version: 66.11
glider: 108
mission: 21
dive: 68
start: 7 1 112 22 57 55
data:
$ID,108
$MISSION,21
$DIVE,68
$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,0.00275
$HD_B,0.0115
$HD_C,1.7999999e-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,-191171.75
$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,51
$R_STBD_OVSHOOT,42
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3029
$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
$GPS1,010712,225004,6649.101,-6014.722,26,0.7,26,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-76.1
$GPS2,010712,225723,6649.114,-6014.710,19,0.7,19,-34.0
$SPEED_LIMITS,0.159,0.240
$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,210.1,12567,-16.3,-9.167
$D_GRID,569
$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,19,-0.72,-146.6,0.0,0.0,0,104,0.00,0.00,-83.20,0.000,2,0.000,0.000,345,2102,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.72,-146.6,3.2,-2.0,15,135,10.32,2.17,-8.50,0.000,4,0.265,0.072,2881,3505,3630,0,0,0,0,0,0,25.98,26.21,26.51
$GC,319,-0.72,-146.6,37.6,-13.8,55,326,0.00,2.15,0.00,0.000,6,0.000,0.041,2888,2099,3635,0,0,0,0,0,0,28.83,26.32,28.83
$GC,631,-0.72,-146.6,75.4,-11.8,116,637,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2099,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,947,-0.72,-146.6,110.3,-11.3,169,951,0.00,2.20,0.00,0.000,4,0.000,0.057,2881,3506,3636,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1029,-0.72,-146.6,120.4,-12.7,177,1032,0.00,2.12,0.00,0.000,6,0.000,0.042,2885,2101,3636,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1340,-0.72,-146.6,158.0,-12.2,208,1349,0.00,2.20,0.00,0.000,4,0.000,0.056,2877,3503,3636,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1392,-0.72,-146.6,164.7,-13.0,213,1396,0.00,2.12,0.00,0.000,6,0.000,0.040,2877,2093,3635,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1704,-0.72,-146.6,199.7,-10.2,244,1713,0.00,2.20,0.00,0.000,4,0.000,0.057,2867,3508,3635,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1809,-0.72,-146.6,210.8,-10.9,254,1816,0.00,2.15,0.00,0.000,6,0.000,0.041,2867,2090,3635,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2116,-0.72,-146.6,242.5,-9.7,285,2126,0.00,2.22,0.00,0.000,4,0.000,0.055,2856,3516,3634,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2169,-0.72,-146.6,248.2,-11.1,290,2179,0.10,2.12,0.00,0.000,6,0.161,0.039,2889,2093,3634,0,0,0,0,0,0,26.41,26.57,28.83
$GC,2479,-0.72,-146.6,275.9,-9.1,321,2489,0.00,2.20,0.00,0.000,4,0.000,0.057,2881,3509,3634,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2555,-0.72,-146.6,283.3,-10.6,328,2562,0.00,2.15,0.00,0.000,6,0.000,0.041,2881,2085,3634,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2862,-0.72,-146.6,313.3,-9.7,359,2871,0.00,2.22,0.00,0.000,4,0.000,0.057,2872,3508,3634,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2944,-0.72,-146.6,321.8,-10.6,367,2953,0.00,2.12,0.00,0.000,6,0.000,0.041,2872,2094,3633,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3255,-0.72,-146.6,350.9,-8.9,398,3264,0.00,2.17,0.00,0.000,4,0.000,0.056,2862,3504,3634,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3357,-0.72,-146.6,360.7,-9.4,408,3362,0.12,2.10,0.00,0.000,6,0.177,0.040,2892,2100,3633,0,0,0,0,0,0,26.48,26.63,28.83
