version: 66.11
glider: 108
mission: 21
dive: 396
start: 8 31 112 0 58 33
data:
$ID,108
$MISSION,21
$DIVE,396
$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,-191588.72
$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,76
$R_STBD_OVSHOOT,44
$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
$GPS1,310812,005123,6645.971,-6004.883,60,0.9,60,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.34
$_SM_ANGLEo,-71.4
$GPS2,310812,005759,6645.908,-6004.963,17,0.8,18,-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,156.4,145716,-16.9,-9.167
$D_GRID,626
$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,-146.6,0.0,0.0,0,66,0.00,0.00,-47.42,0.000,2,0.000,0.000,334,2120,2687,0,0,0,0,0,0,28.83,28.83,28.83
$GC,70,-0.75,-146.6,3.0,-1.8,8,122,10.27,2.22,-33.92,0.000,4,0.239,0.054,2897,721,3881,0,0,0,0,0,0,25.37,26.22,26.78
$GC,187,-0.75,-146.6,18.5,-15.0,28,194,0.00,2.15,0.00,0.000,6,0.000,0.041,2890,2101,3885,0,0,0,0,0,0,28.83,26.19,28.83
$GC,501,-0.75,-146.6,61.5,-13.1,89,509,0.00,2.17,0.00,0.000,4,0.000,0.050,2879,3513,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,613,-0.75,-146.6,75.3,-11.6,110,620,0.00,2.08,0.00,0.000,6,0.000,0.031,2879,2108,3888,0,0,0,0,0,0,28.83,26.37,28.83
$GC,930,-0.75,-146.6,114.0,-13.5,162,934,0.00,2.17,0.00,0.000,4,0.000,0.050,2869,3511,3888,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1078,-0.75,-146.6,135.5,-15.2,176,1085,0.00,2.05,0.00,0.000,6,0.000,0.031,2868,2125,3888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1384,-0.75,-146.6,178.9,-13.3,207,1393,0.00,2.15,0.00,0.000,4,0.000,0.051,2858,3509,3889,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1467,-0.75,-146.6,190.4,-13.6,215,1476,0.12,2.03,0.00,0.000,6,0.171,0.032,2889,2143,3888,0,0,0,0,0,0,25.96,26.39,28.83
$GC,1778,-0.75,-146.6,224.3,-10.8,246,1787,0.00,2.12,0.00,0.000,4,0.000,0.050,2880,3524,3888,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1833,-0.75,-146.6,230.5,-11.9,251,1840,0.00,2.03,0.00,0.000,6,0.000,0.031,2880,2156,3888,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2141,-0.75,-146.6,264.5,-10.1,282,2150,0.00,2.12,0.00,0.000,4,0.000,0.050,2870,3524,3887,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2257,-0.75,-146.6,276.5,-10.7,293,2264,0.00,2.03,0.00,0.000,6,0.000,0.031,2870,2153,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2565,-0.75,-146.6,311.4,-11.9,324,2573,0.00,2.12,0.00,0.000,4,0.000,0.050,2860,3526,3886,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2669,-0.75,-146.6,324.9,-13.1,334,2676,0.00,2.00,0.00,0.000,6,0.000,0.031,2860,2172,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2977,-0.75,-146.6,364.4,-12.2,365,2981,0.00,2.10,0.00,0.000,4,0.000,0.051,2850,3515,3886,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3031,-0.75,-146.6,370.9,-12.6,370,3039,0.15,1.98,0.00,0.000,6,0.154,0.031,2889,2171,3886,0,0,0,0,0,0,25.93,26.41,28.83
$GC,3340,-0.75,-146.6,399.9,-8.7,401,3351,0.00,2.08,0.00,0.000,4,0.000,0.050,2881,3512,3885,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3424,-0.75,-146.6,407.7,-9.2,409,3427,0.00,1.98,0.00,0.000,6,0.000,0.031,2881,2186,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3736,-0.75,-146.6,434.0,-8.5,440,3745,0.00,2.08,0.00,0.000,4,0.000,0.050,2872,3504,3885,0,0,0,0,0,0,28.83,26.09,28.83
