version: 66.11
glider: 108
mission: 21
dive: 286
start: 8 10 112 16 16 30
data:
$ID,108
$MISSION,21
$DIVE,286
$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,-191446.48
$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,64
$R_STBD_OVSHOOT,41
$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
$GPS1,100812,160852,6647.146,-6011.147,35,0.9,35,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-74.9
$GPS2,100812,161555,6647.088,-6011.263,18,1.4,18,-33.9
$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,308.3,12204,-16.9,-9.167
$D_GRID,565
$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,-146.6,0.0,0.0,0,66,0.00,0.00,-47.65,0.000,2,0.000,0.000,336,2109,2724,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.75,-146.6,3.1,-1.5,8,119,10.40,2.17,-31.30,0.000,4,0.251,0.064,2878,3505,3879,0,0,0,0,0,0,25.51,26.11,26.63
$GC,323,-0.75,-146.6,40.2,-13.5,56,330,0.00,2.10,0.00,0.000,6,0.000,0.031,2885,2095,3885,0,0,0,0,0,0,28.83,26.32,28.83
$GC,638,-0.75,-146.6,78.1,-12.8,117,645,0.00,2.22,0.00,0.000,4,0.000,0.050,2877,3519,3887,0,0,0,0,0,0,28.83,26.17,28.83
$GC,775,-0.75,-146.6,96.0,-13.4,143,782,0.00,2.10,0.00,0.000,6,0.000,0.031,2881,2103,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1085,-0.75,-146.6,134.3,-11.7,176,1094,0.00,2.22,0.00,0.000,4,0.000,0.050,2873,3514,3887,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1223,-0.75,-146.6,150.8,-12.3,189,1229,0.00,2.05,0.00,0.000,6,0.000,0.031,2873,2130,3887,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1528,-0.75,-146.6,188.2,-11.7,220,1536,0.00,2.17,0.00,0.000,4,0.000,0.052,2864,3514,3887,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1602,-0.75,-146.6,197.0,-12.1,227,1609,0.00,2.03,0.00,0.000,6,0.000,0.031,2864,2144,3886,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1910,-0.75,-146.6,233.0,-11.6,258,1919,0.00,2.12,0.00,0.000,4,0.000,0.051,2853,3515,3886,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2005,-0.75,-146.6,244.0,-12.0,267,2013,0.15,2.03,0.00,0.000,6,0.161,0.031,2892,2143,3885,0,0,0,0,0,0,26.01,26.46,28.83
$GC,2313,-0.75,-146.6,273.0,-9.2,298,2316,0.00,2.12,0.00,0.000,4,0.000,0.051,2884,3507,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2409,-0.75,-146.6,282.0,-9.9,307,2416,0.00,1.98,0.00,0.000,6,0.000,0.031,2884,2164,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2715,-0.75,-146.6,312.8,-10.0,338,2725,0.00,2.08,0.00,0.000,4,0.000,0.050,2874,3508,3884,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2781,-0.75,-146.6,319.6,-10.9,344,2787,0.00,1.98,0.00,0.000,6,0.000,0.031,2873,2162,3884,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3088,-0.75,-146.6,353.4,-11.1,375,3097,0.00,2.05,0.00,0.000,4,0.000,0.050,2864,3504,3883,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3184,-0.75,-146.6,364.2,-11.6,384,3190,0.00,1.95,0.00,0.000,6,0.000,0.031,2864,2173,3884,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3491,-0.75,-146.6,398.2,-10.7,415,3494,0.00,2.08,0.00,0.000,4,0.000,0.050,2853,3522,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3583,-0.75,-146.6,408.9,-11.8,424,3592,0.10,1.98,0.00,0.000,6,0.167,0.031,2885,2176,3884,0,0,0,0,0,0,26.14,26.51,28.83
