version: 66.11
glider: 108
mission: 21
dive: 69
start: 7 2 112 2 5 52
data:
$ID,108
$MISSION,21
$DIVE,69
$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,-191173
$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,38
$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
$GPS1,020712,015834,6648.849,-6016.011,37,0.8,37,-34.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-76.1
$GPS2,020712,020518,6648.789,-6016.076,21,0.8,21,-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,213.8,11461,-16.3,-9.167
$D_GRID,560
$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,-0.72,-146.6,0.0,0.0,0,98,0.00,0.00,-79.10,0.000,2,0.000,0.000,344,2105,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.72,-146.6,3.1,-1.7,14,134,10.07,2.22,-12.50,0.000,4,0.259,0.075,2882,3511,3632,0,0,0,0,0,0,26.20,26.42,26.72
$GC,340,-0.72,-146.6,37.6,-13.8,59,346,0.00,2.15,0.00,0.000,6,0.000,0.041,2890,2094,3636,0,0,0,0,0,0,28.83,26.50,28.83
$GC,651,-0.72,-146.6,74.7,-11.5,120,659,0.00,2.22,0.00,0.000,4,0.000,0.057,2882,3512,3636,0,0,0,0,0,0,28.83,26.48,28.83
$GC,767,-0.72,-146.6,87.6,-11.2,142,774,0.00,2.15,0.00,0.000,6,0.000,0.041,2888,2089,3637,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1078,-0.72,-146.6,121.9,-11.7,184,1087,0.00,2.22,0.00,0.000,4,0.000,0.057,2880,3510,3636,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1133,-0.72,-146.6,128.7,-13.1,189,1140,0.00,2.15,0.00,0.000,6,0.000,0.041,2879,2087,3637,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1440,-0.72,-146.6,165.4,-11.4,220,1450,0.00,2.22,0.00,0.000,4,0.000,0.057,2869,3510,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1554,-0.72,-146.6,179.0,-12.4,231,1562,0.00,2.10,0.00,0.000,6,0.000,0.041,2869,2093,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1863,-0.72,-146.6,212.8,-10.0,262,1865,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2093,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2166,-0.72,-146.6,242.4,-9.7,292,2175,0.00,2.20,0.00,0.000,4,0.000,0.058,2859,3509,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2198,-0.72,-146.6,246.1,-10.3,295,2208,0.15,2.12,0.00,0.000,6,0.177,0.041,2899,2096,3635,0,0,0,0,0,0,26.48,26.63,28.83
$GC,2509,-0.72,-146.6,271.1,-8.0,326,2518,0.00,2.17,0.00,0.000,4,0.000,0.057,2891,3505,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2694,-0.72,-146.6,287.6,-9.1,344,2698,0.00,2.10,0.00,0.000,6,0.000,0.042,2891,2101,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3006,-0.72,-146.6,314.9,-9.0,375,3015,0.00,2.17,0.00,0.000,4,0.000,0.057,2880,3502,3634,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3162,-0.72,-146.6,330.4,-10.1,390,3169,0.00,2.12,0.00,0.000,6,0.000,0.041,2880,2093,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3471,-0.72,-146.6,357.3,-7.9,421,3480,0.00,2.17,0.00,0.000,4,0.000,0.057,2870,3506,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3516,-0.72,-146.6,360.9,-8.7,425,3522,0.00,2.12,0.00,0.000,6,0.000,0.041,2869,2090,3634,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3823,-0.72,-146.6,386.6,-8.3,456,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4126,-0.72,-146.6,412.3,-8.5,486,4134,0.00,2.17,0.00,0.000,4,0.000,0.056,2859,3500,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4312,-0.72,-146.6,429.8,-9.5,504,4320,0.15,2.10,0.00,0.000,6,0.169,0.040,2899,2096,3634,0,0,0,0,0,0,26.54,26.70,28.83
