version: 66.11
glider: 108
mission: 21
dive: 290
start: 8 11 112 5 5 9
data:
$ID,108
$MISSION,21
$DIVE,290
$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,-191451.48
$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,63
$R_STBD_OVSHOOT,49
$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
$GPS1,110812,045704,6645.186,-6011.054,35,0.8,35,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.46
$_SM_ANGLEo,-78.2
$GPS2,110812,050435,6645.147,-6010.996,15,1.2,15,-33.9
$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,66.2,150275,-16.9,-9.167
$D_GRID,578
$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,-146.6,0.0,0.0,0,70,0.00,0.00,-51.25,0.000,2,0.000,0.000,342,2121,2819,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.75,-146.6,3.3,-1.6,9,119,10.25,2.20,-26.27,0.000,4,0.246,0.052,2892,709,3881,0,0,0,0,0,0,25.50,26.15,26.60
$GC,325,-0.75,-146.6,38.5,-11.5,56,332,0.00,2.17,0.00,0.000,6,0.000,0.041,2886,2094,3886,0,0,0,0,0,0,28.83,26.20,28.83
$GC,638,-0.75,-146.6,74.9,-12.6,117,645,0.00,2.20,0.00,0.000,4,0.000,0.051,2874,3510,3888,0,0,0,0,0,0,28.83,26.17,28.83
$GC,784,-0.75,-146.6,93.0,-12.3,145,791,0.00,2.10,0.00,0.000,6,0.000,0.031,2874,2099,3888,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1094,-0.75,-146.6,130.8,-11.8,181,1103,0.00,2.20,0.00,0.000,4,0.000,0.051,2866,3509,3889,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1196,-0.75,-146.6,143.1,-11.9,191,1200,0.00,2.05,0.00,0.000,6,0.000,0.031,2867,2121,3888,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1508,-0.75,-146.6,180.8,-11.9,222,1517,0.00,2.17,0.00,0.000,4,0.000,0.051,2856,3506,3888,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1590,-0.75,-146.6,190.9,-12.1,230,1600,0.12,2.05,0.00,0.000,6,0.169,0.031,2887,2127,3888,0,0,0,0,0,0,26.06,26.44,28.83
$GC,1900,-0.75,-146.6,223.5,-10.4,261,1909,0.00,2.15,0.00,0.000,4,0.000,0.052,2878,3511,3887,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1955,-0.75,-146.6,229.3,-11.3,266,1962,0.00,2.03,0.00,0.000,6,0.000,0.031,2879,2138,3886,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2262,-0.75,-146.6,263.9,-11.1,297,2271,0.00,2.15,0.00,0.000,4,0.000,0.051,2869,3513,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2367,-0.75,-146.6,275.9,-11.9,307,2375,0.00,2.00,0.00,0.000,6,0.000,0.031,2869,2152,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2674,-0.75,-146.6,311.5,-11.1,338,2683,0.00,2.12,0.00,0.000,4,0.000,0.051,2859,3516,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2786,-0.75,-146.6,324.6,-11.3,349,2796,0.12,2.00,0.00,0.000,6,0.162,0.031,2890,2159,3885,0,0,0,0,0,0,26.12,26.49,28.83
$GC,3097,-0.75,-146.6,353.4,-8.6,380,3106,0.00,2.08,0.00,0.000,4,0.000,0.050,2882,3519,3885,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3160,-0.75,-146.6,359.3,-9.8,386,3169,0.00,1.98,0.00,0.000,6,0.000,0.031,2881,2161,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3469,-0.75,-146.6,387.4,-8.8,417,3473,0.00,2.08,0.00,0.000,4,0.000,0.050,2872,3505,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3504,-0.75,-146.6,390.5,-9.2,420,3511,0.00,1.98,0.00,0.000,6,0.000,0.030,2872,2156,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3812,-0.75,-146.6,418.1,-9.0,451,3821,0.00,2.08,0.00,0.000,4,0.000,0.050,2862,3515,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3857,-0.75,-146.6,422.4,-10.0,455,3865,0.00,1.98,0.00,0.000,6,0.000,0.030,2861,2163,3885,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4165,-0.75,-146.6,452.4,-9.5,486,4168,0.00,2.10,0.00,0.000,4,0.000,0.050,2851,3519,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4228,-0.75,-146.6,458.7,-10.3,492,4237,0.12,1.98,0.00,0.000,6,0.157,0.031,2884,2172,3885,0,0,0,0,0,0,26.15,26.52,28.83
