0.047,2880,3515,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3113,-0.75,-146.6,331.4,-8.9,381,3116,0.00,1.98,0.00,0.000,6,0.000,0.028,2881,2162,3885,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3425,-0.75,-146.6,357.6,-8.3,412,3434,0.00,2.08,0.00,0.000,4,0.000,0.047,2871,3507,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3511,-0.75,-146.6,364.9,-9.0,420,3518,0.00,1.95,0.00,0.000,6,0.000,0.028,2871,2152,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3817,-0.75,-146.6,393.4,-9.5,451,3826,0.00,2.08,0.00,0.000,4,0.000,0.046,2861,3510,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3899,-0.75,-146.6,401.6,-10.1,459,3903,0.00,1.95,0.00,0.000,6,0.000,0.028,2861,2172,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4211,-0.75,-146.6,431.8,-9.7,490,4221,0.00,2.08,0.00,0.000,4,0.000,0.046,2850,3522,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4286,-0.75,-146.6,439.4,-10.5,497,4294,0.15,1.95,0.00,0.000,6,0.152,0.028,2890,2170,3885,0,0,0,0,0,0,26.27,26.65,28.83
$GC,4594,-0.75,-146.6,466.7,-8.7,528,4604,0.00,2.03,0.00,0.000,4,0.000,0.046,2882,3509,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4648,-0.75,-146.6,471.6,-9.6,533,4651,0.00,1.92,0.00,0.000,6,0.000,0.028,2882,2184,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4961,-0.75,-146.6,499.5,-8.9,564,4974,0.00,2.05,0.00,0.000,4,0.000,0.047,2872,3515,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5017,-0.75,-146.6,504.7,-9.4,569,5021,0.00,1.92,0.00,0.000,6,0.000,0.028,2872,2190,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5329,-0.75,-146.6,532.6,-9.0,600,5339,0.00,2.00,0.00,0.000,4,0.000,0.046,2864,3508,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5382,-0.75,-146.6,537.7,-9.8,605,5386,0.00,1.90,0.00,0.000,6,0.000,0.028,2864,2198,3885,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5694,-0.75,-146.6,567.1,-9.5,636,5698,0.00,2.00,0.00,0.000,4,0.000,0.046,2854,3514,3885,0,0,0,0,0,0,28.83,26.50,28.83
$STATE,5745,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5745,begin apogee
$GC,5754,-0.17,0.0,572.2,-10.3,641,5877,0.68,0.00,118.72,1.200,4,0.138,0.000,3068,1898,3279,0,0,0,0,0,0,26.08,28.83,23.96
$STATE,5881,end apogee,CONTROL_FINISHED_OK
$STATE,5881,begin climb
$GC,5883,0.75,146.6,576.3,0.0,654,6019,0.85,2.25,121.97,1.167,4,0.072,0.034,3370,506,2680,0,0,0,0,0,0,24.96,25.00,23.29
$GC,6245,0.75,146.6,537.3,13.7,690,6252,0.00,2.25,0.00,0.000,6,0.000,0.033,3370,1912,2671,0,0,0,0,0,0,28.83,25.47,28.83
$GC,6553,0.75,146.6,494.3,13.7,721,6562,0.00,2.12,0.00,0.000,4,0.000,0.044,3370,3303,2668,0,0,0,0,0,0,28.83,25.91,28.83
$GC,6767,0.75,146.6,461.6,15.4,742,6776,0.00,2.12,0.00,0.000,6,0.000,0.028,3380,1888,2667,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7077,0.75,146.6,415.9,15.1,773,7087,0.00,2.10,0.00,0.000,4,0.000,0.037,3390,512,2667,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7183,0.75,146.6,400.8,14.4,783,7190,0.00,2.12,0.00,0.000,6,0.000,0.032,3390,1893,2667,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7490,0.75,146.6,355.1,14.8,814,7491,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1893,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7792,0.75,146.6,310.4,14.8,844,7799,0.00,0.00,0.00,0.000,6,0.000,0.000,3390,1892,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8102,0.75,146.6,265.0,15.0,875,8111,0.00,2.15,0.00,0.000,4,0.000,0.038,3399,498,2666