version: 66.11
glider: 108
mission: 21
dive: 341
start: 8 20 112 4 50 5
data:
$ID,108
$MISSION,21
$DIVE,341
$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,-191517.36
$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,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
$GPS1,200812,044225,6703.146,-5650.366,41,0.8,41,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-78.2
$GPS2,200812,044930,6703.153,-5650.470,15,1.2,16,-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,245.8,161614,-16.9,-9.167
$D_GRID,555
$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,-146.6,0.0,0.0,0,68,0.00,0.00,-50.58,0.000,2,0.000,0.000,341,2109,2867,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.75,-146.6,3.2,-1.0,9,117,10.32,2.17,-24.35,0.000,4,0.247,0.054,2893,705,3882,0,0,0,0,0,0,25.46,26.22,26.67
$GC,227,-0.75,-146.6,28.0,-12.6,37,234,0.00,2.17,0.00,0.000,6,0.000,0.037,2886,2100,3886,0,0,0,0,0,0,28.83,26.22,28.83
$GC,538,-0.75,-146.6,65.2,-10.8,98,545,0.00,2.12,0.00,0.000,4,0.000,0.048,2876,3504,3889,0,0,0,0,0,0,28.83,26.17,28.83
$GC,634,-0.75,-146.6,76.7,-12.6,116,641,0.00,2.05,0.00,0.000,6,0.000,0.029,2876,2106,3889,0,0,0,0,0,0,28.83,26.41,28.83
$GC,947,-0.75,-146.6,110.8,-10.7,167,957,0.00,2.12,0.00,0.000,4,0.000,0.048,2866,3501,3889,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1032,-0.75,-146.6,120.1,-10.8,175,1040,0.00,2.05,0.00,0.000,6,0.000,0.030,2865,2108,3889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1340,-0.75,-146.6,154.0,-10.5,206,1349,0.00,2.17,0.00,0.000,4,0.000,0.049,2854,3522,3888,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1435,-0.75,-146.6,164.8,-11.6,215,1444,0.12,2.05,0.00,0.000,6,0.164,0.030,2885,2121,3889,0,0,0,0,0,0,26.06,26.46,28.83
$GC,1743,-0.75,-146.6,195.2,-9.8,246,1752,0.00,2.15,0.00,0.000,4,0.000,0.048,2878,3505,3887,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1828,-0.75,-146.6,203.9,-10.7,254,1835,0.00,2.00,0.00,0.000,6,0.000,0.029,2878,2135,3887,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2135,-0.75,-146.6,236.3,-10.0,285,2144,0.00,2.10,0.00,0.000,4,0.000,0.047,2868,3505,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2227,-0.75,-146.6,246.2,-10.8,294,2236,0.00,2.00,0.00,0.000,6,0.000,0.029,2868,2138,3886,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2537,-0.75,-146.6,276.9,-10.0,325,2546,0.00,2.12,0.00,0.000,4,0.000,0.047,2857,3515,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2652,-0.75,-146.6,288.7,-10.6,336,2660,0.12,1.98,0.00,0.000,6,0.155,0.028,2889,2154,3886,0,0,0,0,0,0,26.13,26.51,28.83
$GC,2959,-0.75,-146.6,315.8,-8.4,367,2963,0.00,2.08,0.00,0.000,4,0.000,0.047,2881,3512,3885,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3034,-0.75,-146.6,322.7,-9.5,374,3041,0.00,1.95,0.00,0.000,6,0.000,0.028,2881,2162,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3341,-0.75,-146.6,351.8,-9.6,405,3350,0.00,2.05,0.00,0.000,4,0.000,0.047,2871,3508,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3423,-0.75,-146.6,360.0,-10.0,413,3427,0.00,1.95,0.00,0.000,6,0.000,0.028,2871,2177,3885,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3736,-0.75,-146.6,389.8,-9.6,444,3744,0.00,2.05,0.00,0.000,4,0.000,0.047,2861,3511,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,3820,-0.75,-146.6,398.3,-10.2,452,3827,0.00,1.92,0.00,0.000,6,0.000,0.028,2861,2177,3886,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4128,-0.75,-146.6,429.3,-9.8,483,4137,0.00,2.03,0.00,0.000,4,0.000,0.047,2851,3508,3885,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4221,-0.75,-146.6,438.9,-10.6,492,4230,0.15,1.92,0.00,0.000,6,0.146,0.028,2891,2180,3886,0,0,0,0,0,0,26.08,26.52,28.83