$GC,4620,-0.72,-146.6,453.0,-7.2,535,4629,0.00,2.17,0.00,0.000,4,0.000,0.056,2890,3515,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4695,-0.72,-146.6,458.8,-8.0,542,4702,0.00,2.12,0.00,0.000,6,0.000,0.040,2890,2088,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5004,-0.72,-146.6,481.1,-7.3,573,5012,0.00,2.17,0.00,0.000,4,0.000,0.055,2880,3506,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5056,-0.72,-146.6,485.1,-7.7,578,5064,0.00,2.10,0.00,0.000,6,0.000,0.040,2879,2096,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5366,-0.72,-146.6,508.2,-7.5,609,5375,0.00,2.17,0.00,0.000,4,0.000,0.055,2869,3516,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5451,-0.72,-146.6,515.2,-9.0,617,5458,0.00,2.12,0.00,0.000,6,0.000,0.039,2869,2088,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5759,-0.72,-146.6,541.0,-8.8,648,5768,0.00,2.17,0.00,0.000,4,0.000,0.055,2858,3507,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5909,-0.72,-146.6,554.2,-9.1,662,5916,0.15,2.10,0.00,0.000,6,0.165,0.040,2899,2099,3636,0,0,0,0,0,0,26.56,26.72,28.83
$STATE,5982,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5982,begin apogee
$GC,5989,-0.17,0.0,560.2,-7.3,670,6115,0.52,0.00,121.47,1.173,6,0.140,0.000,3072,1881,3029,0,0,0,0,0,0,26.58,28.83,23.93
$STATE,6118,end apogee,CONTROL_FINISHED_OK
$STATE,6119,begin climb
$GC,6121,0.72,146.6,562.1,0.0,683,6248,0.85,0.00,122.07,1.042,6,0.091,0.000,3357,1881,2431,0,0,0,0,0,0,24.81,28.83,23.57
$GC,6546,0.72,146.6,509.5,12.4,726,6555,0.00,2.28,0.00,0.000,4,0.000,0.052,3356,3308,2418,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6591,0.72,146.6,503.8,13.5,730,6598,0.00,2.22,0.00,0.000,6,0.000,0.039,3366,1896,2418,0,0,0,0,0,0,28.83,25.57,28.83
$GC,6899,0.72,146.6,461.3,13.7,761,6907,0.00,2.22,0.00,0.000,4,0.000,0.047,3377,499,2416,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6991,0.72,146.6,447.9,14.7,770,6999,0.00,2.22,0.00,0.000,6,0.000,0.040,3378,1901,2416,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7301,0.72,146.6,401.9,14.9,801,7310,0.00,2.15,0.00,0.000,4,0.000,0.053,3377,3303,2415,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7334,0.72,146.6,396.5,15.9,804,7344,0.00,2.12,0.00,0.000,6,0.000,0.039,3386,1906,2414,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7643,0.72,146.6,346.1,16.1,835,7652,0.00,2.22,0.00,0.000,4,0.000,0.048,3397,493,2415,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7790,0.72,146.6,323.1,16.2,849,7798,0.12,2.22,0.00,0.000,6,0.171,0.041,3367,1904,2414,0,0,0,0,0,0,26.15,26.27,28.83
$GC,8098,0.72,146.6,280.7,13.1,880,8107,0.00,2.15,0.00,0.000,4,0.000,0.052,3367,3301,2414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8163,0.72,146.6,271.6,15.0,886,8170,0.00,2.15,0.00,0.000,6,0.000,0.039,3373,1887,2413,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8471,0.72,146.6,230.4,12.6,917,8480,0.00,2.15,0.00,0.000,4,0.000,0.048,3384,508,2413,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8595,0.72,146.6,214.5,12.8,929,8602,0.00,2.20,0.00,0.000,6,0.000,0.041,3384,1910,2414,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8903,0.72,146.6,175.9,12.2,960,8913,0.00,2.22,0.00,0.000,4,0.000,0.047,3394,506,2413,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8930,0.72,146.6,173.5,11.9,962,8936,0.00,2.20,0.00,0.000,6,0.000,0.040,3393,1913,2413,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9236,0.72,146.6,137.2,11.9,993,9240,0.00,2.22,0.00,0.000,4,0.000,0.048,3402,501,2413,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9268,0.72,146.6,133.1,12.4,996,9279,0.15,2.20,0.00,0.000,6,0.161,0.040,3362,1912,2414,0,0,0,0,0,0,26.38,26.51,28.83
