version: 66.11
glider: 108
mission: 21
dive: 392
start: 8 30 112 12 10 51
data:
$ID,108
$MISSION,21
$DIVE,392
$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,-191583.72
$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,68
$R_STBD_OVSHOOT,47
$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
$GPS1,300812,120151,6646.660,-6011.430,24,1.1,39,-33.9
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-68.7
$GPS2,300812,121017,6646.542,-6011.555,19,0.9,20,-33.9
$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,280.6,11569,-16.9,-9.167
$D_GRID,563
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.75,-146.6,0.0,0.0,0,67,0.00,0.00,-46.85,0.000,2,0.000,0.000,336,2079,2683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.75,-146.6,3.0,-1.8,8,126,10.35,2.28,-35.22,0.000,4,0.245,0.066,2877,3508,3882,0,0,0,0,0,0,25.42,26.10,26.72
$GC,357,-0.75,-146.6,41.1,-13.7,62,365,0.00,2.10,0.00,0.000,6,0.000,0.031,2878,2094,3888,0,0,0,0,0,0,28.83,26.31,28.83
$GC,671,-0.75,-146.6,87.4,-14.6,123,678,0.00,2.20,0.00,0.000,4,0.000,0.049,2870,3508,3891,0,0,0,0,0,0,28.83,26.08,28.83
$GC,822,-0.75,-146.6,109.2,-14.6,145,829,0.00,2.05,0.00,0.000,6,0.000,0.031,2870,2117,3891,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1129,-0.75,-146.6,151.0,-13.2,176,1138,0.00,2.15,0.00,0.000,4,0.000,0.050,2860,3501,3891,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1284,-0.75,-146.6,171.4,-13.2,191,1293,0.00,2.05,0.00,0.000,6,0.000,0.032,2860,2124,3890,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1595,-0.75,-146.6,211.0,-12.8,222,1604,0.00,2.12,0.00,0.000,4,0.000,0.050,2849,3505,3890,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1739,-0.75,-146.6,230.8,-13.7,236,1749,0.15,2.03,0.00,0.000,6,0.166,0.032,2888,2143,3890,0,0,0,0,0,0,25.88,26.39,28.83
$GC,2050,-0.75,-146.6,264.8,-10.7,267,2058,0.00,2.08,0.00,0.000,4,0.000,0.050,2880,3496,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2134,-0.75,-146.6,274.2,-11.8,275,2140,0.00,1.98,0.00,0.000,6,0.000,0.032,2880,2157,3888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2441,-0.75,-146.6,306.8,-9.6,306,2451,0.00,2.12,0.00,0.000,4,0.000,0.051,2870,3513,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2517,-0.75,-146.6,314.4,-10.4,313,2524,0.00,2.00,0.00,0.000,6,0.000,0.032,2870,2158,3887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2824,-0.75,-146.6,346.5,-10.5,344,2833,0.00,2.10,0.00,0.000,4,0.000,0.050,2860,3515,3887,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2931,-0.75,-146.6,358.1,-11.0,354,2938,0.00,1.98,0.00,0.000,6,0.000,0.031,2861,2173,3887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3238,-0.75,-146.6,392.8,-12.1,385,3247,0.00,2.08,0.00,0.000,4,0.000,0.051,2849,3501,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3303,-0.75,-146.6,400.2,-12.2,391,3311,0.15,1.95,0.00,0.000,6,0.155,0.032,2889,2178,3887,0,0,0,0,0,0,25.91,26.39,28.83
$GC,3611,-0.75,-146.6,431.0,-9.6,422,3620,0.00,2.08,0.00,0.000,4,0.000,0.050,2881,3506,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3666,-0.75,-146.6,436.3,-10.6,427,3673,0.00,1.95,0.00,0.000,6,0.000,0.031,2881,2181,3887,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3974,-0.75,-146.6,467.9,-9.9,458,3983,0.00,2.05,0.00,0.000,4,0.000,0.050,2871,3506,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4059,-0.75,-146.6,476.4,-10.4,466,4067,0.00,1.92,0.00,0.000,6,0.000,0.031,2870,2194,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4366,-0.75,-146.6,507.5,-10.0,497,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2194,3886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-0.75,-146.6,535.6,-8.5,527,4678,0.00,2.03,0.00,0.000,4,0.000,0.050,2861,3502,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4742,-0.75,-146.6,543.3,-10.6,534,4751,0.00,1.92,0.00,0.000,6,0.000,0.031,2861,2195,3886,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,4938,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4938,begin apogee