$GC,4531,-0.75,-146.6,464.0,-8.0,523,4535,0.00,2.03,0.00,0.000,4,0.000,0.047,2884,3507,3885,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4613,-0.75,-146.6,471.1,-8.7,531,4617,0.00,1.90,0.00,0.000,6,0.000,0.028,2884,2186,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4926,-0.75,-146.6,498.3,-8.8,562,4935,0.00,2.05,0.00,0.000,4,0.000,0.047,2874,3515,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4963,-0.75,-146.6,501.3,-9.0,565,4969,0.00,1.90,0.00,0.000,6,0.000,0.028,2874,2197,3886,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5270,-0.75,-146.6,529.9,-8.9,596,5279,0.00,2.00,0.00,0.000,4,0.000,0.047,2864,3508,3886,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5345,-0.75,-146.6,537.0,-10.1,603,5353,0.00,1.88,0.00,0.000,6,0.000,0.028,2864,2205,3886,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,5482,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5482,begin apogee
$GC,5490,-0.17,0.0,550.6,-9.9,617,5614,0.65,0.00,119.10,1.151,4,0.130,0.000,3071,1878,3278,0,0,0,0,0,0,25.67,28.83,23.91
$STATE,5617,end apogee,CONTROL_FINISHED_OK
$STATE,5617,begin climb
$GC,5620,0.75,146.6,555.4,0.0,630,5756,0.85,2.22,119.68,1.003,4,0.063,0.036,3374,527,2680,0,0,0,0,0,0,24.94,24.98,23.20
$GC,5983,0.75,146.6,525.6,11.2,666,5990,0.00,2.22,0.00,0.000,6,0.000,0.033,3374,1914,2671,0,0,0,0,0,0,28.83,25.44,28.83
$GC,6289,0.75,146.6,489.8,11.7,697,6298,0.00,2.15,0.00,0.000,4,0.000,0.044,3374,3311,2668,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6526,0.75,146.6,457.8,13.6,720,6533,0.00,2.10,0.00,0.000,6,0.000,0.029,3383,1910,2666,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6834,0.75,146.6,417.6,13.1,751,6844,0.00,2.15,0.00,0.000,4,0.000,0.038,3394,504,2666,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6921,0.75,146.6,406.3,13.2,759,6929,0.00,2.17,0.00,0.000,6,0.000,0.034,3394,1902,2665,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7229,0.75,146.6,364.1,13.4,790,7230,0.00,0.00,0.00,0.000,6,0.000,0.000,3394,1902,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7530,0.75,146.6,324.5,13.3,820,7534,0.00,2.17,0.00,0.000,4,0.000,0.037,3403,496,2664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7592,0.75,146.6,315.6,13.6,826,7602,0.12,2.17,0.00,0.000,6,0.170,0.034,3372,1896,2664,0,0,0,0,0,0,25.96,26.30,28.83
$GC,7903,0.75,146.6,277.2,12.4,857,7911,0.00,2.12,0.00,0.000,4,0.000,0.044,3372,3298,2664,0,0,0,0,0,0,28.83,26.23,28.83
$GC,7937,0.75,146.6,273.0,13.0,860,7944,0.00,2.10,0.00,0.000,6,0.000,0.029,3379,1874,2664,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8245,0.75,146.6,235.4,12.2,891,8254,0.00,2.08,0.00,0.000,4,0.000,0.038,3389,516,2664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8369,0.75,146.6,220.8,11.9,903,8379,0.00,2.12,0.00,0.000,6,0.000,0.033,3389,1895,2664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8678,0.75,146.6,184.8,11.4,934,8681,0.00,2.12,0.00,0.000,4,0.000,0.044,3389,3308,2664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8719,0.75,146.6,179.5,12.6,938,8723,0.00,2.10,0.00,0.000,6,0.000,0.029,3398,1878,2664,0,0,0,0,0,0,28.83,26.43,28.83