$GC,3893,-0.75,-146.6,438.9,-9.6,455,3902,0.00,2.03,0.00,0.000,4,0.000,0.050,2877,3505,3884,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3985,-0.75,-146.6,448.5,-10.4,464,3994,0.00,1.92,0.00,0.000,6,0.000,0.031,2877,2196,3884,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4295,-0.75,-146.6,479.5,-9.8,495,4304,0.00,2.05,0.00,0.000,4,0.000,0.050,2868,3524,3884,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4338,-0.75,-146.6,483.8,-10.3,499,4347,0.00,1.95,0.00,0.000,6,0.000,0.031,2868,2194,3884,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4647,-0.75,-146.6,513.9,-9.6,530,4657,0.00,2.03,0.00,0.000,4,0.000,0.050,2857,3514,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4762,-0.75,-146.6,525.4,-10.3,541,4771,0.12,1.92,0.00,0.000,6,0.155,0.030,2889,2197,3885,0,0,0,0,0,0,26.16,26.53,28.83
$GC,5071,-0.75,-146.6,551.3,-8.7,572,5080,0.00,2.05,0.00,0.000,4,0.000,0.050,2882,3527,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5106,-0.75,-146.6,554.3,-9.1,575,5112,0.00,1.92,0.00,0.000,6,0.000,0.031,2881,2207,3885,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,5230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5230,begin apogee
$GC,5237,-0.17,0.0,565.9,-9.2,588,5362,0.60,0.00,117.85,1.121,4,0.134,0.000,3072,1888,3279,0,0,0,0,0,0,25.79,28.83,23.90
$STATE,5366,end apogee,CONTROL_FINISHED_OK
$STATE,5366,begin climb
$GC,5369,0.75,146.6,570.1,0.0,601,5499,0.85,2.25,120.28,1.039,4,0.074,0.037,3371,521,2681,0,0,0,0,0,0,24.92,24.96,23.09
$GC,5526,0.75,146.6,562.5,9.6,616,5533,0.00,2.35,0.00,0.000,6,0.000,0.034,3371,1907,2676,0,0,0,0,0,0,28.83,24.34,28.83
$GC,5833,0.75,146.6,525.8,11.9,647,5841,0.00,2.22,0.00,0.000,4,0.000,0.038,3381,530,2670,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5857,0.75,146.6,523.2,11.9,649,5864,0.00,2.20,0.00,0.000,6,0.000,0.034,3380,1901,2669,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6165,0.75,146.6,486.8,11.5,680,6173,0.00,2.17,0.00,0.000,4,0.000,0.046,3380,3313,2668,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6206,0.75,146.6,481.2,13.0,684,6215,0.00,2.15,0.00,0.000,6,0.000,0.030,3389,1902,2668,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6517,0.75,146.6,442.8,12.3,715,6526,0.00,2.12,0.00,0.000,4,0.000,0.040,3400,513,2667,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6649,0.75,146.6,425.7,13.1,728,6658,0.00,2.17,0.00,0.000,6,0.000,0.035,3400,1896,2666,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6960,0.75,146.6,387.1,11.9,759,6969,0.00,2.12,0.00,0.000,4,0.000,0.046,3400,3292,2666,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7025,0.75,146.6,378.4,14.5,765,7032,0.15,2.10,0.00,0.000,6,0.174,0.031,3372,1894,2666,0,0,0,0,0,0,25.84,26.26,28.83
$GC,7332,0.75,146.6,342.2,11.5,796,7336,0.00,2.12,0.00,0.000,4,0.000,0.040,3381,506,2666,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7384,0.75,146.6,336.1,11.9,801,7393,0.00,2.17,0.00,0.000,6,0.000,0.035,3380,1894,2666,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7694,0.75,146.6,299.9,11.3,832,7703,0.00,2.17,0.00,0.000,4,0.000,0.047,3380,3315,2666,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7717,0.75,146.6,297.2,11.7,834,7721,0.00,2.12,0.00,0.000,6,0.000,0.031,3390,1887,2666,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8029,0.75,146.6,262.0,10.8,865,8038,0.00,2.10,0.00,0.000,4,0.000,0.039,3400,510,2666,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8113,0.75,146.6,253.2,10.5,873,8120,0.00,2.15,0.00,0.000,6,0.000,0.035,3400,1895,2666,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8421,0.75,146.6,221.2,10.4,904,8430,0.00,2.15,0.00,0.000,4,0.000,0.047,3400,3305,2666,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8473,0.75,146.6,215.2,11.8,909,8482,0.15,2.10,0.00,0.000,6,0.174,0.031,3372,1892,2666,0,0,0,0,0,0,25.96,26.41,28.83
