version: 66.11
glider: 108
mission: 21
dive: 339
start: 8 19 112 22 48 11
data:
$ID,108
$MISSION,21
$DIVE,339
$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,-191514.86
$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,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
$GPS1,190812,224005,6700.612,-5646.732,32,0.9,32,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.53
$_SM_ANGLEo,-77.6
$GPS2,190812,224736,6700.648,-5646.702,17,0.9,18,-33.4
$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,2.7,4455,-16.9,-9.167
$D_GRID,528
$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,-146.6,0.0,0.0,0,52,0.00,0.00,-33.92,0.000,2,0.000,0.000,345,2108,2442,0,0,0,0,0,0,28.83,28.83,28.83
$GC,56,-0.75,-146.6,3.0,-2.7,6,125,10.12,2.12,-50.20,0.000,4,0.239,0.061,2878,3500,3880,0,0,0,0,0,0,25.53,26.13,26.70
$GC,355,-0.75,-146.6,39.8,-12.9,62,361,0.00,2.08,0.00,0.000,6,0.000,0.029,2878,2097,3885,0,0,0,0,0,0,28.83,26.36,28.83
$GC,668,-0.75,-146.6,75.7,-12.0,123,675,0.00,2.17,0.00,0.000,4,0.000,0.047,2868,3502,3887,0,0,0,0,0,0,28.83,26.19,28.83
$GC,804,-0.75,-146.6,94.2,-14.4,149,811,0.00,2.05,0.00,0.000,6,0.000,0.028,2868,2098,3888,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1119,-0.75,-146.6,135.2,-12.0,184,1128,0.00,2.15,0.00,0.000,4,0.000,0.047,2857,3502,3888,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1256,-0.75,-146.6,151.0,-11.5,197,1263,0.12,2.05,0.00,0.000,6,0.167,0.028,2888,2102,3888,0,0,0,0,0,0,26.05,26.46,28.83
$GC,1562,-0.75,-146.6,178.8,-9.0,228,1571,0.00,2.12,0.00,0.000,4,0.000,0.047,2880,3497,3888,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1664,-0.75,-146.6,188.8,-9.9,238,1673,0.00,2.00,0.00,0.000,6,0.000,0.029,2880,2120,3887,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1975,-0.75,-146.6,216.8,-8.5,269,1984,0.00,2.10,0.00,0.000,4,0.000,0.047,2870,3505,3886,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2091,-0.75,-146.6,227.2,-9.0,280,2099,0.00,1.95,0.00,0.000,6,0.000,0.029,2870,2148,3886,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2398,-0.75,-146.6,255.7,-8.9,311,2406,0.00,2.08,0.00,0.000,4,0.000,0.047,2859,3499,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2480,-0.75,-146.6,263.7,-10.1,319,2488,0.00,1.95,0.00,0.000,6,0.000,0.029,2860,2154,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2789,-0.75,-146.6,294.0,-10.0,350,2799,0.12,2.10,0.00,0.000,4,0.169,0.045,2888,3510,3885,0,0,0,0,0,0,26.25,26.25,28.83
$GC,2900,-0.75,-146.6,303.5,-8.7,360,2908,0.00,1.95,0.00,0.000,6,0.000,0.028,2888,2163,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3206,-0.75,-146.6,330.3,-8.6,391,3215,0.00,2.03,0.00,0.000,4,0.000,0.047,2878,3501,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3278,-0.75,-146.6,337.1,-9.5,398,3287,0.00,1.90,0.00,0.000,6,0.000,0.028,2878,2171,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3588,-0.75,-146.6,365.7,-9.4,429,3597,0.00,2.00,0.00,0.000,4,0.000,0.047,2868,3495,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3671,-0.75,-146.6,373.7,-10.1,437,3679,0.00,1.88,0.00,0.000,6,0.000,0.028,2869,2183,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3980,-0.75,-146.6,403.1,-9.4,468,3989,0.00,2.03,0.00,0.000,4,0.000,0.046,2858,3517,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4054,-0.75,-146.6,410.4,-10.4,475,4063,0.12,1.90,0.00,0.000,6,0.149,0.028,2890,2191,3885,0,0,0,0,0,0,26.15,26.51,28.83