$GC,4538,-0.75,-146.6,484.9,-8.2,523,4547,0.00,2.05,0.00,0.000,4,0.000,0.050,2877,3506,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4602,-0.75,-146.6,490.6,-9.2,529,4605,0.00,1.95,0.00,0.000,6,0.000,0.030,2877,2189,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4914,-0.75,-146.6,517.9,-9.1,560,4923,0.00,2.05,0.00,0.000,4,0.000,0.050,2867,3514,3885,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4999,-0.75,-146.6,525.7,-9.1,568,5006,0.00,1.92,0.00,0.000,6,0.000,0.030,2867,2191,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5307,-0.75,-146.6,554.3,-8.1,599,5316,0.00,2.03,0.00,0.000,4,0.000,0.050,2857,3509,3886,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5390,-0.75,-146.6,562.0,-9.6,607,5400,0.12,1.92,0.00,0.000,6,0.155,0.030,2889,2192,3886,0,0,0,0,0,0,26.17,26.54,28.83
$STATE,5567,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5567,begin apogee
$GC,5575,-0.17,0.0,578.2,-9.2,625,5700,0.55,0.00,118.55,1.132,4,0.133,0.000,3069,1889,3278,0,0,0,0,0,0,25.84,28.83,23.88
$STATE,5703,end apogee,CONTROL_FINISHED_OK
$STATE,5703,begin climb
$GC,5706,0.75,146.6,584.5,0.0,638,5843,0.85,2.22,120.70,1.042,4,0.075,0.037,3367,527,2680,0,0,0,0,0,0,24.89,24.93,23.06
$GC,6069,0.75,146.6,552.6,11.6,674,6076,0.00,2.25,0.00,0.000,6,0.000,0.035,3367,1911,2671,0,0,0,0,0,0,28.83,25.26,28.83
$GC,6376,0.75,146.6,517.0,12.0,705,6385,0.00,2.17,0.00,0.000,4,0.000,0.046,3367,3304,2668,0,0,0,0,0,0,28.83,25.73,28.83
$GC,6613,0.75,146.6,485.4,13.7,728,6620,0.00,2.12,0.00,0.000,6,0.000,0.031,3377,1908,2667,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6920,0.75,146.6,447.6,11.9,759,6930,0.00,2.15,0.00,0.000,4,0.000,0.040,3388,496,2667,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6957,0.75,146.6,443.5,12.0,762,6963,0.00,2.20,0.00,0.000,6,0.000,0.034,3387,1902,2667,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7264,0.75,146.6,404.7,12.7,793,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1902,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7566,0.75,146.6,367.2,12.1,823,7576,0.00,2.15,0.00,0.000,4,0.000,0.039,3397,516,2666,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7601,0.75,146.6,362.9,12.2,826,7608,0.00,2.15,0.00,0.000,6,0.000,0.035,3396,1897,2665,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7909,0.75,146.6,326.0,11.3,857,7910,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1896,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8211,0.75,146.6,292.6,11.0,887,8221,0.00,2.12,0.00,0.000,4,0.000,0.047,3397,3300,2665,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8237,0.75,146.6,289.6,11.6,889,8245,0.15,2.10,0.00,0.000,6,0.174,0.031,3368,1894,2665,0,0,0,0,0,0,25.94,26.37,28.83
