version: 66.11
glider: 108
mission: 21
dive: 393
start: 8 30 112 15 29 45
data:
$ID,108
$MISSION,21
$DIVE,393
$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,694.44427
$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,-191584.97
$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,62
$R_STBD_OVSHOOT,42
$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
$GPS1,300812,151658,6646.370,-6014.130,43,0.8,43,-33.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.47
$_SM_ANGLEo,-71.4
$GPS2,300812,152912,6646.202,-6014.484,19,1.2,20,-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,113.3,152322,-16.9,-9.167
$D_GRID,556
$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,15,begin dive
$GC,18,-0.75,-146.6,0.0,0.0,0,71,0.00,0.00,-50.30,0.000,2,0.000,0.000,340,2112,2592,0,0,0,0,0,0,28.83,28.83,28.83
$GC,75,-0.75,-146.6,3.2,-2.4,9,131,10.57,2.17,-37.97,0.000,4,0.253,0.052,2894,705,3881,0,0,0,0,0,0,25.38,26.16,26.74
$GC,201,-0.75,-146.6,17.1,-10.1,31,208,0.00,2.20,0.00,0.000,6,0.000,0.040,2888,2104,3885,0,0,0,0,0,0,28.83,26.17,28.83
$GC,515,-0.75,-146.6,54.8,-13.1,92,522,0.00,2.17,0.00,0.000,4,0.000,0.050,2877,3513,3889,0,0,0,0,0,0,28.83,26.08,28.83
$GC,655,-0.75,-146.6,74.2,-13.5,119,663,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,2105,3890,0,0,0,0,0,0,28.83,26.36,28.83
$GC,969,-0.75,-146.6,116.3,-13.6,168,978,0.00,2.15,0.00,0.000,4,0.000,0.050,2866,3498,3890,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1106,-0.75,-146.6,134.3,-13.3,181,1113,0.00,2.05,0.00,0.000,6,0.000,0.031,2866,2116,3890,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1415,-0.75,-146.6,171.7,-11.9,212,1423,0.00,2.15,0.00,0.000,4,0.000,0.050,2855,3511,3889,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1530,-0.75,-146.6,186.4,-12.7,223,1539,0.12,2.05,0.00,0.000,6,0.177,0.031,2885,2122,3888,0,0,0,0,0,0,25.94,26.39,28.83
$GC,1837,-0.75,-146.6,219.3,-10.2,254,1846,0.00,2.15,0.00,0.000,4,0.000,0.051,2877,3516,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1933,-0.75,-146.6,229.2,-10.7,263,1941,0.00,2.00,0.00,0.000,6,0.000,0.031,2877,2142,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2240,-0.75,-146.6,260.3,-9.8,294,2244,0.00,2.12,0.00,0.000,4,0.000,0.051,2867,3508,3886,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2368,-0.75,-146.6,273.8,-11.3,306,2375,0.00,2.00,0.00,0.000,6,0.000,0.032,2867,2156,3886,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2673,-0.75,-146.6,309.5,-11.7,337,2682,0.00,2.10,0.00,0.000,4,0.000,0.051,2857,3509,3885,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2716,-0.75,-146.6,314.7,-12.3,341,2725,0.08,2.00,0.00,0.000,6,0.142,0.031,2881,2159,3885,0,0,0,0,0,0,26.05,26.40,28.83
$GC,3026,-0.75,-146.6,347.2,-9.8,372,3034,0.00,2.08,0.00,0.000,4,0.000,0.050,2874,3500,3884,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3098,-0.75,-146.6,354.8,-10.9,379,3107,0.00,1.95,0.00,0.000,6,0.000,0.032,2873,2171,3884,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3408,-0.75,-146.6,386.9,-10.2,410,3417,0.00,2.05,0.00,0.000,4,0.000,0.051,2863,3503,3884,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3490,-0.75,-146.6,396.0,-10.9,418,3499,0.00,1.98,0.00,0.000,6,0.000,0.031,2864,2171,3883,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3804,-0.75,-146.6,428.8,-10.6,449,3813,0.00,2.05,0.00,0.000,4,0.000,0.050,2853,3505,3883,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3898,-0.75,-146.6,439.7,-11.5,458,3905,0.12,1.95,0.00,0.000,6,0.155,0.031,2885,2184,3883,0,0,0,0,0,0,26.02,26.41,28.83
