version: 66.11
glider: 108
mission: 21
dive: 395
start: 8 30 112 22 14 28
data:
$ID,108
$MISSION,21
$DIVE,395
$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,-191587.47
$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,57
$R_STBD_OVSHOOT,45
$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
$GPS1,300812,220528,6644.363,-6008.011,67,0.9,67,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-72.8
$GPS2,300812,221353,6644.282,-6008.001,21,0.8,21,-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,85.8,148532,-16.9,-9.167
$D_GRID,598
$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,17,-0.75,-146.6,0.0,0.0,0,67,0.00,0.00,-47.75,0.000,2,0.000,0.000,343,2089,2708,0,0,0,0,0,0,28.83,28.83,28.83
$GC,71,-0.75,-146.6,3.2,-3.0,8,121,10.27,2.20,-32.05,0.000,4,0.242,0.052,2895,701,3881,0,0,0,0,0,0,25.38,26.21,26.74
$GC,154,-0.75,-146.6,15.5,-16.3,22,161,0.00,2.20,0.00,0.000,6,0.000,0.040,2888,2103,3883,0,0,0,0,0,0,28.83,26.17,28.83
$GC,468,-0.75,-146.6,57.9,-12.5,83,475,0.00,2.17,0.00,0.000,4,0.000,0.050,2877,3512,3887,0,0,0,0,0,0,28.83,26.08,28.83
$GC,539,-0.75,-146.6,67.0,-12.0,96,546,0.00,2.10,0.00,0.000,6,0.000,0.031,2877,2096,3887,0,0,0,0,0,0,28.83,26.34,28.83
$GC,851,-0.75,-146.6,110.7,-14.0,150,855,0.00,2.20,0.00,0.000,4,0.000,0.050,2866,3512,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,973,-0.75,-146.6,129.0,-14.7,162,982,0.00,2.08,0.00,0.000,6,0.000,0.031,2866,2114,3888,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1283,-0.75,-146.6,174.9,-13.9,193,1292,0.00,2.17,0.00,0.000,4,0.000,0.051,2855,3511,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1368,-0.75,-146.6,186.4,-13.9,201,1376,0.12,2.05,0.00,0.000,6,0.172,0.032,2886,2127,3888,0,0,0,0,0,0,25.95,26.38,28.83
$GC,1677,-0.75,-146.6,219.7,-10.2,232,1685,0.00,2.15,0.00,0.000,4,0.000,0.051,2878,3506,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1781,-0.75,-146.6,230.0,-9.9,242,1788,0.00,2.03,0.00,0.000,6,0.000,0.032,2878,2140,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2088,-0.75,-146.6,260.2,-9.5,273,2097,0.00,2.12,0.00,0.000,4,0.000,0.051,2868,3508,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2193,-0.75,-146.6,270.6,-10.0,283,2201,0.00,2.00,0.00,0.000,6,0.000,0.031,2868,2154,3887,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2501,-0.75,-146.6,303.7,-10.5,314,2509,0.00,2.12,0.00,0.000,4,0.000,0.051,2857,3511,3886,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2575,-0.75,-146.6,311.8,-11.2,321,2583,0.12,1.95,0.00,0.000,6,0.158,0.032,2888,2172,3886,0,0,0,0,0,0,26.01,26.39,28.83
$GC,2885,-0.75,-146.6,340.0,-9.1,352,2893,0.00,2.05,0.00,0.000,4,0.000,0.051,2880,3506,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2960,-0.75,-146.6,346.8,-9.4,359,2967,0.00,1.98,0.00,0.000,6,0.000,0.032,2880,2168,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3267,-0.75,-146.6,378.0,-10.4,390,3275,0.00,2.10,0.00,0.000,4,0.000,0.050,2871,3508,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3338,-0.75,-146.6,386.0,-11.2,397,3342,0.00,1.95,0.00,0.000,6,0.000,0.031,2871,2191,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3651,-0.75,-146.6,418.6,-10.0,428,3659,0.00,2.05,0.00,0.000,4,0.000,0.050,2861,3509,3885,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3712,-0.75,-146.6,425.1,-10.4,434,3721,0.00,1.95,0.00,0.000,6,0.000,0.031,2861,2178,3886,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4023,-0.75,-146.6,457.7,-10.3,465,4032,0.00,2.05,0.00,0.000,4,0.000,0.050,2851,3503,3885,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4108,-0.75,-146.6,466.5,-11.0,473,4115,0.15,1.92,0.00,0.000,6,0.151,0.031,2890,2193,3885,0,0,0,0,0,0,25.94,26.41,28.83
