version: 66.11
glider: 108
mission: 21
dive: 291
start: 8 11 112 8 22 52
data:
$ID,108
$MISSION,21
$DIVE,291
$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,-191452.73
$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,66
$R_STBD_OVSHOOT,48
$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
$GPS1,110812,081529,6645.485,-6009.005,41,0.9,41,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-77.0
$GPS2,110812,082217,6645.432,-6008.945,17,1.0,17,-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,87.9,148715,-16.9,-9.167
$D_GRID,587
$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,13,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,70,0.00,0.00,-51.40,0.000,2,0.000,0.000,339,2126,2714,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.75,-146.6,3.1,-0.8,9,124,10.52,2.22,-30.20,0.000,4,0.257,0.054,2890,714,3883,0,0,0,0,0,0,25.48,26.19,26.63
$GC,355,-0.75,-146.6,45.5,-12.9,62,361,0.00,2.15,0.00,0.000,6,0.000,0.041,2884,2098,3888,0,0,0,0,0,0,28.83,26.20,28.83
$GC,670,-0.75,-146.6,86.7,-13.3,123,677,0.00,2.17,0.00,0.000,4,0.000,0.050,2873,3508,3890,0,0,0,0,0,0,28.83,26.17,28.83
$GC,762,-0.75,-146.6,99.5,-13.6,140,770,0.00,2.08,0.00,0.000,6,0.000,0.031,2876,2107,3890,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1068,-0.75,-146.6,140.5,-12.8,171,1072,0.00,2.20,0.00,0.000,4,0.000,0.052,2868,3512,3890,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1193,-0.75,-146.6,156.6,-13.1,183,1201,0.00,2.08,0.00,0.000,6,0.000,0.031,2868,2118,3890,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1500,-0.75,-146.6,195.7,-12.6,214,1504,0.00,2.17,0.00,0.000,4,0.000,0.052,2858,3515,3889,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1555,-0.75,-146.6,202.6,-13.0,219,1564,0.12,2.05,0.00,0.000,6,0.171,0.031,2891,2126,3889,0,0,0,0,0,0,26.04,26.44,28.83
$GC,1862,-0.75,-146.6,235.3,-9.8,250,1871,0.00,2.15,0.00,0.000,4,0.000,0.051,2882,3512,3888,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1947,-0.75,-146.6,243.3,-9.7,258,1954,0.00,2.00,0.00,0.000,6,0.000,0.031,2883,2138,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2255,-0.75,-146.6,270.2,-8.6,289,2264,0.00,2.12,0.00,0.000,4,0.000,0.051,2873,3506,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2393,-0.75,-146.6,282.5,-9.4,302,2399,0.00,1.98,0.00,0.000,6,0.000,0.031,2872,2148,3886,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2698,-0.75,-146.6,312.5,-10.3,333,2706,0.00,2.12,0.00,0.000,4,0.000,0.051,2863,3508,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2780,-0.75,-146.6,321.6,-11.4,341,2789,0.00,2.00,0.00,0.000,6,0.000,0.031,2862,2153,3886,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3090,-0.75,-146.6,356.6,-11.3,372,3099,0.00,2.10,0.00,0.000,4,0.000,0.051,2852,3515,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3173,-0.75,-146.6,366.4,-12.3,380,3182,0.12,2.00,0.00,0.000,6,0.159,0.031,2889,2153,3886,0,0,0,0,0,0,26.08,26.49,28.83
$GC,3482,-0.75,-146.6,396.4,-9.6,411,3491,0.00,2.12,0.00,0.000,4,0.000,0.050,2881,3520,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3527,-0.75,-146.6,400.6,-10.1,415,3535,0.00,1.95,0.00,0.000,6,0.000,0.031,2881,2166,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3835,-0.75,-146.6,431.6,-10.5,446,3844,0.00,2.10,0.00,0.000,4,0.000,0.050,2873,3519,3885,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3917,-0.75,-146.6,440.3,-10.8,454,3921,0.00,1.95,0.00,0.000,6,0.000,0.031,2873,2181,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4229,-0.