$GC,3828,-0.75,-146.6,442.2,-8.9,449,3832,0.00,1.95,0.00,0.000,6,0.000,0.031,2871,2193,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4140,-0.75,-146.6,470.4,-9.3,480,4149,0.00,2.05,0.00,0.000,4,0.000,0.050,2862,3512,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4195,-0.75,-146.6,475.5,-10.1,485,4202,0.00,1.92,0.00,0.000,6,0.000,0.031,2862,2202,3885,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4502,-0.75,-146.6,505.6,-9.8,516,4506,0.00,2.05,0.00,0.000,4,0.000,0.050,2851,3517,3885,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4565,-0.75,-146.6,512.2,-10.8,522,4574,0.15,1.95,0.00,0.000,6,0.148,0.031,2892,2198,3885,0,0,0,0,0,0,25.95,26.41,28.83
$GC,4875,-0.75,-146.6,538.8,-8.6,553,4885,0.00,2.03,0.00,0.000,4,0.000,0.050,2883,3508,3886,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4912,-0.75,-146.6,541.9,-8.9,556,4918,0.00,1.92,0.00,0.000,6,0.000,0.031,2883,2193,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5219,-0.75,-146.6,570.1,-9.0,587,5228,0.00,2.05,0.00,0.000,4,0.000,0.049,2874,3519,3886,0,0,0,0,0,0,28.83,26.08,28.83
$GC,5284,-0.75,-146.6,576.2,-10.2,593,5291,0.00,1.92,0.00,0.000,6,0.000,0.030,2873,2204,3885,0,0,0,0,0,0,28.83,26.42,28.83
$GC,5594,-0.75,-146.6,606.1,-9.5,620,5599,0.00,2.03,0.00,0.000,4,0.000,0.049,2863,3516,3885,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5661,-0.75,-146.6,612.1,-9.6,622,5665,0.00,1.90,0.00,0.000,6,0.000,0.030,2864,2219,3886,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,5800,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5800,begin apogee
$GC,5808,-0.17,0.0,626.9,-10.0,627,5934,0.65,0.00,119.90,1.158,4,0.135,0.000,3068,1879,3279,0,0,0,0,0,0,25.43,28.83,23.56
$STATE,5938,end apogee,CONTROL_FINISHED_OK
$STATE,5938,begin climb
$GC,5941,0.75,146.6,631.3,0.0,631,6076,0.85,2.25,123.60,1.063,4,0.069,0.038,3372,525,2680,0,0,0,0,0,0,24.76,24.80,22.68
$GC,6082,0.88,256.6,628.1,4.6,636,6186,0.12,2.38,95.90,1.040,6,0.094,0.034,3414,1901,2231,0,0,0,0,0,0,23.93,23.97,22.61
$GC,6492,0.88,256.6,560.0,18.1,663,6494,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1901,2224,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6795,0.88,256.6,504.5,18.3,693,6804,0.00,2.17,0.00,0.000,4,0.000,0.039,3424,527,2223,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6840,0.88,256.6,496.4,18.1,697,6848,0.00,2.20,0.00,0.000,6,0.000,0.037,3422,1911,2223,0,0,0,0,0,0,28.83,25.90,28.83
$GC,7148,0.88,256.6,442.3,16.4,728,7157,0.00,2.17,0.00,0.000,4,0.000,0.039,3429,516,2222,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7182,0.88,256.6,437.0,16.4,731,7189,0.00,2.17,0.00,0.000,6,0.000,0.036,3430,1898,2222,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7490,0.88,256.6,382.6,17.6,762,7499,0.00,2.15,0.00,0.000,4,0.000,0.039,3438,524,2222,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7533,0.88,256.6,374.9,18.2,766,7541,0.00,2.12,0.00,0.000,6,0.000,0.036,3437,1876,2222,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7843,0.88,256.6,318.3,18.1,797,7853,0.00,2.12,0.00,0.000,4,0.000,0.040,3444,512,2222,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7876,0.88,256.6,312.1,18.4,800,7885,0.12,2.15,0.00,0.000,6,0.186,0.036,3415,1882,2222,0,0,0,0,0,0,25.82,26.22,28.83