$GC,4416,-0.75,-146.6,493.2,-8.6,504,4424,0.00,2.05,0.00,0.000,4,0.000,0.050,2882,3512,3885,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4481,-0.75,-146.6,499.0,-9.6,510,4487,0.00,1.92,0.00,0.000,6,0.000,0.031,2882,2198,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4788,-0.75,-146.6,527.7,-9.0,541,4796,0.00,2.03,0.00,0.000,4,0.000,0.050,2873,3502,3885,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4852,-0.75,-146.6,533.8,-9.8,547,4859,0.00,1.90,0.00,0.000,6,0.000,0.031,2872,2208,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5160,-0.75,-146.6,564.2,-9.6,578,5169,0.00,2.03,0.00,0.000,4,0.000,0.050,2863,3505,3885,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5212,-0.75,-146.6,569.5,-10.4,583,5221,0.00,1.88,0.00,0.000,6,0.000,0.031,2863,2213,3885,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,5492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5492,begin apogee
$GC,5499,-0.17,0.0,598.5,-10.6,611,5624,0.68,0.00,118.95,1.121,4,0.136,0.000,3073,1882,3278,0,0,0,0,0,0,25.39,28.83,23.67
$STATE,5627,end apogee,CONTROL_FINISHED_OK
$STATE,5627,begin climb
$GC,5630,0.75,146.6,604.1,0.0,617,5765,0.82,2.25,122.53,1.051,4,0.065,0.038,3372,520,2681,0,0,0,0,0,0,24.82,24.85,22.73
$GC,5787,0.93,300.6,603.8,2.7,622,5931,0.17,2.35,133.07,1.029,6,0.084,0.034,3430,1902,2053,0,0,0,0,0,0,24.13,24.18,22.65
$GC,6231,0.93,300.6,516.6,20.8,664,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1902,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6543,0.93,300.6,453.5,20.0,695,6552,0.00,2.20,0.00,0.000,4,0.000,0.039,3439,518,2044,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6580,0.93,300.6,446.3,20.0,698,6586,0.00,2.17,0.00,0.000,6,0.000,0.036,3439,1903,2044,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6889,0.93,300.6,381.5,22.0,729,6897,0.00,2.17,0.00,0.000,4,0.000,0.040,3447,526,2043,0,0,0,0,0,0,28.83,26.04,28.83
$GC,6941,0.93,300.6,369.7,20.7,734,6949,0.00,2.10,0.00,0.000,6,0.000,0.037,3446,1877,2043,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7250,0.93,300.6,304.3,19.9,765,7254,0.00,2.12,0.00,0.000,4,0.000,0.039,3453,523,2043,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7284,0.93,300.6,297.9,20.1,768,7293,0.00,2.15,0.00,0.000,6,0.000,0.036,3446,1894,2043,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7593,0.93,300.6,240.2,17.5,799,7602,0.00,2.17,0.00,0.000,4,0.000,0.041,3453,515,2044,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7615,0.93,300.6,236.2,17.9,801,7624,0.00,2.15,0.00,0.000,6,0.000,0.036,3452,1882,2043,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7926,0.93,300.6,180.1,17.8,832,7934,0.00,2.12,0.00,0.000,4,0.000,0.041,3460,523,2043,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7987,0.93,300.6,169.0,17.5,838,7996,0.00,2.08,0.00,0.000,6,0.000,0.037,3460,1867,2043,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8298,0.93,300.6,116.4,16.1,869,8302,0.00,2.12,0.00,0.000,4,0.000,0.041,3468,512,2043,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8333,0.93,300.6,111.0,16.3,872,8340,0.15,2.10,0.00,0.000,6,0.177,0.036,3431,1862,2043,0,0,0,0,0,0,25.82,26.28,28.83