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8126,0.75,146.6,261.5,15.2,877,8134,0.00,2.12,0.00,0.000,6,0.000,0.032,3399,1888,2666,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8434,0.75,146.6,215.4,14.8,908,8435,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1888,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8737,0.75,146.6,173.6,13.5,938,8743,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1887,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9046,0.75,146.6,134.5,11.9,969,9055,0.00,2.12,0.00,0.000,4,0.000,0.044,3399,3308,2666,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9088,0.75,146.6,128.6,13.2,973,9099,0.15,2.10,0.00,0.000,6,0.177,0.030,3371,1889,2667,0,0,0,0,0,0,26.17,26.55,28.83
$GC,9398,0.75,146.6,96.7,9.5,1007,9404,0.00,2.10,0.00,0.000,4,0.000,0.037,3379,497,2666,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9523,0.75,146.6,84.4,9.8,1031,9529,0.00,2.12,0.00,0.000,6,0.000,0.032,3379,1885,2666,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9835,0.75,152.6,56.2,8.9,1092,9849,0.00,2.15,3.97,0.631,4,0.000,0.037,3388,512,2657,0,0,0,0,0,0,28.83,26.55,25.35
$GC,9984,0.75,152.8,42.3,9.2,1120,9991,0.00,2.10,0.00,0.000,6,0.000,0.034,3388,1877,2657,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10297,0.91,283.7,22.5,3.7,1181,10373,0.10,2.20,68.18,0.835,4,0.112,0.037,3438,512,2121,0,0,0,0,0,0,26.61,25.55,24.83
$GC,10414,0.91,283.7,14.3,10.5,1200,10421,0.00,2.12,0.00,0.000,6,0.000,0.034,3439,1845,2114,0,0,0,0,0,0,28.83,25.73,28.83
$FREEZE,8.83,6.054,-1.767,0,1,0
$FREEZE,8.33,6.054,-1.767,0,1,0
$FREEZE,7.77,6.054,-1.766,0,1,0
$FREEZE,7.12,6.054,-1.766,0,1,0
$FREEZE,6.56,6.056,-1.765,0,1,0
$FREEZE,5.89,6.054,-1.765,0,1,0
$FREEZE,5.31,6.055,-1.764,0,1,0
$FREEZE,4.71,6.055,-1.764,0,1,0
$FREEZE,4.07,6.052,-1.763,0,1,0
$FREEZE,3.56,6.053,-1.763,0,1,0
$STATE,10504,end climb,SURFACE_DEPTH_REACHED
$STATE,10504,begin surface coast
$FREEZE,2.61,6.053,-1.762,0,1,0
$FREEZE,1.85,6.049,-1.762,0,1,0
$FREEZE,1.31,6.028,-0.872,0,1,0
$FREEZE,1.34,5.996,-1.758,0,1,0
$FREEZE,1.34,5.990,-1.733,0,1,0
$FREEZE,1.27,5.749,-1.189,0,1,0
$FINISH,1.3,1.017261
$STATE,10537,end surface coast,CONTROL_FINISHED_OK
$STATE,10537,begin surface
$SM_CCo,10558,50.62,0.068,0,0,1648,400.08
$SM_GC,2.22,8.38,0.38,50.62,0.047,0.050,0.068,336,2101,1648,-8.66,-1.24,400.08,0,0,0,0,0,0,25.89,25.94,25.81
$RAFOS_CLK,506
$RAFOS,6,1343695741,0.833333,0.816944,48,47,47,47,44,43,879,700,1331,1330,1913,811
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5643.07,300712,222202
$TT8_MAMPS,0.025466,0.025466
$HUMID,42.83
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.20
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.8,19.3
$ALTIM_BOTTOM_PING,550.1,36.9
$24V_AH,23.3,27.840
$10V_AH,10.1,31.259
$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,20.475,96.225,312.850,50.625,0.000,0.000,0.000,284.350,4.500,0.000,19.902,3068.417,4776.230,542.346,2336.458,302.515,0.000,1920.098,0.000,2027.921,0.000,15.970,0.000
$DEVICE_MAMPS,240.975,51.255,1199.520,68.085,0.000,0.000,0.000,274.899,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.473,834.627,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,56699,1223
$CAP_FILE_SIZE,128829,0
$CFSIZE,260165632,226992128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1466.6
$CURRENT,0.056,302.7,1
$GPS,310712,040236,6702.572,-5656.062,39,0.8,39,-33.5