75,-146.6,471.8,-10.1,485,4237,0.00,2.05,0.00,0.000,4,0.000,0.050,2864,3509,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4342,-0.75,-146.6,483.8,-10.5,496,4351,0.00,1.92,0.00,0.000,6,0.000,0.030,2864,2180,3886,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4651,-0.75,-146.6,515.2,-10.1,527,4661,0.00,2.08,0.00,0.000,4,0.000,0.050,2853,3519,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4737,-0.75,-146.6,524.2,-10.9,535,4745,0.12,1.95,0.00,0.000,6,0.156,0.030,2885,2179,3886,0,0,0,0,0,0,26.15,26.52,28.83
$GC,5044,-0.75,-146.6,552.1,-8.6,566,5053,0.00,2.05,0.00,0.000,4,0.000,0.050,2877,3516,3886,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5077,-0.75,-146.6,555.1,-8.9,569,5086,0.00,1.92,0.00,0.000,6,0.000,0.030,2878,2184,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5387,-0.75,-146.6,582.9,-8.5,600,5396,0.00,2.05,0.00,0.000,4,0.000,0.050,2868,3506,3887,0,0,0,0,0,0,28.83,26.28,28.83
$STATE,5436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5436,begin apogee
$GC,5446,-0.17,0.0,587.8,-9.9,605,5571,0.65,0.00,119.05,1.134,4,0.137,0.000,3073,1877,3278,0,0,0,0,0,0,25.75,28.83,23.87
$STATE,5574,end apogee,CONTROL_FINISHED_OK
$STATE,5574,begin climb
$GC,5577,0.75,146.6,593.0,0.0,618,5713,0.88,2.25,121.12,1.045,4,0.068,0.037,3377,508,2680,0,0,0,0,0,0,24.88,24.92,23.05
$GC,5940,0.75,146.6,559.6,12.5,654,5947,0.00,2.28,0.00,0.000,6,0.000,0.035,3377,1907,2670,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6247,0.75,146.6,522.0,11.6,685,6256,0.00,2.17,0.00,0.000,4,0.000,0.047,3377,3310,2667,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6485,0.75,146.6,489.8,14.0,708,6492,0.00,2.12,0.00,0.000,6,0.000,0.031,3386,1905,2666,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6792,0.75,146.6,451.8,11.6,739,6801,0.00,2.15,0.00,0.000,4,0.000,0.039,3397,501,2666,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6828,0.75,146.6,447.9,11.8,742,6835,0.00,2.17,0.00,0.000,6,0.000,0.035,3397,1905,2666,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7134,0.75,146.6,409.9,12.4,773,7143,0.00,2.12,0.00,0.000,4,0.000,0.047,3397,3301,2665,0,0,0,0,0,0,28.83,26.12,28.83
$GC,7199,0.75,146.6,401.2,14.2,779,7208,0.15,2.10,0.00,0.000,6,0.172,0.031,3369,1900,2666,0,0,0,0,0,0,25.84,26.25,28.83
$GC,7507,0.75,146.6,365.0,11.8,810,7511,0.00,2.12,0.00,0.000,4,0.000,0.040,3377,508,2665,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7602,0.75,146.6,354.2,12.0,819,7609,0.00,2.15,0.00,0.000,6,0.000,0.035,3377,1902,2665,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7909,0.75,146.6,317.7,11.9,850,7918,0.00,2.12,0.00,0.000,4,0.000,0.047,3378,3303,2664,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7981,0.75,146.6,308.0,14.0,857,7985,0.00,2.12,0.00,0.000,6,0.000,0.031,3387,1877,2664,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8294,0.75,146.6,268.9,12.3,888,8302,0.00,2.10,0.00,0.000,4,0.000,0.040,3397,502,2664,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8419,0.75,146.6,253.6,12.1,900,8426,0.00,2.12,0.00,0.000,6,0.000,0.034,3397,1879,2664,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8726,0.75,146.6,216.1,11.0,931,8735,0.00,2.17,0.00,0.000,4,0.000,0.046,3397,3302,2664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8779,0.75,146.6,209.4,12.6,936,8788,0.10,2.08,0.00,0.000,6,0.154,0.031,3375,1884,2664,0,0,0,0,0,0,26.01,26.42,28.83
$GC,9089,0.77,165.5,180.0,8.4,967,9109,0.00,2.17,14.48,0.933,4,0.000,0.039,3383,508,2604,0,0,0,0,0,0,28.83,26.25,25.16
