version: 66.11
glider: 108
mission: 21
dive: 342
start: 8 20 112 7 59 15
data:
$ID,108
$MISSION,21
$DIVE,342
$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,-191518.61
$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,70
$R_STBD_OVSHOOT,53
$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
$GPS1,200812,075136,6701.948,-5652.419,29,1.2,29,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.54
$_SM_ANGLEo,-78.4
$GPS2,200812,075840,6701.930,-5652.393,22,0.8,23,-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,303.6,159756,-16.9,-9.167
$D_GRID,608
$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,-146.6,0.0,0.0,0,65,0.00,0.00,-46.15,0.000,2,0.000,0.000,340,2100,2746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,68,-0.75,-146.6,3.1,-1.4,8,115,10.25,2.22,-30.83,0.000,4,0.243,0.054,2896,715,3881,0,0,0,0,0,0,25.48,26.18,26.65
$GC,295,-0.75,-146.6,36.8,-13.5,50,302,0.00,2.15,0.00,0.000,6,0.000,0.037,2890,2093,3887,0,0,0,0,0,0,28.83,26.20,28.83
$GC,610,-0.75,-146.6,71.5,-9.2,111,616,0.00,2.17,0.00,0.000,4,0.000,0.048,2878,3515,3889,0,0,0,0,0,0,28.83,26.15,28.83
$GC,655,-0.75,-146.6,76.4,-11.2,119,661,0.00,2.10,0.00,0.000,6,0.000,0.029,2878,2095,3888,0,0,0,0,0,0,28.83,26.38,28.83
$GC,972,-0.75,-146.6,113.5,-12.1,170,976,0.00,2.20,0.00,0.000,4,0.000,0.048,2868,3511,3889,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1066,-0.75,-146.6,125.9,-13.3,179,1071,0.00,2.05,0.00,0.000,6,0.000,0.030,2867,2113,3889,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1380,-0.75,-146.6,163.2,-10.8,210,1390,0.00,2.12,0.00,0.000,4,0.000,0.049,2857,3497,3888,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1476,-0.75,-146.6,174.1,-11.5,219,1483,0.12,2.05,0.00,0.000,6,0.162,0.030,2889,2106,3888,0,0,0,0,0,0,26.06,26.44,28.83
$GC,1784,-0.75,-146.6,202.6,-9.2,250,1793,0.00,2.15,0.00,0.000,4,0.000,0.048,2881,3500,3888,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1848,-0.75,-146.6,208.7,-10.1,256,1856,0.00,2.00,0.00,0.000,6,0.000,0.030,2881,2128,3887,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2157,-0.75,-146.6,238.8,-9.8,287,2161,0.00,2.12,0.00,0.000,4,0.000,0.048,2870,3507,3886,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2221,-0.75,-146.6,245.3,-10.9,293,2228,0.00,2.03,0.00,0.000,6,0.000,0.029,2870,2121,3886,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2529,-0.75,-146.6,277.6,-10.2,324,2538,0.00,2.12,0.00,0.000,4,0.000,0.048,2860,3506,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2611,-0.75,-146.6,286.4,-10.7,332,2619,0.00,2.00,0.00,0.000,6,0.000,0.029,2860,2141,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2921,-0.75,-146.6,318.4,-10.1,363,2930,0.00,2.08,0.00,0.000,4,0.000,0.047,2850,3506,3885,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3004,-0.75,-146.6,327.6,-11.3,371,3013,0.10,2.00,0.00,0.000,6,0.129,0.029,2883,2141,3885,0,0,0,0,0,0,26.10,26.49,28.83
$GC,3314,-0.75,-146.6,353.8,-8.2,402,3324,0.00,2.08,0.00,0.000,4,0.000,0.047,2876,3509,3885,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3357,-0.75,-146.6,357.3,-8.3,406,3361,0.00,1.98,0.00,0.000,6,0.000,0.028,2876,2148,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3670,-0.75,-146.6,383.1,-8.6,437,3678,0.00,2.08,0.00,0.000,4,0.000,0.047,2865,3513,3885,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3743,-0.75,-146.6,389.6,-9.5,444,3751,0.00,1.98,0.00,0.000,6,0.000,0.028,2865,2156,3886,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4052,-0.75,-146.6,418.0,-9.1,475,4061,0.00,2.08,0.00,0.000,4,0.000,0.047,2855,3533,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4137,-0.75,-146.6,426.1,-10.1,483,4145,0.12,1.98,0.00,0.000,6,0.151,0.028,2887,2163,3886,0,0,0,0,0,0,26.14,26.51,28.83
