version: 66.11
glider: 108
mission: 21
dive: 235
start: 7 31 112 10 51 47
data:
$ID,108
$MISSION,21
$DIVE,235
$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,-191380.08
$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,47
$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
$GPS1,310712,104335,6702.613,-5657.993,37,0.9,37,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-75.3
$GPS2,310712,105111,6702.702,-5657.779,17,0.9,17,-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,295.2,156215,-16.9,-9.167
$D_GRID,653
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,74,0.00,0.00,-55.90,0.000,2,0.000,0.000,338,2114,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.75,-146.6,3.0,-2.3,10,123,9.80,2.20,-27.05,0.000,4,0.235,0.051,2891,716,3880,0,0,0,0,0,0,25.75,26.34,26.72
$GC,283,-0.75,-146.6,29.2,-11.1,48,291,0.00,2.15,0.00,0.000,6,0.000,0.037,2884,2108,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,597,-0.75,-146.6,63.1,-11.5,109,603,0.00,2.12,0.00,0.000,4,0.000,0.048,2873,3516,3887,0,0,0,0,0,0,28.83,26.35,28.83
$GC,744,-0.75,-146.6,79.7,-11.5,137,751,0.00,2.05,0.00,0.000,6,0.000,0.028,2879,2105,3887,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1061,-0.75,-146.6,113.7,-10.5,186,1065,0.00,2.15,0.00,0.000,4,0.000,0.048,2871,3512,3888,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1133,-0.75,-146.6,121.9,-11.7,193,1142,0.00,2.05,0.00,0.000,6,0.000,0.029,2871,2111,3888,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1443,-0.75,-146.6,157.9,-11.7,224,1444,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2111,3887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1745,-0.75,-146.6,191.3,-11.3,254,1754,0.00,2.10,0.00,0.000,4,0.000,0.049,2860,3499,3886,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1840,-0.75,-146.6,202.1,-11.4,263,1847,0.00,2.00,0.00,0.000,6,0.000,0.029,2860,2125,3886,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2147,-0.75,-146.6,235.8,-10.7,294,2151,0.00,2.12,0.00,0.000,4,0.000,0.048,2849,3511,3885,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2232,-0.75,-146.6,245.2,-11.6,302,2239,0.15,2.00,0.00,0.000,6,0.160,0.029,2890,2133,3885,0,0,0,0,0,0,26.21,26.60,28.83
$GC,2541,-0.75,-146.6,273.0,-8.9,333,2550,0.00,2.10,0.00,0.000,4,0.000,0.047,2882,3508,3885,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2623,-0.75,-146.6,281.1,-9.8,341,2627,0.00,1.98,0.00,0.000,6,0.000,0.029,2882,2144,3885,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2936,-0.75,-146.6,310.2,-9.2,372,2945,0.00,2.08,0.00,0.000,4,0.000,0.047,2872,3516,3885,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3001,-0.75,-146.6,316.3,-10.0,378,3008,0.00,1.98,0.00,0.000,6,0.000,0.028,2872,2135,3884,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3310,-0.75,-146.6,345.7,-9.7,409,3318,0.00,2.08,0.00,0.000,4,0.000,0.047,2862,3504,3885,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3392,-0.75,-146.6,354.2,-10.1,417,3401,0.00,1.95,0.00,0.000,6,0.000,0.028,2862,2150,3885,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3703,-0.75,-146.6,384.4,-9.9,448,3712,0.00,2.08,0.00,0.000,4,0.000,0.047,2852,3505,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3769,-0.75,-146.6,391.2,-10.6,454,3776,0.15,1.95,0.00,0.000,6,0.152,0.028,2893,2149,3885,0,0,0,0,0,0,26.25,26.65,28.83