$GC,4207,-0.75,-146.6,467.6,-8.7,489,4216,0.00,2.03,0.00,0.000,4,0.000,0.050,2877,3506,3883,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4270,-0.75,-146.6,473.5,-9.1,495,4279,0.00,1.95,0.00,0.000,6,0.000,0.031,2877,2184,3883,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4580,-0.75,-146.6,499.9,-8.6,526,4589,0.00,2.05,0.00,0.000,4,0.000,0.050,2868,3506,3883,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4664,-0.75,-146.6,507.5,-9.1,534,4673,0.00,1.92,0.00,0.000,6,0.000,0.031,2868,2200,3883,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4973,-0.75,-146.6,535.6,-9.0,565,4983,0.00,2.03,0.00,0.000,4,0.000,0.050,2858,3505,3883,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4999,-0.75,-146.6,537.8,-9.1,567,5007,0.12,1.92,0.00,0.000,6,0.154,0.031,2889,2190,3883,0,0,0,0,0,0,26.02,26.41,28.83
$STATE,5223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5223,begin apogee
$GC,5230,-0.17,0.0,556.2,-8.2,590,5355,0.57,0.00,118.50,1.099,4,0.134,0.000,3073,1892,3278,0,0,0,0,0,0,25.46,28.83,23.70
$STATE,5359,end apogee,CONTROL_FINISHED_OK
$STATE,5359,begin climb
$GC,5362,0.75,146.6,561.2,0.0,603,5493,0.82,2.25,120.72,1.022,4,0.070,0.038,3368,525,2681,0,0,0,0,0,0,24.84,24.89,22.81
$GC,5699,0.75,146.6,536.7,10.5,636,5707,0.00,2.25,0.00,0.000,6,0.000,0.035,3368,1902,2671,0,0,0,0,0,0,28.83,25.12,28.83
$GC,6006,0.75,146.6,505.4,9.9,667,6015,0.00,2.20,0.00,0.000,4,0.000,0.039,3377,515,2669,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6224,0.75,146.6,484.6,9.7,688,6231,0.00,2.20,0.00,0.000,6,0.000,0.036,3377,1907,2668,0,0,0,0,0,0,28.83,25.96,28.83
$GC,6530,0.75,146.6,453.0,10.6,719,6534,0.00,2.15,0.00,0.000,4,0.000,0.047,3377,3307,2668,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6586,0.75,146.6,446.8,12.2,724,6594,0.00,2.10,0.00,0.000,6,0.000,0.031,3386,1910,2666,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6892,0.75,146.6,412.4,10.8,755,6901,0.00,2.20,0.00,0.000,4,0.000,0.041,3397,499,2666,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6946,0.75,146.6,406.6,11.1,760,6955,0.00,2.15,0.00,0.000,6,0.000,0.035,3397,1896,2666,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7255,0.75,146.6,372.7,10.7,791,7256,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1896,2666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7558,0.75,146.6,340.6,10.7,821,7565,0.00,0.00,0.00,0.000,6,0.000,0.000,3397,1897,2667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7867,0.75,146.6,305.6,11.4,852,7876,0.00,2.17,0.00,0.000,4,0.000,0.041,3406,511,2666,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7923,0.75,146.6,299.4,11.0,857,7930,0.15,2.17,0.00,0.000,6,0.164,0.036,3368,1910,2666,0,0,0,0,0,0,25.84,26.26,28.83
$GC,8230,0.75,146.6,268.7,9.6,888,8239,0.00,2.20,0.00,0.000,4,0.000,0.040,3376,496,2666,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8263,0.75,146.6,265.5,9.5,891,8272,0.00,2.17,0.00,0.000,6,0.000,0.036,3375,1896,2666,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8573,0.75,146.6,235.2,9.7,922,8581,0.00,2.17,0.00,0.000,4,0.000,0.040,3385,508,2666,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8597,0.75,146.6,233.2,9.8,924,8605,0.00,2.15,0.00,0.000,6,0.000,0.035,3385,1891,2666,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8905,0.75,146.6,201.4,10.1,955,8913,0.00,2.15,0.00,0.000,4,0.000,0.046,3385,3310,2666,0,0,0,0,0,0,28.83,26.16,28.83
$GC,8939,0.75,146.6,198.2,10.0,958,8946,0.00,2.12,0.00,0.000,6,0.000,0.031,3394,1883,2666,0,0,0,0,0,0,28.83,26.34,28.83