$GC,3670,-0.72,-146.6,384.5,-7.7,439,3674,0.00,2.17,0.00,0.000,4,0.000,0.055,2885,3504,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3818,-0.72,-146.6,396.3,-8.6,453,3826,0.00,2.10,0.00,0.000,6,0.000,0.037,2885,2096,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4124,-0.72,-146.6,420.8,-7.7,484,4133,0.00,2.17,0.00,0.000,4,0.000,0.054,2875,3506,3634,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4217,-0.72,-146.6,428.6,-8.7,493,4226,0.00,2.10,0.00,0.000,6,0.000,0.038,2874,2096,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4526,-0.72,-146.6,453.1,-7.7,524,4535,0.00,2.15,0.00,0.000,4,0.000,0.054,2864,3498,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4601,-0.72,-146.6,459.2,-8.6,531,4608,0.12,2.10,0.00,0.000,6,0.174,0.038,2896,2090,3634,0,0,0,0,0,0,26.52,26.67,28.83
$GC,4909,-0.72,-146.6,481.2,-7.2,562,4917,0.00,2.17,0.00,0.000,4,0.000,0.054,2887,3512,3635,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4974,-0.72,-146.6,485.9,-7.7,568,4981,0.00,2.10,0.00,0.000,6,0.000,0.037,2886,2097,3635,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5281,-0.72,-146.6,509.7,-7.6,599,5289,0.00,2.15,0.00,0.000,4,0.000,0.054,2876,3503,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5363,-0.72,-146.6,516.6,-8.8,607,5371,0.00,2.08,0.00,0.000,6,0.000,0.037,2876,2098,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5673,-0.72,-146.6,541.9,-8.1,638,5682,0.00,2.15,0.00,0.000,4,0.000,0.054,2866,3498,3635,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5729,-0.72,-146.6,546.5,-9.0,643,5736,0.12,2.10,0.00,0.000,6,0.170,0.037,2897,2087,3635,0,0,0,0,0,0,26.54,26.70,28.83
$GC,6036,-0.72,-146.6,568.0,-6.9,674,6044,0.00,2.17,0.00,0.000,4,0.000,0.054,2889,3504,3635,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,6055,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6055,begin apogee
$GC,6065,-0.17,0.0,569.6,-6.8,676,6194,0.57,0.00,122.40,1.217,6,0.143,0.000,3073,1878,3028,0,0,0,0,0,0,26.55,28.83,23.79
$STATE,6195,end apogee,CONTROL_FINISHED_OK
$STATE,6195,begin climb
$GC,6198,0.72,146.6,571.3,0.0,689,6333,0.85,2.40,124.82,1.181,4,0.094,0.045,3365,514,2431,0,0,0,0,0,0,24.75,24.22,23.36
$GC,6364,0.72,146.6,554.3,13.1,706,6372,0.00,2.33,0.00,0.000,6,0.000,0.039,3365,1905,2425,0,0,0,0,0,0,28.83,24.65,28.83
$GC,6675,0.72,146.6,506.9,15.3,737,6683,0.00,2.20,0.00,0.000,4,0.000,0.052,3365,3301,2419,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6699,0.72,146.6,502.9,15.6,739,6706,0.00,2.20,0.00,0.000,6,0.000,0.038,3374,1907,2418,0,0,0,0,0,0,28.83,25.57,28.83
$GC,7006,0.72,146.6,453.4,15.6,770,7016,0.00,2.25,0.00,0.000,4,0.000,0.047,3385,502,2417,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7062,0.72,146.6,444.9,15.6,775,7069,0.00,2.25,0.00,0.000,6,0.000,0.040,3385,1909,2416,0,0,0,0,0,0,28.83,25.92,28.83
$GC,7370,0.72,146.6,394.5,16.5,806,7380,0.00,2.15,0.00,0.000,4,0.000,0.051,3385,3304,2416,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7393,0.72,146.6,390.5,16.3,808,7402,0.12,2.17,0.00,0.000,6,0.180,0.039,3365,1891,2415,0,0,0,0,0,0,25.97,26.10,28.83
$GC,7704,0.72,146.6,344.5,14.4,839,7712,0.00,2.17,0.00,0.000,4,0.000,0.047,3373,503,2415,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7795,0.72,146.6,331.3,14.2,848,7804,0.00,2.22,0.00,0.000,6,0.000,0.041,3373,1911,2415,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8106,0.72,146.6,286.5,14.0,879,8115,0.00,2.12,0.00,0.000,4,0.000,0.051,3373,3308,2415,0,0,0,0,0,0,28.83,26.30,28.83
$GC,8172,0.72,146.6,276.8,15.9,885,8178,0.00,2.15,0.00,0.000,6,0.000,0.039,3381,1899,2414,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8478,0.72,146.6,232.9,13.0,916,8482,0.00,2.17,0.00,0.000,4,0.000,0.048,3392,491,2414,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8591,0.72,146.6,217.8,13.2,927,8599,0.00,2.17,0.00,0.000,6,0.000,0.040,3392,1901,2414,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8900,0.72,146.6,176.9,13.2,958,8910,0.00,2.22,0.00,0.000,4,0.000,0.047,3401,498,2414,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8933,0.72,146.6,172.5,13.1,961,8943,0.10,2.17,0.00,0.000,6,0.144,0.040,3369,1901,2414,0,0,0,0,0,0,26.34,26.46,28.83
