version: 66.11
glider: 108
mission: 21
dive: 335
start: 8 19 112 8 42 13
data:
$ID,108
$MISSION,21
$DIVE,335
$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,-191509.86
$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,69
$R_STBD_OVSHOOT,43
$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
$GPS1,190812,083451,6657.603,-5655.938,38,1.1,40,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-77.1
$GPS2,190812,084141,6657.600,-5655.869,18,0.8,19,-33.4
$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,29.1,11503,-16.9,-9.167
$D_GRID,662
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,20,-0.75,-146.6,0.0,0.0,0,61,0.00,0.00,-39.28,0.000,2,0.000,0.000,340,2099,2568,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.75,-146.6,3.1,-2.0,7,122,10.30,2.22,-40.83,0.000,4,0.247,0.053,2895,709,3880,0,0,0,0,0,0,25.55,26.27,26.77
$GC,354,-0.75,-146.6,38.9,-11.3,61,362,0.00,2.17,0.00,0.000,6,0.000,0.037,2888,2106,3886,0,0,0,0,0,0,28.83,26.27,28.83
$GC,669,-0.75,-146.6,75.0,-10.7,122,676,0.00,2.12,0.00,0.000,4,0.000,0.048,2877,3515,3888,0,0,0,0,0,0,28.83,26.18,28.83
$GC,795,-0.75,-146.6,89.4,-10.7,146,802,0.00,2.05,0.00,0.000,6,0.000,0.029,2877,2110,3888,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1111,-0.75,-146.6,124.9,-11.7,186,1119,0.00,2.15,0.00,0.000,4,0.000,0.048,2868,3505,3888,0,0,0,0,0,0,28.83,26.19,28.83
$GC,1213,-0.75,-146.6,137.9,-12.6,196,1221,0.00,2.05,0.00,0.000,6,0.000,0.030,2867,2115,3888,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1523,-0.75,-146.6,174.8,-10.9,227,1531,0.00,2.15,0.00,0.000,4,0.000,0.049,2856,3504,3887,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1617,-0.75,-146.6,185.4,-11.6,236,1624,0.12,2.00,0.00,0.000,6,0.163,0.029,2888,2138,3887,0,0,0,0,0,0,26.06,26.46,28.83
$GC,1925,-0.75,-146.6,214.3,-8.9,267,1934,0.00,2.08,0.00,0.000,4,0.000,0.048,2880,3501,3886,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2007,-0.75,-146.6,221.9,-9.5,275,2016,0.00,2.00,0.00,0.000,6,0.000,0.029,2880,2141,3886,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2317,-0.75,-146.6,250.7,-9.3,306,2326,0.00,2.08,0.00,0.000,4,0.000,0.048,2870,3505,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2409,-0.75,-146.6,260.1,-10.2,315,2418,0.00,1.95,0.00,0.000,6,0.000,0.029,2870,2159,3885,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2721,-0.75,-146.6,291.5,-10.4,346,2729,0.00,2.05,0.00,0.000,4,0.000,0.047,2859,3511,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2813,-0.75,-146.6,301.8,-11.1,355,2822,0.12,1.98,0.00,0.000,6,0.156,0.029,2891,2161,3885,0,0,0,0,0,0,26.09,26.48,28.83
$GC,3124,-0.75,-146.6,329.8,-8.6,386,3133,0.00,2.08,0.00,0.000,4,0.000,0.047,2883,3503,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3208,-0.75,-146.6,337.6,-9.7,394,3215,0.00,1.92,0.00,0.000,6,0.000,0.028,2883,2161,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3516,-0.75,-146.6,365.8,-8.9,425,3526,0.00,2.05,0.00,0.000,4,0.000,0.047,2873,3517,3885,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3611,-0.75,-146.6,374.5,-9.7,434,3619,0.00,1.92,0.00,0.000,6,0.000,0.028,2873,2171,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3919,-0.75,-146.6,403.1,-9.3,465,3928,0.00,2.08,0.00,0.000,4,0.000,0.047,2863,3514,3885,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3994,-0.75,-146.6,410.2,-10.0,472,4001,0.00,1.90,0.00,0.000,6,0.000,0.028,2863,2187,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4301,-0.75,-146.6,440.5,-9.9,503,4310,0.00,2.03,0.00,0.000,4,0.000,0.047,2853,3511,3885,0,0,0,0,0,0,28.83,26.21,28.83