$GC,4077,-0.75,-146.6,417.1,-8.1,485,4085,0.00,2.08,0.00,0.000,4,0.000,0.047,2885,3505,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4119,-0.75,-146.6,420.8,-8.7,489,4128,0.00,1.92,0.00,0.000,6,0.000,0.028,2884,2158,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4430,-0.75,-146.6,446.8,-8.3,520,4433,0.00,2.08,0.00,0.000,4,0.000,0.047,2874,3519,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4474,-0.75,-146.6,450.5,-8.7,524,4484,0.00,1.95,0.00,0.000,6,0.000,0.028,2875,2167,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4783,-0.75,-146.6,477.8,-8.6,555,4787,0.00,2.05,0.00,0.000,4,0.000,0.047,2865,3509,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4845,-0.75,-146.6,483.6,-9.5,561,4854,0.00,1.92,0.00,0.000,6,0.000,0.028,2865,2164,3885,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5156,-0.75,-146.6,511.4,-8.6,592,5165,0.00,2.03,0.00,0.000,4,0.000,0.046,2854,3500,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5211,-0.75,-146.6,516.7,-10.0,597,5218,0.12,1.92,0.00,0.000,6,0.157,0.028,2886,2169,3885,0,0,0,0,0,0,26.31,26.66,28.83
$GC,5519,-0.75,-146.6,541.5,-8.3,628,5529,0.00,2.03,0.00,0.000,4,0.000,0.047,2879,3506,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5565,-0.75,-146.6,545.3,-8.8,632,5572,0.00,1.90,0.00,0.000,6,0.000,0.028,2879,2183,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5873,-0.75,-146.6,571.8,-8.5,663,5881,0.00,2.00,0.00,0.000,4,0.000,0.047,2869,3504,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5908,-0.75,-146.6,574.7,-9.1,666,5914,0.00,1.90,0.00,0.000,6,0.000,0.028,2869,2183,3885,0,0,0,0,0,0,28.83,26.66,28.83
$GC,6217,-0.75,-146.6,603.1,-8.7,695,6222,0.00,2.00,0.00,0.000,4,0.000,0.047,2859,3511,3885,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,6303,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6303,begin apogee
$GC,6312,-0.17,0.0,611.8,-9.4,698,6437,0.68,0.00,119.72,1.237,4,0.139,0.000,3072,1901,3279,0,0,0,0,0,0,26.06,28.83,23.89
$STATE,6440,end apogee,CONTROL_FINISHED_OK
$STATE,6441,begin climb
$GC,6443,0.75,146.6,615.8,0.0,702,6578,0.85,2.25,122.80,1.209,4,0.070,0.035,3373,518,2680,0,0,0,0,0,0,24.93,24.96,23.13
$GC,6806,0.75,146.6,579.7,13.0,723,6813,0.00,2.22,0.00,0.000,6,0.000,0.034,3373,1903,2671,0,0,0,0,0,0,28.83,25.40,28.83
$GC,7114,0.75,146.6,538.4,13.0,754,7118,0.00,2.15,0.00,0.000,4,0.000,0.045,3373,3301,2668,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7341,0.75,146.6,504.5,15.4,776,7349,0.00,2.10,0.00,0.000,6,0.000,0.029,3381,1901,2666,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7648,0.75,146.6,460.6,14.0,807,7657,0.00,2.12,0.00,0.000,4,0.000,0.037,3392,498,2665,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7723,0.75,146.6,450.2,14.4,814,7730,0.00,2.17,0.00,0.000,6,0.000,0.034,3392,1900,2665,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8031,0.75,146.6,405.6,14.6,845,8032,0.00,0.00,0.00,0.000,6,0.000,0.000,3392,1899,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8332,0.75,146.6,361.1,15.2,875,8341,0.00,2.15,0.00,0.000,4,0.000,0.038,3402,507,2664,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8357,0.75,146.6,357.5,15.0,877,8365,0.12,2.15,0.00,0.000,6,0.172,0.034,3371,1903,2663,0,0,0,0,0,0,26.08,26.37,28.83
$GC,8666,0.75,146.6,315.9,13.1,908,8675,0.00,2.10,0.00,0.000,4,0.000,0.045,3371,3289,2663,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8712,0.75,146.6,309.3,14.7,912,8720,0.00,2.05,0.00,0.000,6,0.000,0.029,3378,1896,2663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9018,0.75,146.6,266.1,13.9,943,9027,0.00,2.08,0.00,0.000,4,0.000,0.037,3389,513,2663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9131,0.75,146.6,250.6,13.7,954,9135,0.00,2.12,0.00,0.000,6,0.000,0.034,3388,1896,2663,0,0,0,0,0,0,28.83,26.45,28.83