$GC,8783,0.75,146.6,184.2,10.0,940,8787,0.00,2.12,0.00,0.000,4,0.000,0.041,3380,504,2666,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8905,0.75,146.6,171.9,10.1,952,8914,0.00,2.15,0.00,0.000,6,0.000,0.035,3380,1886,2666,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9216,0.76,160.2,142.5,8.6,983,9234,0.00,2.20,10.38,0.899,4,0.000,0.047,3380,3297,2625,0,0,0,0,0,0,28.83,26.32,25.18
$GC,9300,0.76,160.2,134.6,10.1,991,9307,0.00,2.12,0.00,0.000,6,0.000,0.031,3389,1876,2623,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9608,0.79,185.5,107.9,8.1,1022,9637,0.00,2.12,22.08,0.929,4,0.000,0.039,3400,515,2520,0,0,0,0,0,0,28.83,26.01,25.19
$GC,9663,0.81,198.0,103.3,8.6,1027,9681,0.00,2.15,11.40,0.709,6,0.000,0.034,3400,1881,2471,0,0,0,0,0,0,28.83,26.04,25.02
$GC,9988,0.81,198.0,71.4,10.0,1087,9994,0.00,2.22,0.00,0.000,4,0.000,0.047,3400,3314,2464,0,0,0,0,0,0,28.83,25.99,28.83
$GC,10083,0.81,198.0,60.2,11.3,1105,10090,0.00,2.12,0.00,0.000,6,0.000,0.031,3409,1900,2463,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10398,0.87,246.5,28.2,7.1,1166,10431,0.00,2.25,26.83,0.752,4,0.000,0.041,3420,504,2273,0,0,0,0,0,0,28.83,25.90,25.08
$FREEZE,8.94,4.018,-1.653,0,1,0
$FREEZE,8.22,4.028,-1.654,0,1,0
$GC,10662,1.06,400.1,12.6,2.7,1216,10745,0.15,2.20,73.22,0.093,6,0.094,0.036,3481,1894,1644,0,0,0,0,0,0,25.95,26.05,25.74
$FREEZE,6.95,4.018,-1.655,0,1,0
$FREEZE,6.30,4.025,-1.654,0,1,0
$FREEZE,5.90,4.037,-1.654,0,1,0
$FREEZE,5.21,4.043,-1.654,0,1,0
$FREEZE,4.71,4.048,-1.653,0,1,0
$FREEZE,4.24,4.062,-1.653,0,1,0
$FREEZE,3.97,4.065,-1.653,0,1,0
$STATE,10783,end climb,SURFACE_DEPTH_REACHED
$STATE,10783,begin surface coast
$FREEZE,3.60,4.064,-1.652,0,1,0
$FREEZE,3.22,4.069,-1.652,0,1,0
$FREEZE,2.74,4.058,-1.652,0,1,0
$FREEZE,2.23,4.059,-1.651,0,1,0
$FREEZE,1.82,4.058,-1.651,0,1,0
$FREEZE,1.45,4.041,-1.652,0,1,0
$FREEZE,1.41,4.061,-0.834,0,1,0
$FREEZE,1.40,3.567,-0.124,0,1,0
$FINISH,1.4,1.001751
$STATE,10825,end surface coast,CONTROL_FINISHED_OK
$STATE,10825,begin surface
$SM_CCo,10906,0.00,0.000,0,0,1629,404.74
$SM_GC,2.34,8.38,0.30,0.00,0.042,0.061,0.000,345,2102,1629,-8.64,-1.24,404.74,0,0,0,0,0,0,25.89,26.03,28.83
$RAFOS_CLK,556
$RAFOS,6,1344617344,16.833334,16.817778,50,47,46,44,41,41,1271,1661,1919,1636,385,1024
$RAFOS,5,1344616865,16.700001,16.684723,45,45,44,43,42,41,528,1163,1556,433,1753,195
$RAFOS,4,1344616382,16.566668,16.550556,49,44,44,41,41,39,1936,742,813,1,1445,1588
$RAFOS,3,1344615904,16.433332,16.417778,44,44,44,41,41,40,483,1888,143,1,687,1518
$RAFOS,2,1344615423,16.299999,16.284166,46,44,44,44,42,41,1287,695,1615,504,845,1886
$RAFOS,0,1344614465,16.033333,16.018055,44,43,42,42,41,41,142,808,39,1338,1642,644
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6023.41,100812,121215
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.40
$XPDR_PINGS,11
$ALTIM_TOP_PING,20.0,18.3
$24V_AH,23.1,33.597
$10V_AH,9.9,37.725
$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,21.050,114.650,382.025,0.000,0.000,0.000,0.000,283.125,4.750,0.000,19.824,3073.007,4988.243,546.684,2392.954,324.701,0.000,1971.976,0.000,2078.359,1800.000,16.108,0.000
$DEVICE_MAMPS,250.920,64.260,1120.725,0.000,0.000,0.000,0.000,290.628,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,893.421,855.215,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151592
$DATA_FILE_SIZE,56809,1244
$CAP_FILE_SIZE,137019,0
$CFSIZE,260165632,222359552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1455.2
$CURRENT,0.058, 11.8,1
$GPS,100812,191934,6647.874,-6014.406,31,0.8,31,-33.9