$GC,8186,0.88,256.6,262.0,15.4,831,8195,0.00,2.10,0.00,0.000,4,0.000,0.040,3422,524,2222,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8221,0.88,256.6,257.2,15.3,834,8228,0.00,2.10,0.00,0.000,6,0.000,0.035,3422,1874,2222,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8528,0.88,256.6,211.3,13.7,865,8529,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1873,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8831,0.88,256.6,172.9,11.6,895,8840,0.00,2.12,0.00,0.000,4,0.000,0.041,3429,515,2222,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8885,0.88,256.6,166.6,11.5,900,8892,0.00,2.10,0.00,0.000,6,0.000,0.036,3429,1862,2222,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9193,0.88,256.6,131.1,11.6,931,9194,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1861,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9494,0.88,256.6,97.3,10.7,963,9500,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1861,2222,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9806,0.88,256.6,59.4,12.2,1024,9812,0.00,2.22,0.00,0.000,4,0.000,0.048,3429,3307,2221,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9856,0.88,256.6,52.4,14.5,1033,9864,0.00,2.15,0.00,0.000,6,0.000,0.032,3439,1860,2221,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10174,0.88,256.6,15.5,10.8,1094,10180,0.00,2.10,0.00,0.000,4,0.000,0.043,3450,504,2221,0,0,0,0,0,0,28.83,26.21,28.83
$FREEZE,8.81,3.951,-1.718,0,1,0
$FREEZE,8.31,3.951,-1.718,0,1,0
$FREEZE,7.93,3.950,-1.718,0,1,0
$FREEZE,7.43,3.950,-1.718,0,1,0
$FREEZE,6.89,3.943,-1.718,0,1,0
$FREEZE,6.55,3.941,-1.719,0,1,0
$FREEZE,6.11,3.935,-1.719,0,1,0
$FREEZE,5.53,3.936,-1.718,0,1,0
$FREEZE,4.90,3.941,-1.718,0,1,0
$FREEZE,4.42,3.938,-1.718,0,1,0
$FREEZE,4.04,3.940,-1.718,0,1,0
$FREEZE,3.58,3.947,-1.717,0,1,0
$STATE,10304,end climb,SURFACE_DEPTH_REACHED
$STATE,10304,begin surface coast
$FREEZE,3.08,3.940,-1.717,0,1,0
$FREEZE,2.81,3.921,-1.718,0,1,0
$FREEZE,2.43,3.939,-1.717,0,1,0
$FREEZE,2.05,3.925,-1.717,0,1,0
$FINISH,2.0,1.024912
$STATE,10326,end surface coast,CONTROL_FINISHED_OK
$STATE,10326,begin surface
$SM_CCo,10349,64.72,0.074,0,0,1646,400.08
$SM_GC,2.17,8.60,2.55,64.72,0.066,0.037,0.074,343,2107,1646,-8.65,-1.33,400.08,0,0,0,0,0,0,26.08,26.26,25.90
$RAFOS_CLK,532
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-6011.26,300812,222242
$TT8_MAMPS,0.026215,0.026215
$HUMID,42.63
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,15.30
$XPDR_PINGS,13
$ALTIM_TOP_PING,20.0,19.0
$24V_AH,22.6,45.182
$10V_AH,9.8,50.635
$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,21.050,101.200,339.400,64.725,0.000,0.000,0.000,262.075,5.250,0.000,21.140,2903.143,4842.420,563.244,2189.945,314.742,0.000,1875.771,0.000,1905.590,0.000,14.978,0.000
$DEVICE_MAMPS,239.445,53.550,1158.210,74.205,0.000,0.000,0.000,285.385,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,812.110,780.339,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151664
$DATA_FILE_SIZE,50027,1123
$CAP_FILE_SIZE,124354,0
$CFSIZE,260165632,213213184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.8
$CURRENT,0.014, 91.7,1
$GPS,310812,035404,6644.831,-6001.874,67,0.8,67,-33.9