$GC,8544,0.75,146.6,256.8,10.4,920,8545,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,1894,2665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8847,0.75,146.6,225.1,10.8,950,8855,0.00,2.12,0.00,0.000,4,0.000,0.040,3377,500,2665,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8909,0.75,146.6,218.3,10.7,956,8913,0.00,2.15,0.00,0.000,6,0.000,0.035,3377,1894,2665,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9221,0.75,146.6,186.3,9.8,987,9231,0.00,2.17,0.00,0.000,4,0.000,0.039,3386,500,2666,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9256,0.75,146.6,183.1,9.8,990,9263,0.00,2.15,0.00,0.000,6,0.000,0.035,3386,1890,2665,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9564,0.75,146.6,151.2,10.3,1021,9573,0.00,2.12,0.00,0.000,4,0.000,0.039,3395,512,2665,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9619,0.75,146.6,145.6,10.6,1026,9626,0.00,2.12,0.00,0.000,6,0.000,0.035,3394,1887,2665,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9926,0.76,159.5,116.7,8.6,1057,9945,0.00,2.20,9.77,0.873,4,0.000,0.047,3395,3299,2628,0,0,0,0,0,0,28.83,26.34,25.20
$GC,10032,0.76,159.5,106.4,10.3,1067,10040,0.00,2.12,0.00,0.000,6,0.000,0.031,3404,1876,2626,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10341,0.83,211.7,81.1,7.0,1121,10389,0.00,0.00,42.85,0.851,6,0.000,0.000,3404,1875,2415,0,0,0,0,0,0,28.83,28.83,24.97
$GC,10696,0.83,211.7,49.7,10.4,1189,10702,0.00,2.15,0.00,0.000,4,0.000,0.042,3414,504,2407,0,0,0,0,0,0,28.83,25.97,28.83
$GC,10806,0.83,211.7,36.6,11.7,1210,10812,0.00,2.17,0.00,0.000,6,0.000,0.036,3414,1879,2406,0,0,0,0,0,0,28.83,26.06,28.83
$FREEZE,8.71,4.505,-1.650,0,1,0
$FREEZE,8.19,4.541,-1.653,0,1,0
$FREEZE,7.68,4.627,-1.653,0,1,0
$FREEZE,7.18,4.666,-1.653,0,1,0
$FREEZE,6.44,4.688,-1.653,0,1,0
$FREEZE,5.83,4.670,-1.653,0,1,0
$GC,11120,1.09,425.0,10.3,0.3,1271,11226,0.15,2.25,99.40,0.086,4,0.099,0.041,3492,502,1544,0,0,0,0,0,0,26.20,26.01,25.83
$FREEZE,3.97,4.654,-1.653,0,1,0
$STATE,11235,end climb,SURFACE_DEPTH_REACHED
$STATE,11235,begin surface coast
$FREEZE,3.45,4.654,-1.652,0,1,0
$FREEZE,3.03,4.654,-1.652,0,1,0
$FREEZE,2.38,4.654,-1.652,0,1,0
$FINISH,2.4,1.023917
$STATE,11251,end surface coast,CONTROL_FINISHED_OK
$STATE,11251,begin surface
$SM_CCo,11334,0.00,0.000,0,0,1531,428.78
$SM_GC,2.55,8.65,2.55,0.00,0.057,0.036,0.000,342,2109,1531,-8.67,-1.22,428.78,0,0,1,0,0,0,25.86,26.06,28.83
$RAFOS_CLK,575
$RAFOS,0,1344672064,8.033334,8.017777,46,44,42,40,38,37,1145,1210,1456,1791,1688,1830
$RAFOS,6,1344660542,4.833333,4.817222,43,43,41,40,40,39,1054,1108,1917,501,1507,343
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6047.17,110812,010148
$TT8_MAMPS,0.029211,0.029211
$HUMID,42.59
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.40
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.9,18.6
$24V_AH,23.1,33.959
$10V_AH,9.9,38.117
$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,21.100,106.075,391.275,0.000,0.000,0.000,0.000,316.350,5.250,0.000,16.802,3187.638,5230.615,557.382,2482.225,323.390,0.000,2033.560,0.000,2142.492,720.000,13.222,0.000
$DEVICE_MAMPS,246.330,52.020,1132.200,0.000,0.000,0.000,0.000,277.895,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.183,885.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,60070,1291
$CAP_FILE_SIZE,135182,0
$CFSIZE,260165632,222072832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1455.8
$CURRENT,0.106,186.8,1
$GPS,110812,081529,6645.485,-6009.005,41,0.9,41,-33.9