$GC,4376,-0.75,-146.6,447.8,-10.2,510,4383,0.12,1.90,0.00,0.000,6,0.152,0.028,2885,2197,3885,0,0,0,0,0,0,26.12,26.51,28.83
$GC,4684,-0.75,-146.6,474.8,-8.4,541,4693,0.00,2.00,0.00,0.000,4,0.000,0.047,2877,3505,3885,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4737,-0.75,-146.6,479.7,-9.3,546,4740,0.00,1.88,0.00,0.000,6,0.000,0.029,2878,2208,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,5049,-0.75,-146.6,508.0,-9.1,577,5058,0.00,2.03,0.00,0.000,4,0.000,0.047,2868,3513,3885,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5102,-0.75,-146.6,513.0,-9.7,582,5106,0.00,1.88,0.00,0.000,6,0.000,0.029,2868,2219,3885,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5414,-0.75,-146.6,542.8,-9.3,613,5423,0.00,2.03,0.00,0.000,4,0.000,0.047,2858,3518,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5469,-0.75,-146.6,548.4,-10.9,618,5476,0.12,1.90,0.00,0.000,6,0.150,0.029,2890,2206,3886,0,0,0,0,0,0,26.12,26.50,28.83
$GC,5777,-0.75,-146.6,573.9,-8.0,649,5786,0.00,2.00,0.00,0.000,4,0.000,0.047,2882,3517,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5813,-0.75,-146.6,576.8,-8.5,652,5819,0.00,1.85,0.00,0.000,6,0.000,0.029,2882,2220,3885,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6120,-0.75,-146.6,602.7,-8.3,681,6125,0.00,1.98,0.00,0.000,4,0.000,0.047,2873,3510,3885,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6158,-0.75,-146.6,605.2,-8.4,682,6161,0.00,1.88,0.00,0.000,6,0.000,0.029,2873,2225,3885,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6481,-0.75,-146.6,634.2,-8.8,693,6486,0.00,1.98,0.00,0.000,4,0.000,0.047,2863,3503,3885,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6540,-0.75,-146.6,639.8,-9.0,695,6544,0.00,1.88,0.00,0.000,6,0.000,0.029,2863,2208,3885,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,6779,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6779,begin apogee
$GC,6786,-0.17,0.0,662.3,-9.3,703,6913,0.65,0.00,120.72,1.228,4,0.133,0.000,3068,1884,3279,0,0,0,0,0,0,25.58,28.83,23.70
$STATE,6917,end apogee,CONTROL_FINISHED_OK
$STATE,6917,begin climb
$GC,6919,0.75,146.6,667.0,0.0,707,7055,0.85,2.22,122.55,1.078,4,0.068,0.037,3372,528,2680,0,0,0,0,0,0,24.82,24.86,22.92
$GC,7106,0.79,181.3,657.8,7.7,713,7141,0.00,2.30,30.10,1.030,6,0.000,0.033,3372,1908,2539,0,0,0,0,0,0,28.83,24.54,23.25
$GC,7443,0.79,181.3,609.4,13.9,724,7444,0.00,0.00,0.00,0.000,6,0.000,0.000,3372,1907,2530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7744,0.79,181.3,566.8,14.5,748,7752,0.00,2.17,0.00,0.000,4,0.000,0.038,3381,530,2528,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7795,0.79,181.3,559.2,14.5,753,7805,0.00,2.15,0.00,0.000,6,0.000,0.034,3381,1901,2527,0,0,0,0,0,0,28.83,25.97,28.83
$GC,8105,0.79,181.3,515.0,14.3,784,8114,0.00,2.17,0.00,0.000,4,0.000,0.038,3390,523,2527,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8137,0.79,181.3,510.5,14.2,787,8146,0.00,2.15,0.00,0.000,6,0.000,0.034,3390,1904,2526,0,0,0,0,0,0,28.83,26.12,28.83
$GC,8448,0.79,181.3,465.5,14.3,818,8457,0.00,2.12,0.00,0.000,4,0.000,0.039,3399,526,2526,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8480,0.79,181.3,460.6,14.7,821,8490,0.00,2.10,0.00,0.000,6,0.000,0.034,3399,1892,2526,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8790,0.79,181.3,412.4,15.7,852,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1892,2525,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9093,0.79,181.3,364.0,16.3,882,9099,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1892,2524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9402,0.79,181.3,314.1,15.8,913,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,3399,1892,2524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9714,0.79,181.3,265.1,15.7,944,9722,0.00,2.12,0.00,0.000,4,0.000,0.038,3408,519,2524,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9808,0.79,181.3,249.8,16.3,953,9816,0.00,2.12,0.00,0.000,6,0.000,0.034,3408,1891,2523,0,0,0,0,0,0,28.83,26.34,28.83