$GC,9235,0.78,173.0,167.0,8.9,981,9248,0.00,2.15,7.90,0.854,6,0.000,0.035,3383,1882,2573,0,0,0,0,0,0,28.83,26.22,24.98
$GC,9551,0.79,183.8,139.1,8.7,1012,9569,0.00,2.22,10.45,0.881,4,0.000,0.047,3383,3310,2528,0,0,0,0,0,0,28.83,26.08,24.99
$GC,9624,0.79,183.8,131.5,11.0,1019,9633,0.00,2.15,0.00,0.000,6,0.000,0.030,3393,1881,2526,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9933,0.79,183.8,100.6,9.8,1050,9941,0.00,2.20,0.00,0.000,4,0.000,0.045,3393,3307,2525,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9955,0.79,183.8,98.3,9.9,1053,9961,0.00,2.12,0.00,0.000,6,0.000,0.031,3402,1892,2524,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10267,0.82,204.5,68.4,8.3,1114,10293,0.00,2.15,17.98,0.906,4,0.000,0.039,3412,502,2444,0,0,0,0,0,0,28.83,26.03,25.03
$GC,10376,0.82,204.5,58.8,9.2,1134,10383,0.00,2.17,0.00,0.000,6,0.000,0.036,3412,1890,2441,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10689,0.82,208.8,31.1,9.0,1195,10698,0.00,2.25,4.25,0.677,4,0.000,0.041,3422,502,2427,0,0,0,0,0,0,28.83,26.15,24.86
$GC,10792,0.82,208.8,21.4,9.2,1214,10799,0.00,2.15,0.00,0.000,6,0.000,0.037,3422,1881,2427,0,0,0,0,0,0,28.83,26.15,28.83
$FREEZE,8.93,4.666,-1.654,0,1,0
$FREEZE,8.37,4.648,-1.654,0,1,0
$GC,11107,1.08,417.1,12.1,0.5,1275,11214,0.12,2.25,99.03,0.093,4,0.108,0.041,3489,502,1575,0,0,0,0,0,0,26.27,26.06,25.86
$FREEZE,6.72,4.638,-1.652,0,1,0
$FREEZE,5.99,4.639,-1.650,0,1,0
$FREEZE,5.34,4.638,-1.649,0,1,0
$FREEZE,4.88,4.631,-1.648,0,1,0
$FREEZE,4.42,4.627,-1.647,0,1,0
$FREEZE,3.85,4.623,-1.646,0,1,0
$STATE,11247,end climb,SURFACE_DEPTH_REACHED
$STATE,11247,begin surface coast
$FREEZE,3.33,4.624,-1.646,0,1,0
$FREEZE,2.65,4.627,-1.645,0,1,0
$FREEZE,2.16,4.636,-1.645,0,1,0
$FREEZE,1.52,4.678,-1.644,0,1,0
$FREEZE,1.44,4.635,-1.373,0,1,0
$FREEZE,1.52,4.775,-0.822,0,1,0
$FREEZE,1.52,4.656,-0.780,0,1,0
$FREEZE,1.54,4.620,-0.773,0,1,0
$FINISH,1.5,1.011292
$STATE,11289,end surface coast,CONTROL_FINISHED_OK
$STATE,11290,begin surface
$SM_CCo,11373,0.00,0.000,0,0,1559,421.92
$SM_GC,2.66,8.60,2.55,0.00,0.057,0.038,0.000,343,2100,1559,-8.66,-1.36,421.92,0,0,1,0,0,0,25.97,26.10,28.83
$RAFOS_CLK,575
$RAFOS,6,1344674941,8.833333,8.816944,48,47,47,46,44,42,1586,1222,396,294,1751,1679
$RAFOS,5,1344674463,8.700000,8.684167,56,55,46,46,42,40,933,1885,957,1564,1423,393
$RAFOS,4,1344673982,8.566667,8.550555,48,44,41,40,39,39,559,943,1009,1,257,1388
$RAFOS,3,1344673506,8.433333,8.418333,49,45,44,43,40,40,581,407,1074,1532,660,1280
$RAFOS,1,1344672543,8.166667,8.150833,121,116,50,48,43,42,482,483,1508,293,1247,1122
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6015.98,110812,040424
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.30
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.50
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.7,18.5
$24V_AH,23.0,34.050
$10V_AH,9.8,38.215
$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,21.400,119.100,394.250,0.000,0.000,0.000,0.000,271.425,4.250,0.000,18.403,3238.348,5117.934,571.679,2514.387,337.251,0.000,2049.352,0.000,2222.750,1440.000,13.220,0.000
$DEVICE_MAMPS,257.040,54.315,1134.495,0.000,0.000,0.000,0.000,284.636,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,944.105,896.145,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151564
$DATA_FILE_SIZE,60198,1306
$CAP_FILE_SIZE,141260,0
$CFSIZE,260165632,221999104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1456.0
$CURRENT,0.158,181.6,1
$GPS,110812,113352,6644.993,-6006.138,39,0.8,39,-33.9