$GC,9032,0.75,146.6,143.2,10.8,969,9040,0.00,2.10,0.00,0.000,4,0.000,0.037,3409,501,2664,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9147,0.75,146.6,130.5,11.1,980,9155,0.15,2.12,0.00,0.000,6,0.158,0.034,3370,1882,2664,0,0,0,0,0,0,25.99,26.39,28.83
$GC,9454,0.77,167.2,102.2,8.3,1011,9473,0.00,0.00,15.60,0.877,6,0.000,0.000,3370,1882,2598,0,0,0,0,0,0,28.83,28.83,25.15
$GC,9777,0.77,167.2,74.3,9.4,1072,9784,0.00,2.17,0.00,0.000,4,0.000,0.044,3370,3304,2595,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9806,0.77,167.2,71.3,10.6,1077,9813,0.00,2.15,0.00,0.000,6,0.000,0.029,3377,1864,2595,0,0,0,0,0,0,28.83,26.32,28.83
$GC,10119,0.77,168.7,41.6,9.1,1138,10126,0.00,2.08,0.00,0.000,4,0.000,0.039,3387,513,2595,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10291,0.88,253.6,28.4,5.6,1171,10347,0.00,2.08,47.62,0.800,6,0.000,0.034,3387,1846,2243,0,0,0,0,0,0,28.83,26.34,24.98
$FREEZE,8.97,6.564,-1.704,0,1,0
$FREEZE,8.50,6.579,-1.704,0,1,0
$FREEZE,8.37,6.547,-1.703,0,1,0
$FREEZE,7.97,6.563,-1.700,0,1,0
$FREEZE,7.78,6.598,-1.698,0,1,0
$FREEZE,7.52,6.628,-1.697,0,1,0
$FREEZE,7.29,6.653,-1.697,0,1,0
$FREEZE,7.06,6.714,-1.694,0,1,0
$FREEZE,6.85,6.720,-1.694,0,1,0
$FREEZE,6.54,6.752,-1.693,0,1,0
$FREEZE,6.23,6.743,-1.691,0,1,0
$FREEZE,5.74,6.752,-1.690,0,1,0
$FREEZE,5.28,6.752,-1.690,0,1,0
$FREEZE,4.83,6.747,-1.690,0,1,0
$FREEZE,4.13,6.757,-1.689,0,1,0
$FREEZE,3.58,6.745,-1.689,0,1,0
$GC,10658,1.01,362.4,6.5,4.6,1240,10705,0.17,0.00,44.47,0.073,2,0.081,0.000,3469,1846,1842,0,0,0,0,0,0,26.09,28.83,28.83
$STATE,10706,end climb,SURFACE_DEPTH_REACHED
$STATE,10706,begin surface coast
$FREEZE,2.68,6.737,-1.689,0,1,0
$FREEZE,2.22,6.737,-1.688,0,1,0
$FREEZE,1.73,6.735,-1.688,0,1,0
$FREEZE,1.47,6.731,-0.147,0,1,0
$FREEZE,1.44,6.720,-0.068,0,1,0
$FREEZE,1.38,6.724,-0.722,0,1,0
$FREEZE,1.41,6.709,-1.127,0,1,0
$FREEZE,1.54,6.510,-1.490,0,1,0
$FREEZE,1.58,6.563,-1.695,0,1,0
$FREEZE,1.43,6.639,-0.333,0,1,0
$FREEZE,1.45,6.716,-0.796,0,1,0
$FREEZE,1.44,6.318,-0.236,0,1,0
$FINISH,1.4,1.003330
$STATE,10772,end surface coast,CONTROL_FINISHED_OK
$STATE,10772,begin surface
$SM_CCo,10792,20.25,0.070,0,0,1647,400.08
$SM_GC,2.17,8.43,0.35,20.25,0.047,0.056,0.070,341,2099,1647,-8.65,-1.67,400.08,0,0,0,0,0,0,25.94,26.06,25.84
$RAFOS_CLK,525
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5641.49,200812,010128
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.14
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,16.20
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.8,18.2
$ALTIM_BOTTOM_PING,550.6,12.3
$24V_AH,23.2,39.233
$10V_AH,9.9,43.952
$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,21.100,100.450,346.475,20.250,0.000,0.000,0.000,292.950,5.250,0.000,17.056,3162.418,4793.821,529.756,2446.305,309.884,0.000,1961.256,0.000,2126.202,0.000,17.874,0.000
$DEVICE_MAMPS,247.095,55.845,1150.560,70.380,0.000,0.000,0.000,273.401,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,886.965,890.545,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151528
$DATA_FILE_SIZE,56644,1258
$CAP_FILE_SIZE,134595,0
$CFSIZE,260165632,217911296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1463.6
$CURRENT,0.053,166.3,1
$GPS,200812,075136,6701.948,-5652.419,29,1.2,29,-33.5