version: 66.11
glider: 108
mission: 21
dive: 70
start: 7 2 112 5 13 34
data:
$ID,108
$MISSION,21
$DIVE,70
$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,-191174.34
$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,52
$R_STBD_OVSHOOT,41
$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
$GPS1,020712,050605,6646.049,-6016.576,37,0.9,37,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-76.3
$GPS2,020712,051259,6645.982,-6016.645,16,1.0,16,-33.9
$SPEED_LIMITS,0.159,0.240
$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,67.1,153933,-16.3,-9.167
$D_GRID,547
$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,-146.6,0.0,0.0,0,102,0.00,0.00,-83.88,0.000,2,0.000,0.000,343,2099,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.72,-146.6,3.3,-1.9,15,133,10.23,2.22,-8.43,0.000,4,0.262,0.063,2902,705,3632,0,0,0,0,0,0,26.06,26.30,26.59
$GC,314,-0.72,-146.6,35.8,-14.2,54,320,0.00,2.20,0.00,0.000,6,0.000,0.045,2895,2099,3636,0,0,0,0,0,0,28.83,26.36,28.83
$GC,625,-0.72,-146.6,72.5,-11.3,115,632,0.00,2.17,0.00,0.000,4,0.000,0.057,2884,3515,3638,0,0,0,0,0,0,28.83,26.39,28.83
$GC,807,-0.72,-146.6,94.3,-11.8,150,814,0.00,2.15,0.00,0.000,6,0.000,0.041,2889,2094,3638,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1122,-0.72,-146.6,128.0,-10.2,186,1126,0.00,2.22,0.00,0.000,4,0.000,0.057,2880,3513,3638,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1215,-0.72,-146.6,138.0,-10.8,195,1224,0.00,2.12,0.00,0.000,6,0.000,0.041,2880,2096,3638,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1525,-0.72,-146.6,170.8,-10.2,226,1534,0.00,2.20,0.00,0.000,4,0.000,0.057,2870,3505,3637,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1663,-0.72,-146.6,185.7,-11.6,239,1669,0.00,2.12,0.00,0.000,6,0.000,0.041,2871,2099,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1968,-0.72,-146.6,218.6,-10.5,270,1977,0.00,2.17,0.00,0.000,4,0.000,0.057,2862,3496,3636,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2073,-0.72,-146.6,229.8,-11.0,280,2081,0.12,2.12,0.00,0.000,6,0.183,0.041,2893,2094,3636,0,0,0,0,0,0,26.42,26.58,28.83
$GC,2380,-0.72,-146.6,256.8,-8.1,311,2384,0.00,2.20,0.00,0.000,4,0.000,0.057,2885,3506,3636,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2446,-0.72,-146.6,262.3,-8.9,317,2454,0.00,2.12,0.00,0.000,6,0.000,0.041,2885,2096,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2753,-0.72,-146.6,287.7,-7.9,348,2754,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2095,3635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3056,-0.72,-146.6,312.0,-8.0,378,3060,0.00,2.20,0.00,0.000,4,0.000,0.057,2875,3510,3635,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3141,-0.72,-146.6,319.4,-9.1,386,3147,0.00,2.12,0.00,0.000,6,0.000,0.041,2875,2096,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3448,-0.72,-146.6,346.6,-8.8,417,3458,0.00,2.17,0.00,0.000,4,0.000,0.056,2867,3502,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3605,-0.72,-146.6,361.0,-9.3,432,3612,0.00,2.10,0.00,0.000,6,0.000,0.037,2866,2096,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3913,-0.72,-146.6,388.2,-8.8,463,3915,0.12,0.00,0.00,0.000,6,0.180,0.000,2897,2096,3635,0,0,0,0,0,0,26.52,28.83,28.83