$GC,9578,0.72,146.6,98.3,10.9,1028,9586,0.00,2.12,0.00,0.000,4,0.000,0.052,3362,3312,2413,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9619,0.72,146.6,93.4,12.6,1035,9626,0.00,2.15,0.00,0.000,6,0.000,0.041,3370,1894,2413,0,0,0,0,0,0,28.83,26.54,28.83
$GC,9933,0.72,146.6,58.7,10.9,1096,9940,0.00,2.17,0.00,0.000,4,0.000,0.050,3380,497,2413,0,0,0,0,0,0,28.83,26.53,28.83
$GC,10080,0.76,178.5,45.0,7.8,1124,10113,0.00,2.17,25.25,0.881,6,0.000,0.041,3380,1906,2300,0,0,0,0,0,0,28.83,26.57,25.32
$GC,10424,0.77,186.5,15.9,8.8,1189,10431,0.00,0.00,3.47,0.112,6,0.000,0.000,3380,1906,2267,0,0,0,0,0,0,28.83,28.83,26.15
$FREEZE,8.97,1.782,-1.758,2,1,0
$FREEZE,8.55,1.785,-1.758,2,1,0
$FREEZE,8.17,1.788,-1.759,2,1,0
$FREEZE,7.73,1.789,-1.758,2,1,0
$FREEZE,7.33,1.793,-1.758,2,1,0
$FREEZE,7.00,1.795,-1.758,2,1,0
$FREEZE,6.53,1.796,-1.758,2,1,0
$FREEZE,5.97,1.796,-1.758,2,1,0
$FREEZE,5.53,1.790,-1.757,2,1,0
$FREEZE,5.17,1.786,-1.758,2,1,0
$FREEZE,4.70,1.767,-1.755,2,1,0
$FREEZE,4.30,1.679,-1.756,2,1,0
$FREEZE,3.92,1.667,-1.756,2,1,0
$STATE,10560,end climb,SURFACE_DEPTH_REACHED
$STATE,10560,begin surface coast
$FREEZE,3.41,1.680,-1.756,2,1,0
$FREEZE,3.14,1.638,-1.756,2,1,0
$FREEZE,2.74,1.616,-1.755,2,1,0
$FREEZE,2.31,1.512,-1.755,2,1,0
$FREEZE,2.00,1.464,-1.753,2,1,0
$FREEZE,1.58,1.362,-1.754,2,1,0
$FREEZE,1.34,1.199,-1.763,2,1,0
$FREEZE,1.35,1.245,-1.760,2,1,0
$FREEZE,1.33,1.112,-0.753,2,1,0
$FINISH,1.3,1.011110
$STATE,10610,end surface coast,CONTROL_FINISHED_OK
$STATE,10610,begin surface
$SM_CCo,10629,95.22,0.073,0,0,1397,400.08
$SM_GC,2.24,8.18,0.28,95.22,0.055,0.069,0.073,343,2099,1397,-8.65,-1.30,400.08,0,0,0,0,0,0,26.28,26.31,26.13
$RAFOS_CLK,548
$RAFOS,6,1341204546,4.833333,4.818333,47,45,44,44,44,41,802,1426,1710,1012,1314,435
$RAFOS,5,1341204068,4.700000,4.685555,46,44,43,43,42,42,61,101,133,1708,1268,1619
$RAFOS,4,1341203582,4.566667,4.550556,46,42,42,41,41,39,1920,575,724,1681,1825,61
$RAFOS,3,1341203110,4.433333,4.419445,50,45,43,42,42,41,1755,1870,630,1525,1905,660
$RAFOS,2,1341202627,4.300000,4.285278,49,47,45,45,45,42,731,781,180,450,1321,1433
$RAFOS,1,1341202143,4.166667,4.150833,46,45,44,44,41,41,600,514,913,1306,314,402
$RAFOS,0,1341201664,4.033333,4.017778,48,45,42,42,41,40,280,734,150,1090,1299,313
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6018.02,010712,222206
$TT8_MAMPS,0.026215,0.026215
$HUMID,39.91
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$ALTIM_BOTTOM_PING,550.2,31.3
$24V_AH,23.6,11.069
$10V_AH,10.2,12.904
$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,20.350,100.425,272.275,95.225,0.000,0.000,0.000,266.825,2.000,0.000,21.754,3104.341,4815.646,572.823,2327.395,310.215,0.000,1930.592,0.000,2040.377,2520.000,17.995,0.000
$DEVICE_MAMPS,259.335,74.970,1172.745,73.440,0.000,0.000,0.000,274.899,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,853.482,924.817,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151544
$DATA_FILE_SIZE,56742,1224
$CAP_FILE_SIZE,133494,0
$CFSIZE,260165632,240091136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.3
$CURRENT,0.266,175.6,1
$GPS,020712,050605,6646.049,-6016.576,37,0.9,37,-33.9