$GC,10116,0.79,181.3,201.2,15.2,984,10117,0.00,0.00,0.00,0.000,6,0.000,0.000,3407,1891,2523,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10418,0.79,181.3,158.9,13.6,1014,10427,0.00,2.10,0.00,0.000,4,0.000,0.038,3417,531,2523,0,0,0,0,0,0,28.83,26.30,28.83
$GC,10464,0.79,181.3,152.6,14.2,1018,10471,0.12,2.08,0.00,0.000,6,0.168,0.034,3386,1892,2524,0,0,0,0,0,0,26.01,26.36,28.83
$GC,10772,0.79,181.3,115.4,11.2,1049,10781,0.00,2.10,0.00,0.000,4,0.000,0.044,3386,3304,2523,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10795,0.79,181.3,112.6,11.6,1051,10799,0.00,2.10,0.00,0.000,6,0.000,0.029,3393,1886,2523,0,0,0,0,0,0,28.83,26.42,28.83
$GC,11105,0.79,181.3,77.9,10.6,1101,11113,0.00,2.10,0.00,0.000,4,0.000,0.039,3403,510,2523,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11251,0.79,181.3,62.3,10.4,1128,11258,0.00,2.10,0.00,0.000,6,0.000,0.034,3403,1878,2524,0,0,0,0,0,0,28.83,26.38,28.83
$GC,11564,0.81,197.8,32.1,8.5,1189,11583,0.00,2.15,12.77,0.842,4,0.000,0.044,3403,3303,2471,0,0,0,0,0,0,28.83,26.32,25.15
$GC,11591,0.82,207.2,29.7,8.8,1193,11606,0.00,2.12,7.72,0.767,6,0.000,0.030,3412,1866,2434,0,0,0,0,0,0,28.83,26.36,25.10
$FREEZE,8.72,6.553,-1.699,0,1,0
$FREEZE,8.10,6.559,-1.696,0,1,0
$FREEZE,7.52,6.556,-1.693,0,1,0
$FREEZE,7.04,6.539,-1.692,0,1,0
$FREEZE,6.37,6.539,-1.691,0,1,0
$FREEZE,5.66,6.551,-1.690,0,1,0
$FREEZE,4.91,6.545,-1.690,0,1,0
$GC,11915,1.06,398.8,10.3,1.2,1255,12011,0.12,2.10,88.90,0.082,4,0.106,0.037,3480,514,1651,0,0,0,0,0,0,26.30,26.08,25.89
$FREEZE,3.16,6.526,-1.689,0,1,0
$STATE,12021,end climb,SURFACE_DEPTH_REACHED
$STATE,12021,begin surface coast
$FREEZE,2.42,6.522,-1.689,0,1,0
$FREEZE,1.86,6.526,-1.688,0,1,0
$FREEZE,1.55,6.524,-1.094,0,1,0
$FREEZE,1.55,6.421,-0.984,0,1,0
$FREEZE,1.56,6.405,-1.677,0,1,0
$FREEZE,1.52,6.389,-0.601,0,1,0
$FREEZE,1.56,6.295,-0.769,0,1,0
$FREEZE,1.51,6.330,-0.875,0,1,0
$FINISH,1.5,1.012669
$STATE,12063,end surface coast,CONTROL_FINISHED_OK
$STATE,12063,begin surface
$SM_CCo,12145,0.00,0.000,0,0,1636,403.03
$SM_GC,2.58,8.48,2.50,0.00,0.050,0.035,0.000,337,2096,1636,-8.67,-1.58,403.03,0,0,1,0,0,0,25.99,26.12,28.83
$RAFOS_CLK,604
$RAFOS,6,1345366146,8.833333,8.818334,56,43,41,41,41,39,1623,784,200,511,1896,137
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5708.95,190812,040416
$TT8_MAMPS,0.028462,0.028462
$HUMID,42.91
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,16.30
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,651.1,27.3
$24V_AH,22.9,38.699
$10V_AH,9.9,43.346
$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,21.025,111.675,382.775,0.000,0.000,0.000,0.000,270.500,6.000,0.000,20.379,3209.622,5999.330,560.835,2446.663,332.029,0.000,2006.200,0.000,2143.555,720.000,25.011,0.000
$DEVICE_MAMPS,247.095,52.785,1227.825,0.000,0.000,0.000,0.000,285.385,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.297,900.194,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151584
$DATA_FILE_SIZE,60048,1278
$CAP_FILE_SIZE,139904,0
$CFSIZE,260165632,218337280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1463.1
$CURRENT,0.174,121.6,1
$GPS,190812,120559,6658.637,-5652.971,35,0.8,35,-33.4