$GC,4213,-0.72,-146.6,408.6,-6.8,493,4217,0.00,2.17,0.00,0.000,4,0.000,0.056,2888,3506,3635,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4289,-0.72,-146.6,413.8,-7.1,500,4296,0.00,2.10,0.00,0.000,6,0.000,0.040,2888,2097,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4596,-0.72,-146.6,437.5,-7.9,531,4605,0.00,2.17,0.00,0.000,4,0.000,0.055,2879,3508,3635,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4699,-0.72,-146.6,446.4,-8.9,541,4703,0.00,2.10,0.00,0.000,6,0.000,0.040,2879,2099,3636,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5012,-0.72,-146.6,471.7,-8.0,572,5016,0.00,2.17,0.00,0.000,4,0.000,0.055,2869,3512,3636,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5117,-0.72,-146.6,480.8,-8.9,582,5124,0.00,2.12,0.00,0.000,6,0.000,0.039,2869,2088,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5425,-0.72,-146.6,506.1,-8.0,613,5434,0.00,2.17,0.00,0.000,4,0.000,0.055,2858,3502,3636,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5458,-0.72,-146.6,509.0,-8.5,616,5467,0.10,2.10,0.00,0.000,6,0.149,0.039,2891,2097,3637,0,0,0,0,0,0,26.54,26.70,28.83
$GC,5768,-0.72,-146.6,532.1,-7.3,647,5777,0.00,2.15,0.00,0.000,4,0.000,0.055,2883,3512,3637,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5821,-0.72,-146.6,536.4,-8.5,652,5825,0.00,2.10,0.00,0.000,6,0.000,0.039,2883,2094,3638,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,5961,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5961,begin apogee
$GC,5968,-0.17,0.0,547.7,-7.9,666,6095,0.57,0.00,122.30,1.203,6,0.138,0.000,3069,1890,3029,0,0,0,0,0,0,26.55,28.83,23.80
$STATE,6098,end apogee,CONTROL_FINISHED_OK
$STATE,6098,begin climb
$GC,6101,0.72,146.6,549.7,0.0,679,6233,0.88,0.00,125.38,1.176,6,0.096,0.000,3358,1890,2430,0,0,0,0,0,0,24.75,28.83,23.34
$GC,6533,0.72,146.6,494.1,13.3,723,6542,0.00,2.28,0.00,0.000,4,0.000,0.052,3358,3301,2418,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6565,0.72,146.6,489.5,14.4,726,6574,0.00,2.17,0.00,0.000,6,0.000,0.039,3367,1913,2418,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6875,0.72,146.6,443.8,15.0,757,6884,0.00,2.28,0.00,0.000,4,0.000,0.047,3378,491,2417,0,0,0,0,0,0,28.83,25.82,28.83
$GC,6940,0.72,146.6,434.6,14.8,763,6947,0.00,2.28,0.00,0.000,6,0.000,0.041,3378,1907,2416,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7248,0.72,146.6,386.6,15.7,794,7252,0.00,2.17,0.00,0.000,4,0.000,0.052,3378,3305,2415,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7273,0.72,146.6,382.8,16.0,796,7280,0.00,2.17,0.00,0.000,6,0.000,0.039,3387,1894,2415,0,0,0,0,0,0,28.83,26.09,28.83
$GC,7580,0.72,146.6,333.7,15.0,827,7589,0.00,2.20,0.00,0.000,4,0.000,0.047,3398,495,2415,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7625,0.72,146.6,327.2,15.4,831,7633,0.15,2.22,0.00,0.000,6,0.164,0.040,3360,1904,2414,0,0,0,0,0,0,26.08,26.22,28.83
$GC,7933,0.72,146.6,286.0,13.2,862,7942,0.00,2.12,0.00,0.000,4,0.000,0.051,3360,3299,2414,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7968,0.72,146.6,281.4,13.7,865,7976,0.00,2.12,0.00,0.000,6,0.000,0.039,3367,1891,2414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8275,0.72,146.6,240.8,12.7,896,8284,0.00,2.17,0.00,0.000,4,0.000,0.047,3378,499,2414,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8338,0.72,146.6,232.6,13.4,902,8342,0.00,2.20,0.00,0.000,6,0.000,0.040,3378,1907,2414,0,0,0,0,0,0,28.83,26.38,28.83