$GC,4363,-0.75,-146.6,435.6,-7.8,506,4367,0.00,2.03,0.00,0.000,4,0.000,0.046,2883,3517,3885,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4437,-0.75,-146.6,441.7,-8.6,513,4445,0.00,1.90,0.00,0.000,6,0.000,0.028,2883,2187,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4747,-0.75,-146.6,467.6,-8.1,544,4757,0.00,2.03,0.00,0.000,4,0.000,0.046,2873,3505,3885,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4811,-0.75,-146.6,473.4,-9.1,550,4815,0.00,1.90,0.00,0.000,6,0.000,0.028,2873,2187,3885,0,0,0,0,0,0,28.83,26.53,28.83
$GC,5128,-0.75,-146.6,500.1,-7.7,581,5136,0.00,1.98,0.00,0.000,4,0.000,0.045,2863,3498,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5211,-0.75,-146.6,507.7,-8.7,589,5219,0.00,1.85,0.00,0.000,6,0.000,0.028,2863,2208,3885,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,5449,end dive,NO_VERTICAL_VELOCITY
$STATE,5449,begin apogee
$GC,5457,-0.17,0.0,514.0,0.0,613,5581,0.60,0.00,118.28,1.157,4,0.097,0.000,3073,1890,3279,0,0,0,0,0,0,25.93,28.83,23.82
$STATE,5584,end apogee,CONTROL_FINISHED_OK
$STATE,5584,begin climb
$GC,5587,0.75,146.6,513.7,0.0,626,5712,0.82,0.00,119.55,0.991,6,0.071,0.000,3367,1891,2680,0,0,0,0,0,0,24.89,28.83,23.23
$GC,6023,0.75,146.6,479.9,12.3,670,6026,0.00,2.15,0.00,0.000,4,0.000,0.037,3377,524,2672,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6116,0.75,146.6,468.5,12.6,679,6124,0.00,2.15,0.00,0.000,6,0.000,0.033,3377,1899,2671,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6424,0.75,146.6,430.9,12.0,710,6425,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1899,2670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6727,0.75,146.6,394.2,12.3,740,6734,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1899,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7037,0.75,146.6,356.7,11.9,771,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1899,2668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7344,0.75,146.6,319.2,12.2,802,7353,0.00,2.17,0.00,0.000,4,0.000,0.037,3386,508,2668,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7389,0.75,146.6,314.2,12.2,806,7396,0.00,2.12,0.00,0.000,6,0.000,0.033,3386,1900,2667,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7697,0.75,146.6,275.0,12.8,837,7698,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1899,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7998,0.75,146.6,237.3,12.3,867,8004,0.00,0.00,0.00,0.000,6,0.000,0.000,3385,1899,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8309,0.75,146.6,200.3,11.9,898,8315,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1899,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8619,0.75,146.6,166.4,10.5,929,8625,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1899,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8930,0.75,146.6,135.9,9.7,960,8940,0.00,2.15,0.00,0.000,4,0.000,0.037,3395,510,2667,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8984,0.75,146.6,130.2,10.0,965,8993,0.00,2.12,0.00,0.000,6,0.000,0.034,3395,1902,2668,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9294,0.75,146.6,99.0,9.7,997,9300,0.00,2.17,0.00,0.000,4,0.000,0.037,3404,504,2667,0,0,0,0,0,0,28.83,26.35,28.83
$GC,9329,0.75,146.6,95.5,9.6,1003,9336,0.12,2.15,0.00,0.000,6,0.161,0.033,3373,1907,2668,0,0,0,0,0,0,26.07,26.40,28.83