$GC,9243,0.72,146.6,139.2,10.0,992,9252,0.00,2.15,0.00,0.000,4,0.000,0.052,3367,3300,2414,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9286,0.72,146.6,134.1,11.9,996,9295,0.00,2.12,0.00,0.000,6,0.000,0.040,3374,1897,2414,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9596,0.72,146.6,101.8,10.3,1027,9605,0.00,2.15,0.00,0.000,4,0.000,0.049,3384,505,2414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9718,0.72,146.6,88.7,10.6,1049,9725,0.00,2.17,0.00,0.000,6,0.000,0.041,3384,1897,2414,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10030,0.72,146.6,56.2,10.7,1110,10037,0.00,2.20,0.00,0.000,4,0.000,0.049,3394,505,2414,0,0,0,0,0,0,28.83,26.54,28.83
$GC,10125,0.72,146.6,45.9,10.4,1128,10132,0.00,2.17,0.00,0.000,6,0.000,0.041,3393,1911,2414,0,0,0,0,0,0,28.83,26.56,28.83
$GC,10440,0.79,203.0,18.2,6.8,1189,10472,0.00,2.20,26.50,0.110,4,0.000,0.054,3394,3305,2200,0,0,0,0,0,0,28.83,26.49,26.42
$GC,10505,0.79,203.0,12.3,10.4,1200,10512,0.00,2.15,0.00,0.000,6,0.000,0.041,3402,1891,2196,0,0,0,0,0,0,28.83,26.53,28.83
$FREEZE,8.94,1.192,-1.757,2,1,0
$FREEZE,8.44,1.189,-1.756,2,1,0
$FREEZE,7.84,1.305,-1.757,2,1,0
$FREEZE,7.48,1.417,-1.752,2,1,0
$FREEZE,7.04,1.503,-1.751,2,1,0
$FREEZE,6.58,1.649,-1.749,2,1,0
$FREEZE,6.03,1.732,-1.750,2,1,0
$FREEZE,5.57,1.776,-1.749,2,1,0
$FREEZE,5.30,1.786,-1.749,2,1,0
$FREEZE,4.81,1.783,-1.749,2,1,0
$FREEZE,4.19,1.788,-1.749,2,1,0
$FREEZE,3.79,1.796,-1.750,2,1,0
$STATE,10596,end climb,SURFACE_DEPTH_REACHED
$STATE,10596,begin surface coast
$FREEZE,3.20,1.800,-1.749,2,1,0
$FREEZE,2.77,1.799,-1.749,2,1,0
$FREEZE,2.25,1.807,-1.749,2,1,0
$FREEZE,1.78,1.485,-1.768,2,1,0
$FREEZE,1.31,1.747,-1.752,2,1,0
$FREEZE,1.25,1.426,-0.381,2,1,0
$FREEZE,1.22,1.765,-0.183,2,1,0
$FREEZE,1.25,1.619,-0.646,2,1,0
$FREEZE,1.34,1.462,-0.837,2,1,0
$FINISH,1.3,1.012353
$STATE,10644,end surface coast,CONTROL_FINISHED_OK
$STATE,10644,begin surface
$SM_CCo,10664,86.35,0.074,0,0,1397,400.08
$SM_GC,2.35,8.15,0.35,86.35,0.054,0.064,0.074,344,2104,1397,-8.65,-1.13,400.08,0,0,0,0,0,0,26.50,26.53,26.35
$RAFOS_CLK,550
$RAFOS,6,1341190144,0.833333,0.817778,46,45,42,41,41,41,1320,1328,376,849,1917,1655
$RAFOS,5,1341189664,0.700000,0.684444,49,47,45,45,43,42,383,1080,1547,1030,481,1828
$RAFOS,4,1341189181,0.566667,0.550278,50,49,45,45,45,44,1898,662,1089,1440,1432,1726
$RAFOS,3,1341188703,0.433333,0.417500,42,40,40,40,40,39,1617,187,769,980,1373,1810
$RAFOS,2,1341188230,0.300000,0.286111,55,50,47,45,44,40,974,1857,1651,1389,667,997
$RAFOS,1,1341187748,0.166667,0.152222,67,47,43,41,41,40,491,906,1449,1092,1615,1
$RAFOS,0,1341187264,0.033333,0.017778,46,45,44,42,42,41,1786,1424,379,751,952,413
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6013.28,010712,191942
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.88
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.8
$24V_AH,23.4,10.983
$10V_AH,10.2,12.810
$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,20.600,117.875,273.725,86.350,0.000,0.000,0.000,303.475,2.000,0.000,20.227,3085.054,4861.544,569.296,2362.971,310.034,0.000,1986.029,0.000,2037.348,2520.000,13.222,0.000
$DEVICE_MAMPS,264.690,71.910,1217.115,74.205,0.000,0.000,0.000,271.903,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,854.079,923.920,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151504
$DATA_FILE_SIZE,56665,1226
$CAP_FILE_SIZE,137319,0
$CFSIZE,260165632,240156672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.8
$CURRENT,0.183,342.7,1
$GPS,020712,015834,6648.849,-6016.011,37,0.8,37,-34.0