$GC,4945,-0.17,0.0,563.6,-10.3,554,5071,0.68,0.00,118.75,1.099,4,0.139,0.000,3070,1878,3278,0,0,0,0,0,0,25.37,28.83,23.71
$STATE,5075,end apogee,CONTROL_FINISHED_OK
$STATE,5075,begin climb
$GC,5077,0.75,146.6,569.1,0.0,567,5214,0.85,2.25,120.68,1.019,4,0.073,0.038,3369,516,2680,0,0,0,0,0,0,24.84,24.90,22.79
$GC,5440,0.75,146.6,540.8,10.7,603,5447,0.00,2.22,0.00,0.000,6,0.000,0.036,3369,1897,2671,0,0,0,0,0,0,28.83,25.21,28.83
$GC,5747,0.75,146.6,508.1,10.9,634,5756,0.00,2.20,0.00,0.000,4,0.000,0.046,3369,3323,2668,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5984,0.75,146.6,479.2,12.3,657,5991,0.00,2.15,0.00,0.000,6,0.000,0.031,3378,1904,2668,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6291,0.75,146.6,444.1,10.8,688,6301,0.00,2.17,0.00,0.000,4,0.000,0.040,3389,501,2667,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6377,0.75,146.6,434.7,11.3,696,6385,0.00,2.17,0.00,0.000,6,0.000,0.035,3389,1892,2667,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6684,0.75,146.6,400.7,10.7,727,6685,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1892,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,0.75,146.6,368.1,10.9,757,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1892,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7296,0.75,146.6,336.2,10.1,788,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1892,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7608,0.75,146.6,306.1,9.8,819,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1892,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7916,0.75,146.6,275.8,10.2,850,7925,0.00,2.12,0.00,0.000,4,0.000,0.047,3389,3298,2666,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7961,0.75,146.6,271.3,10.4,854,7967,0.00,2.12,0.00,0.000,6,0.000,0.031,3398,1876,2667,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8268,0.75,146.6,239.1,10.5,885,8272,0.00,2.12,0.00,0.000,4,0.000,0.041,3409,500,2667,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8311,0.75,146.6,234.6,10.9,889,8321,0.15,2.15,0.00,0.000,6,0.165,0.036,3371,1879,2667,0,0,0,0,0,0,25.85,26.28,28.83
$GC,8620,0.75,146.6,204.8,9.4,920,8630,0.00,2.17,0.00,0.000,4,0.000,0.047,3371,3300,2667,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8665,0.75,146.6,200.5,10.0,924,8674,0.00,2.12,0.00,0.000,6,0.000,0.031,3378,1868,2667,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8974,0.81,202.0,175.9,6.9,955,9023,0.00,2.20,43.53,0.887,4,0.000,0.041,3388,510,2454,0,0,0,0,0,0,28.83,25.77,24.72
$GC,9091,0.81,203.1,166.6,9.1,966,9098,0.00,2.15,0.00,0.000,6,0.000,0.036,3389,1865,2451,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9398,0.83,213.4,138.8,8.7,997,9416,0.00,2.20,9.73,0.822,4,0.000,0.041,3397,512,2408,0,0,0,0,0,0,28.83,25.98,24.79
$GC,9450,0.83,216.9,134.0,9.0,1002,9460,0.00,2.15,4.70,0.601,6,0.000,0.036,3397,1865,2395,0,0,0,0,0,0,28.83,25.98,24.61