$GC,4445,-0.75,-146.6,449.9,-7.3,514,4455,0.00,2.08,0.00,0.000,4,0.000,0.046,2880,3511,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4502,-0.75,-146.6,454.2,-8.3,519,4509,0.00,1.92,0.00,0.000,6,0.000,0.028,2880,2178,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,4809,-0.75,-146.6,480.2,-8.2,550,4819,0.00,2.05,0.00,0.000,4,0.000,0.047,2870,3510,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4873,-0.75,-146.6,485.9,-9.1,556,4877,0.00,1.92,0.00,0.000,6,0.000,0.028,2870,2196,3886,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5186,-0.75,-146.6,514.5,-9.5,587,5195,0.00,2.05,0.00,0.000,4,0.000,0.046,2860,3517,3885,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5230,-0.75,-146.6,518.6,-9.8,591,5237,0.00,1.92,0.00,0.000,6,0.000,0.028,2860,2182,3885,0,0,0,0,0,0,28.83,26.52,28.83
$GC,5538,-0.75,-146.6,548.5,-9.5,622,5547,0.00,2.05,0.00,0.000,4,0.000,0.046,2850,3514,3886,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5617,-0.75,-146.6,556.1,-10.2,629,5624,0.15,1.90,0.00,0.000,6,0.142,0.028,2890,2193,3886,0,0,0,0,0,0,26.08,26.52,28.83
$GC,5925,-0.75,-146.6,580.3,-7.4,660,5933,0.00,2.03,0.00,0.000,4,0.000,0.047,2883,3505,3887,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5959,-0.75,-146.6,582.8,-7.8,663,5966,0.00,1.90,0.00,0.000,6,0.000,0.028,2883,2185,3887,0,0,0,0,0,0,28.83,26.52,28.83
$STATE,6194,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6194,begin apogee
$GC,6202,-0.17,0.0,602.8,-8.0,685,6327,0.57,0.00,119.00,1.157,4,0.128,0.000,3068,1892,3279,0,0,0,0,0,0,25.69,28.83,23.87
$STATE,6331,end apogee,CONTROL_FINISHED_OK
$STATE,6331,begin climb
$GC,6334,0.75,146.6,607.4,0.0,689,6469,0.85,2.22,120.82,1.040,4,0.063,0.037,3377,524,2679,0,0,0,0,0,0,24.95,24.98,23.13
$GC,6699,0.75,146.6,576.4,11.5,714,6707,0.00,2.22,0.00,0.000,6,0.000,0.033,3377,1907,2670,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7006,0.75,146.6,539.8,12.0,745,7009,0.00,2.15,0.00,0.000,4,0.000,0.044,3377,3306,2668,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7232,0.75,146.6,508.4,14.0,767,7239,0.00,2.10,0.00,0.000,6,0.000,0.030,3386,1909,2666,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7540,0.75,146.6,466.8,13.7,798,7549,0.00,2.15,0.00,0.000,4,0.000,0.039,3397,502,2665,0,0,0,0,0,0,28.83,26.11,28.83
$GC,7635,0.75,146.6,454.1,14.0,807,7642,0.00,2.17,0.00,0.000,6,0.000,0.034,3397,1899,2663,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7942,0.75,146.6,411.7,13.5,838,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1899,2663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8245,0.75,146.6,371.4,13.3,868,8253,0.00,2.15,0.00,0.000,4,0.000,0.037,3406,508,2663,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8277,0.75,146.6,366.7,13.6,871,8286,0.10,2.12,0.00,0.000,6,0.146,0.034,3375,1884,2662,0,0,0,0,0,0,25.91,26.29,28.83
$GC,8586,0.75,146.6,329.6,11.9,902,8587,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,1883,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8889,0.75,146.6,295.2,11.4,932,8898,0.00,2.12,0.00,0.000,4,0.000,0.038,3382,509,2662,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8934,0.75,146.6,289.9,12.0,936,8941,0.00,2.15,0.00,0.000,6,0.000,0.034,3381,1900,2662,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9242,0.75,146.6,253.3,11.2,967,9251,0.00,2.15,0.00,0.000,4,0.000,0.037,3390,507,2662,0,0,0,0,0,0,28.83,26.31,28.83