$GC,8642,0.93,300.6,70.3,13.2,926,8649,0.00,2.12,0.00,0.000,4,0.000,0.042,3437,515,2043,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8693,0.93,300.6,63.8,12.9,935,8701,0.00,2.08,0.00,0.000,6,0.000,0.037,3433,1853,2043,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9005,0.93,300.6,24.6,10.8,996,9012,0.00,2.10,0.00,0.000,4,0.000,0.041,3440,520,2042,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9089,0.93,300.6,14.8,13.7,1011,9097,0.00,2.08,0.00,0.000,6,0.000,0.037,3439,1843,2042,0,0,0,0,0,0,28.83,26.29,28.83
$FREEZE,8.83,3.846,-1.720,0,1,0
$FREEZE,8.30,3.900,-1.719,0,1,0
$FREEZE,7.98,3.912,-1.719,0,1,0
$FREEZE,7.50,3.909,-1.719,0,1,0
$FREEZE,7.04,3.899,-1.719,0,1,0
$FREEZE,6.67,3.896,-1.719,0,1,0
$FREEZE,6.22,3.907,-1.719,0,1,0
$FREEZE,5.66,3.911,-1.718,0,1,0
$FREEZE,5.30,3.915,-1.718,0,1,0
$FREEZE,4.43,3.896,-1.718,0,1,0
$FREEZE,3.90,3.779,-1.724,0,1,0
$STATE,9201,end climb,SURFACE_DEPTH_REACHED
$STATE,9202,begin surface coast
$FREEZE,3.12,3.890,-1.717,0,1,0
$FREEZE,2.56,3.901,-1.717,0,1,0
$FREEZE,1.95,3.734,-1.726,0,1,0
$FREEZE,1.33,3.903,-1.716,0,1,0
$FREEZE,1.30,3.836,-1.719,0,1,0
$FREEZE,1.31,3.850,-0.855,0,1,0
$FREEZE,1.53,3.909,-1.716,0,1,0
$FINISH,1.5,1.024900
$STATE,9238,end surface coast,CONTROL_FINISHED_OK
$STATE,9239,begin surface
$SM_CCo,9259,44.38,0.073,0,0,1646,400.08
$SM_GC,2.15,8.30,0.38,44.38,0.048,0.058,0.073,337,2105,1646,-8.66,-1.19,400.08,0,0,0,0,0,0,26.11,26.33,25.94
$RAFOS_CLK,468
$RAFOS,5,1346373664,0.700000,0.684444,48,44,42,41,41,41,1307,1266,696,1397,1206,1502
$RAFOS,4,1346373185,0.566667,0.551389,48,47,45,45,43,42,649,1202,1098,1929,640,416
$RAFOS,3,1346372711,0.433333,0.419722,45,45,43,41,41,39,881,537,207,1254,1623,1657
$RAFOS,2,1346372228,0.300000,0.285556,43,43,43,41,40,40,364,853,1207,539,1,999
$RAFOS,1,1346371751,0.166667,0.153056,129,109,46,45,45,44,420,421,555,669,702,978
$RAFOS,0,1346371265,0.033333,0.018056,52,46,43,42,41,38,248,1196,1661,1389,636,810
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6015.98,300812,181845
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.95
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.40
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.7,18.0
$24V_AH,22.7,45.075
$10V_AH,9.8,50.546
$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,20.800,96.850,374.550,44.375,0.000,0.000,0.000,359.425,5.000,0.000,22.275,2612.279,4185.813,562.889,2149.593,296.706,0.000,1912.472,0.000,1765.326,2160.000,16.187,0.000
$DEVICE_MAMPS,241.740,58.140,1120.725,72.675,0.000,0.000,0.000,278.644,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,749.533,717.207,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151612
$DATA_FILE_SIZE,46745,1039
$CAP_FILE_SIZE,117552,0
$CFSIZE,260165632,213286912
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.8
$CURRENT,0.197,351.9,1
$GPS,310812,005123,6645.971,-6004.883,60,0.9,60,-33.9