$GC,9644,0.81,200.5,69.4,6.9,1064,9694,0.00,2.20,42.20,0.885,4,0.000,0.036,3380,515,2460,0,0,0,0,0,0,28.83,25.86,24.90
$GC,9775,0.83,212.7,58.9,8.7,1087,9795,0.00,2.17,10.93,0.806,6,0.000,0.034,3380,1890,2410,0,0,0,0,0,0,28.83,25.94,24.72
$GC,10102,0.88,259.9,29.5,7.2,1150,10140,0.10,0.00,30.40,0.802,6,0.111,0.000,3419,1890,2216,0,0,0,0,0,0,26.21,28.83,24.91
$FREEZE,8.76,6.660,-1.711,0,1,0
$FREEZE,8.49,6.655,-1.709,0,1,0
$FREEZE,8.30,6.658,-1.707,0,1,0
$FREEZE,7.89,6.674,-1.705,0,1,0
$FREEZE,7.66,6.685,-1.703,0,1,0
$FREEZE,7.16,6.708,-1.700,0,1,0
$FREEZE,6.98,6.712,-1.700,0,1,0
$FREEZE,6.72,6.722,-1.699,0,1,0
$FREEZE,6.55,6.724,-1.699,0,1,0
$FREEZE,6.20,6.729,-1.698,0,1,0
$FREEZE,5.93,6.733,-1.698,0,1,0
$FREEZE,5.75,6.735,-1.698,0,1,0
$FREEZE,5.49,6.736,-1.697,0,1,0
$FREEZE,5.01,6.840,-1.694,0,1,0
$FREEZE,4.50,6.902,-1.692,0,1,0
$FREEZE,4.06,6.890,-1.693,0,1,0
$FREEZE,3.57,6.901,-1.692,0,1,0
$GC,10450,1.01,360.7,5.5,5.0,1216,10482,0.10,0.00,29.92,0.072,2,0.117,0.000,3460,1890,1945,0,0,0,0,0,0,26.15,28.83,28.83
$STATE,10483,end climb,SURFACE_DEPTH_REACHED
$STATE,10483,begin surface coast
$FREEZE,2.65,6.882,-1.692,0,1,0
$FREEZE,2.25,6.882,-1.692,0,1,0
$FREEZE,1.82,6.880,-1.692,0,1,0
$FREEZE,1.56,6.870,-1.692,0,1,0
$FREEZE,1.58,6.648,-0.284,0,1,0
$FREEZE,1.50,6.804,-0.799,0,1,0
$FREEZE,1.44,6.733,-0.593,0,1,0
$FREEZE,1.54,6.776,-0.269,0,1,0
$FREEZE,1.60,6.566,-0.092,0,1,0
$FREEZE,1.54,6.414,-1.132,0,1,0
$FREEZE,1.55,6.750,-0.751,0,1,0
$FREEZE,1.45,6.698,-0.186,0,1,0
$FREEZE,1.61,6.571,-0.788,0,1,0
$FINISH,1.6,1.011385
$STATE,10553,end surface coast,CONTROL_FINISHED_OK
$STATE,10553,begin surface
$SM_CCo,10573,31.73,0.069,0,0,1648,400.08
$SM_GC,3.05,8.43,0.30,31.73,0.050,0.061,0.069,341,2105,1648,-8.66,-1.33,400.08,0,0,0,0,0,0,25.96,26.09,25.86
$RAFOS_CLK,505
$RAFOS,6,1345423743,0.833333,0.817500,45,43,42,41,41,40,1393,1048,1549,1280,1378,61
$RAFOS,5,1345423263,0.700000,0.684167,53,45,44,44,42,42,1423,1796,678,1094,1740,167
$RAFOS,4,1345422784,0.566667,0.551111,44,41,41,40,40,38,667,1213,1791,1554,918,1495
$RAFOS,3,1345422301,0.433333,0.416944,45,42,42,41,38,38,89,1536,530,1562,1,1776
$RAFOS,2,1345421828,0.300000,0.285556,46,46,45,42,40,39,151,1228,1620,982,766,1255
$RAFOS,1,1345421351,0.166667,0.153056,49,47,45,43,42,42,759,1344,617,154,440,458
$RAFOS,0,1345420863,0.033333,0.017500,44,43,42,40,39,38,1794,669,775,1,1443,117
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5656.72,190812,191945
$TT8_MAMPS,0.026215,0.026215
$HUMID,44.21
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,16.50
$XPDR_PINGS,20
$ALTIM_TOP_PING,19.9,18.5
$24V_AH,23.2,39.062
$10V_AH,10.0,43.765
$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,20.675,74.550,351.275,31.725,0.000,0.000,0.000,311.650,6.750,0.000,18.653,3039.314,4866.726,530.311,2306.611,314.422,0.000,1909.536,0.000,1981.094,2520.000,14.019,0.000
$DEVICE_MAMPS,239.445,61.200,1157.445,68.850,0.000,0.000,0.000,277.146,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,870.948,877.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151572
$DATA_FILE_SIZE,56588,1233
$CAP_FILE_SIZE,125053,0
$CFSIZE,260165632,218058752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1465.5
$CURRENT,0.149, 23.1,1
$GPS,200812,014619,6702.663,-5646.789,31,2.0,31,-33.5