$GC,9443,0.75,146.6,208.6,13.2,985,9452,0.00,2.12,0.00,0.000,4,0.000,0.044,3389,3307,2663,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9466,0.75,146.6,205.5,13.4,987,9474,0.00,2.08,0.00,0.000,6,0.000,0.029,3398,1893,2663,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9775,0.75,146.6,163.5,13.3,1018,9784,0.00,2.08,0.00,0.000,4,0.000,0.037,3408,513,2663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9949,0.75,146.6,141.1,12.7,1035,9959,0.15,2.12,0.00,0.000,6,0.163,0.034,3368,1894,2663,0,0,0,0,0,0,26.18,26.50,28.83
$GC,10260,0.75,146.6,107.2,11.1,1066,10261,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1893,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10562,0.75,146.6,75.6,9.8,1119,10569,0.00,2.10,0.00,0.000,4,0.000,0.045,3368,3299,2663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,10608,0.75,146.6,71.1,10.8,1127,10614,0.00,2.12,0.00,0.000,6,0.000,0.030,3376,1861,2663,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10920,0.78,175.5,43.0,8.0,1188,10945,0.00,0.00,21.90,0.874,6,0.000,0.000,3376,1861,2563,0,0,0,0,0,0,28.83,28.83,25.37
$GC,11252,0.91,277.6,18.4,4.9,1252,11310,0.12,2.28,49.28,0.103,4,0.099,0.044,3432,3295,2145,0,0,1,0,0,0,26.34,26.17,25.99
$FREEZE,8.64,6.051,-1.774,0,1,0
$FREEZE,7.91,6.053,-1.774,0,1,0
$FREEZE,6.98,6.060,-1.773,0,1,0
$FREEZE,6.32,6.058,-1.773,0,1,0
$FREEZE,5.51,6.059,-1.772,0,1,0
$FREEZE,4.79,6.060,-1.771,0,1,0
$FREEZE,4.03,6.058,-1.771,0,1,0
$FREEZE,3.30,6.067,-1.770,0,1,0
$STATE,11388,end climb,SURFACE_DEPTH_REACHED
$STATE,11388,begin surface coast
$FREEZE,2.51,6.071,-1.770,0,1,0
$FREEZE,1.78,6.070,-1.769,0,1,0
$FREEZE,1.35,5.680,-1.544,0,1,0
$FREEZE,1.66,6.082,-1.769,0,1,0
$FREEZE,1.64,6.075,-1.769,0,1,0
$FINISH,1.6,1.025402
$STATE,11416,end surface coast,CONTROL_FINISHED_OK
$STATE,11416,begin surface
$SM_CCo,11438,52.92,0.068,0,0,1647,400.08
$SM_GC,2.25,8.35,1.83,52.92,0.054,0.030,0.068,341,2094,1647,-8.66,2.04,400.08,0,0,0,0,0,0,26.17,26.33,26.07
$RAFOS_CLK,551
$RAFOS,6,1343738948,12.833333,12.818889,51,43,42,42,39,38,1656,1752,61,285,1013,1464
$RAFOS,5,1343738463,12.700000,12.684167,44,43,43,43,40,40,1851,773,1210,1929,1585,1614
$RAFOS,4,1343737989,12.566667,12.552500,44,43,43,43,43,40,1761,1370,1791,167,535,736
$RAFOS,3,1343737507,12.433333,12.418612,44,43,41,40,40,40,1703,816,213,484,1838,1050
$RAFOS,2,1343737029,12.300000,12.285833,45,44,43,42,42,40,1765,124,1843,279,935,1225
$RAFOS,1,1343736546,12.166667,12.151667,43,42,42,41,40,39,1295,1058,1819,991,1289,185
$RAFOS,0,1343736063,12.033333,12.017500,46,43,43,42,41,41,1570,658,757,1558,338,1714
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5656.72,310712,070729
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.96
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,16.50
$XPDR_PINGS,17
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,600.4,25.3
$24V_AH,23.1,28.122
$10V_AH,10.1,31.561
$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,20.500,107.675,313.700,52.925,0.000,0.000,0.000,317.700,6.500,0.000,19.213,3254.098,5285.273,537.708,2537.042,335.145,0.000,2031.816,0.000,2188.103,2520.000,17.719,0.000
$DEVICE_MAMPS,234.855,51.255,1237.005,68.085,0.000,0.000,0.000,274.899,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,915.468,878.568,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60154,1281
$CAP_FILE_SIZE,141520,0
$CFSIZE,260165632,226754560
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1466.0
$CURRENT,0.064,348.6,1
$GPS,310712,140434,6703.038,-5701.309,25,0.9,25,-33.5