$GC,9247,0.77,169.9,171.0,8.2,989,9276,0.00,2.30,18.38,0.967,4,0.000,0.046,3394,3314,2585,0,0,0,0,0,0,28.83,26.14,24.87
$GC,9301,0.77,170.6,166.3,9.1,994,9308,0.00,2.15,0.00,0.000,6,0.000,0.031,3403,1886,2584,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9610,0.80,194.4,139.4,8.2,1025,9637,0.00,0.00,20.95,0.884,6,0.000,0.000,3403,1886,2485,0,0,0,0,0,0,28.83,28.83,24.87
$GC,9940,0.81,196.3,111.5,9.1,1058,9950,0.00,2.22,0.00,0.000,4,0.000,0.046,3396,3306,2479,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9985,0.81,196.3,107.1,9.8,1062,9992,0.00,2.15,0.00,0.000,6,0.000,0.032,3403,1886,2479,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10294,0.81,196.3,77.1,9.6,1116,10301,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,1886,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10607,0.81,196.9,46.6,9.1,1177,10614,0.00,2.15,0.00,0.000,4,0.000,0.042,3414,507,2478,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10662,0.83,217.4,41.8,8.3,1187,10688,0.00,2.20,19.10,0.775,6,0.000,0.037,3414,1899,2391,0,0,0,0,0,0,28.83,26.20,25.03
$GC,10995,0.99,344.4,16.0,3.9,1251,11064,0.10,2.25,61.92,0.101,4,0.119,0.049,3453,3301,1873,0,0,0,0,0,0,26.28,25.94,25.67
$FREEZE,8.84,4.773,-1.711,0,2,0
$FREEZE,8.41,4.776,-1.711,0,2,0
$FREEZE,7.68,4.774,-1.710,0,2,0
$FREEZE,6.87,4.761,-1.710,0,2,0
$FREEZE,6.35,4.763,-1.710,0,2,0
$FREEZE,5.67,4.764,-1.709,0,2,0
$FREEZE,4.91,4.768,-1.708,0,2,0
$FREEZE,4.37,4.769,-1.708,0,2,0
$FREEZE,3.85,4.772,-1.708,0,2,0
$STATE,11134,end climb,SURFACE_DEPTH_REACHED
$STATE,11134,begin surface coast
$FREEZE,3.25,4.774,-1.707,0,2,0
$FREEZE,2.71,4.771,-1.707,0,2,0
$FREEZE,2.32,4.765,-1.707,0,2,0
$FREEZE,1.66,4.769,-1.706,0,2,0
$FREEZE,1.41,4.726,-1.708,0,2,0
$FREEZE,1.40,4.666,-1.710,0,2,0
$FINISH,1.4,1.024751
$STATE,11167,end surface coast,CONTROL_FINISHED_OK
$STATE,11167,begin surface
$SM_CCo,11188,161.50,0.071,0,0,447,694.44
$SM_GC,2.30,8.38,1.88,161.50,0.047,0.035,0.071,342,2101,447,-8.66,1.81,694.44,0,0,0,0,0,0,25.86,26.15,25.77
$RAFOS_CLK,580
$RAFOS,6,1346345345,16.833334,16.818056,48,46,44,43,41,37,150,933,200,1326,1815,949
$RAFOS,5,1346344872,16.700001,16.686666,45,43,43,42,42,41,672,236,1787,150,1085,754
$RAFOS,4,1346344382,16.566668,16.550556,55,44,42,42,41,41,1919,159,1416,1744,473,988
$RAFOS,3,1346343910,16.433332,16.419445,46,43,42,42,40,38,1546,150,381,500,1404,1
$RAFOS,2,1346343427,16.299999,16.285278,46,44,43,42,41,41,1260,833,520,1149,894,246
$RAFOS,1,1346342945,16.166666,16.151388,46,44,44,43,42,40,480,1725,479,1292,289,499
$RAFOS,0,1346342461,16.033333,16.016945,48,44,43,43,43,42,1765,1694,1444,1676,238,871
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6527.51,-7258.87,300812,151527
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.22
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,15.30
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.6,17.6
$ALTIM_BOTTOM_PING,550.6,45.0
$24V_AH,22.8,44.867
$10V_AH,9.8,50.332
$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,21.050,105.875,359.575,161.500,0.000,0.000,0.000,460.000,4.500,0.000,21.275,3160.532,5234.928,714.872,2610.598,365.327,0.000,2333.268,0.000,2129.367,2520.000,15.992,0.000
$DEVICE_MAMPS,253.215,52.020,1099.305,71.145,0.000,0.000,0.000,240.445,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,920.953,888.957,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,60064,1281
$CAP_FILE_SIZE,139912,0
$CFSIZE,260165632,213377024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.0
$CURRENT,0.321,171.0,1
$GPS,300812,184122,6644.199,-6010.615,95,0.8,95,-33.9