$GC,8650,0.72,146.6,190.6,13.0,933,8651,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,1907,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8952,0.72,146.6,152.1,12.8,963,8958,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,1907,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9264,0.72,146.6,114.6,11.5,994,9273,0.00,2.12,0.00,0.000,4,0.000,0.053,3378,3301,2414,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9290,0.72,146.6,111.4,12.1,996,9297,0.00,2.12,0.00,0.000,6,0.000,0.040,3386,1901,2414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9598,0.72,146.6,75.0,11.4,1048,9605,0.00,2.17,0.00,0.000,4,0.000,0.049,3397,504,2414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9678,0.72,146.6,65.1,12.8,1063,9685,0.12,2.20,0.00,0.000,6,0.164,0.041,3366,1909,2413,0,0,0,0,0,0,26.41,26.53,28.83
$GC,9991,0.77,181.9,36.2,7.7,1124,10029,0.00,2.30,28.10,0.884,4,0.000,0.050,3373,500,2285,0,0,1,0,0,0,28.83,26.02,25.25
$GC,10056,0.82,220.6,31.4,7.5,1134,10093,0.00,2.22,32.70,0.861,6,0.000,0.041,3373,1911,2129,0,0,0,0,0,0,28.83,26.07,24.78
$FREEZE,8.81,1.859,-1.752,2,1,0
$FREEZE,8.42,1.872,-1.752,2,1,0
$FREEZE,7.98,1.931,-1.752,2,1,0
$FREEZE,7.63,1.932,-1.753,2,1,0
$FREEZE,7.24,1.928,-1.753,2,1,0
$FREEZE,6.79,1.934,-1.754,2,1,0
$FREEZE,6.26,1.949,-1.754,2,1,0
$FREEZE,5.85,1.961,-1.754,2,1,0
$FREEZE,5.47,1.948,-1.754,2,1,0
$FREEZE,4.99,1.945,-1.754,2,1,0
$FREEZE,4.56,1.954,-1.754,2,1,0
$FREEZE,4.11,1.956,-1.754,2,1,0
$FREEZE,3.78,1.966,-1.754,2,1,0
$STATE,10391,end climb,SURFACE_DEPTH_REACHED
$STATE,10391,begin surface coast
$FREEZE,3.23,1.972,-1.753,2,1,0
$FREEZE,2.88,1.972,-1.753,2,1,0
$FREEZE,2.40,1.971,-1.753,2,1,0
$FREEZE,2.12,1.972,-1.753,2,1,0
$FREEZE,1.64,1.973,-1.753,2,1,0
$FREEZE,1.42,1.888,-1.157,2,1,0
$FREEZE,1.33,1.714,-0.137,2,1,0
$FREEZE,1.28,1.764,-0.831,2,1,0
$FREEZE,1.32,1.749,-0.793,2,1,0
$FINISH,1.3,1.011696
$STATE,10443,end surface coast,CONTROL_FINISHED_OK
$STATE,10443,begin surface
$SM_CCo,10462,79.88,0.073,0,0,1397,400.08
$SM_GC,2.22,8.23,0.28,79.88,0.052,0.069,0.073,342,2107,1397,-8.66,-1.22,400.08,0,0,0,0,0,0,25.98,26.01,25.90
$RAFOS_CLK,544
$RAFOS,0,1341216063,8.033334,8.017500,48,44,43,40,40,39,1929,1451,1427,187,517,1898
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6010.56,020712,020236
$TT8_MAMPS,0.026215,0.026215
$HUMID,41.06
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,23.3,11.170
$10V_AH,10.2,12.995
$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,20.525,96.100,308.475,79.875,0.000,0.000,0.000,285.425,1.500,0.000,17.388,3027.460,4827.849,561.145,2244.339,299.646,0.000,1886.779,0.000,1945.425,360.000,11.451,0.000
$DEVICE_MAMPS,261.630,68.850,1203.345,72.675,0.000,0.000,0.000,270.405,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,842.622,912.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151536
$DATA_FILE_SIZE,56715,1207
$CAP_FILE_SIZE,126660,0
$CFSIZE,260165632,240029696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1453.4
$CURRENT,0.310,169.6,1
$GPS,020712,081034,6645.147,-6013.710,29,0.9,29,-33.9