$GC,9277,0.75,146.6,249.5,11.4,970,9284,0.00,2.15,0.00,0.000,6,0.000,0.034,3390,1899,2662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9584,0.75,146.6,214.2,11.3,1001,9593,0.00,2.17,0.00,0.000,4,0.000,0.037,3400,499,2662,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9637,0.75,146.6,207.9,12.4,1006,9640,0.00,2.15,0.00,0.000,6,0.000,0.034,3400,1894,2662,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9949,0.75,146.6,171.0,11.5,1037,9950,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1894,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10252,0.75,146.6,137.4,10.9,1067,10258,0.00,0.00,0.00,0.000,6,0.000,0.000,3400,1894,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10560,0.75,146.6,106.4,9.3,1098,10567,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1894,2662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10871,0.77,165.4,78.0,8.4,1153,10890,0.00,0.00,14.15,0.862,6,0.000,0.000,3400,1894,2604,0,0,0,0,0,0,28.83,28.83,25.17
$GC,11197,0.80,190.1,47.6,8.1,1216,11228,0.00,2.25,21.25,0.867,4,0.000,0.038,3409,509,2501,0,0,0,0,0,0,28.83,26.06,25.04
$GC,11297,0.80,190.1,38.0,9.8,1234,11305,0.00,2.15,0.00,0.000,6,0.000,0.034,3408,1875,2498,0,0,0,0,0,0,28.83,26.06,28.83
$FREEZE,8.80,6.596,-1.692,0,1,0
$FREEZE,8.25,6.655,-1.691,0,1,0
$FREEZE,7.61,6.691,-1.690,0,1,0
$FREEZE,6.92,6.709,-1.690,0,1,0
$FREEZE,6.12,6.733,-1.690,0,1,0
$GC,11615,1.07,414.7,11.4,-0.2,1295,11731,0.17,2.28,104.85,0.087,4,0.090,0.045,3485,3310,1584,0,0,0,0,0,0,26.20,25.97,25.79
$FREEZE,4.17,6.730,-1.689,0,1,0
$FREEZE,3.55,6.730,-1.689,0,1,0
$STATE,11745,end climb,SURFACE_DEPTH_REACHED
$STATE,11745,begin surface coast
$FREEZE,2.78,6.730,-1.688,0,1,0
$FREEZE,2.06,6.732,-1.688,0,1,0
$FREEZE,1.43,6.739,-1.687,0,1,0
$FINISH,1.4,1.024188
$STATE,11761,end surface coast,CONTROL_FINISHED_OK
$STATE,11761,begin surface
$SM_CCo,11844,0.00,0.000,0,0,1571,418.97
$SM_GC,2.52,8.55,1.88,0.00,0.053,0.029,0.000,337,2095,1571,-8.67,1.67,418.97,0,0,0,0,0,0,25.93,26.15,28.83
$RAFOS_CLK,576
$RAFOS,6,1345452545,8.833333,8.818055,46,45,43,43,41,39,632,435,1379,1766,875,1269
$RAFOS,5,1345452061,8.700000,8.683611,47,43,42,40,40,39,1165,700,296,1703,47,1885
$RAFOS,4,1345451589,8.566667,8.552500,46,42,41,41,41,40,998,1448,306,738,1689,1850
$RAFOS,3,1345451106,8.433333,8.418333,49,48,47,43,41,39,862,398,1741,1123,1448,61
$RAFOS,2,1345450625,8.300000,8.284722,44,44,44,43,43,42,721,343,1023,656,740,1206
$RAFOS,1,1345450145,8.166667,8.151389,51,46,43,42,42,41,856,996,1639,606,1642,1143
$RAFOS,0,1345449664,8.033334,8.017777,48,46,46,45,41,41,190,215,445,1897,448,1466
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5600.32,200812,040445
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.04
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,16.00
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.7,18.5
$ALTIM_BOTTOM_PING,550.6,65.3
$24V_AH,23.1,39.320
$10V_AH,9.9,44.052
$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,21.000,104.650,380.075,0.000,0.000,0.000,0.000,282.300,4.750,0.000,23.665,3304.823,5555.626,548.664,2518.349,339.178,0.000,2021.603,0.000,2203.259,2520.000,16.049,0.000
$DEVICE_MAMPS,242.505,53.550,1156.680,0.000,0.000,0.000,0.000,278.644,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,929.159,945.096,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,60057,1318
$CAP_FILE_SIZE,141134,0
$CFSIZE,260165632,217829376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$SOUNDSPEED,1464.4
$CURRENT,0.207,133.3,1
$GPS,200812,111804,6701.156,-5653.515,38,0.8,38,-33.5