$GC,9760,0.83,216.9,102.5,10.2,1033,9769,0.00,2.20,0.00,0.000,4,0.000,0.047,3397,3302,2391,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9782,0.83,216.9,100.1,10.1,1035,9791,0.00,2.20,0.00,0.000,6,0.000,0.031,3407,1854,2391,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10098,0.83,216.9,68.0,9.5,1096,10105,0.00,2.10,0.00,0.000,4,0.000,0.043,3417,508,2390,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10169,0.83,216.9,61.0,9.9,1109,10176,0.00,2.12,0.00,0.000,6,0.000,0.037,3417,1848,2388,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10483,0.84,225.3,32.0,8.8,1170,10496,0.00,2.30,7.93,0.834,4,0.000,0.048,3417,3302,2360,0,0,0,0,0,0,28.83,26.19,24.93
$GC,10525,0.84,225.3,27.8,10.3,1177,10532,0.00,2.22,0.00,0.000,6,0.000,0.032,3427,1839,2358,0,0,0,0,0,0,28.83,26.21,28.83
$FREEZE,8.97,4.976,-1.679,0,1,0
$FREEZE,8.71,4.991,-1.684,0,1,0
$FREEZE,8.58,5.019,-1.684,0,1,0
$FREEZE,8.43,5.013,-1.684,0,1,0
$FREEZE,8.22,5.019,-1.686,0,1,0
$FREEZE,8.16,5.049,-1.689,0,1,0
$FREEZE,8.07,5.054,-1.690,0,1,0
$FREEZE,8.10,5.071,-1.692,0,1,0
$FREEZE,8.21,5.111,-1.695,0,1,0
$FREEZE,8.18,5.129,-1.693,0,1,0
$FREEZE,8.28,5.136,-1.695,0,1,0
$FREEZE,8.36,5.136,-1.695,0,1,0
$FREEZE,8.57,5.137,-1.696,0,1,0
$FREEZE,8.56,5.111,-1.698,0,1,0
$FREEZE,8.63,5.129,-1.697,0,1,0
$FREEZE,8.47,5.138,-1.697,0,1,0
$FREEZE,8.17,5.146,-1.699,0,1,0
$FREEZE,8.01,5.143,-1.699,0,1,0
$FREEZE,8.02,5.138,-1.700,0,1,0
$FREEZE,8.11,5.144,-1.700,0,1,0
$FREEZE,8.03,5.128,-1.701,0,1,0
$FREEZE,7.69,5.139,-1.700,0,1,0
$FREEZE,7.35,5.134,-1.701,0,1,0
$FREEZE,6.94,5.148,-1.700,0,1,0
$FREEZE,6.42,5.146,-1.700,0,1,0
$FREEZE,5.55,5.148,-1.699,0,1,0
$FREEZE,4.76,5.156,-1.698,0,1,0
$FREEZE,4.33,5.147,-1.698,0,1,0
$FREEZE,3.70,5.143,-1.698,0,1,0
$GC,10842,1.17,488.6,8.6,-1.8,1238,10950,0.20,0.00,104.47,0.084,2,0.091,0.000,3510,1838,1447,0,0,0,0,0,0,26.21,28.83,28.83
$STATE,10954,end climb,SURFACE_DEPTH_REACHED
$STATE,10954,begin surface coast
$FREEZE,1.56,5.142,-1.696,0,1,0
$FREEZE,1.41,4.954,-1.348,0,1,0
$FREEZE,1.53,4.930,-0.229,0,1,0
$FREEZE,1.47,4.660,-0.370,0,1,0
$FREEZE,1.42,4.894,-1.470,0,1,0
$FREEZE,1.38,4.961,-0.910,0,1,0
$FREEZE,1.40,4.913,-1.705,0,1,0
$FREEZE,1.40,4.994,-0.893,0,1,0
$FINISH,1.4,1.013035
$STATE,10996,end surface coast,CONTROL_FINISHED_OK
$STATE,10997,begin surface
$SM_CCo,11077,0.00,0.000,0,0,1429,453.80
$SM_GC,2.35,8.65,0.43,0.00,0.054,0.058,0.000,343,2099,1429,-8.66,-1.36,453.80,0,0,0,0,0,0,25.87,26.07,28.83
$RAFOS_CLK,564
$RAFOS,6,1346330950,12.833333,12.819445,47,45,43,42,41,41,1282,955,227,1260,369,995
$RAFOS,5,1346330468,12.700000,12.685555,49,46,45,41,41,41,272,843,1891,363,974,1893
$RAFOS,4,1346329982,12.566667,12.550555,46,45,45,44,42,42,1227,696,887,1756,1293,1786
$RAFOS,3,1346329508,12.433333,12.418889,46,46,45,44,43,42,1330,624,61,393,104,1548
$RAFOS,2,1346329022,12.300000,12.283889,44,44,44,44,42,42,361,1920,107,1071,771,864
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6011.26,300812,080808
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.97
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.40
$XPDR_PINGS,12
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,500.3,103.0
$24V_AH,22.8,44.775
$10V_AH,9.8,50.222
$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,21.175,93.875,409.775,0.000,0.000,0.000,0.000,363.925,4.750,0.000,20.488,3116.131,5067.318,572.665,2493.139,329.512,0.000,2075.932,0.000,2106.599,1800.000,14.393,0.000
$DEVICE_MAMPS,244.800,65.790,1099.305,0.000,0.000,0.000,0.000,292.126,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,906.328,873.901,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151604
$DATA_FILE_SIZE,56775,1260
$CAP_FILE_SIZE,134882,0
$CFSIZE,260165632,213479424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.3
$CURRENT,0.036, 69.2,1
$GPS,300812,151658,6646.370,-6014.130,43,0.8,43,-33.9