version: 66.11
glider: 108
mission: 21
dive: 71
start: 7 2 112 8 17 55
data:
$ID,108
$MISSION,21
$DIVE,71
$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,-191175.59
$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,45
$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
$GPS1,020712,081034,6645.147,-6013.710,29,0.9,29,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.21
$_SM_ANGLEo,-75.6
$GPS2,020712,081723,6645.113,-6013.539,21,0.9,21,-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,66.3,152081,-16.3,-9.167
$D_GRID,561
$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,17,-0.72,-146.6,0.0,0.0,0,103,0.00,0.00,-84.03,0.000,2,0.000,0.000,342,2106,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.72,-146.6,3.3,-2.5,15,134,10.38,2.28,-7.85,0.000,4,0.265,0.066,2902,699,3632,0,0,0,0,0,0,25.94,26.17,26.47
$GC,298,-0.72,-146.6,33.6,-12.6,51,305,0.00,2.22,0.00,0.000,6,0.000,0.046,2895,2099,3636,0,0,0,0,0,0,28.83,26.25,28.83
$GC,612,-0.72,-146.6,70.3,-11.0,112,618,0.00,2.17,0.00,0.000,4,0.000,0.056,2884,3515,3637,0,0,0,0,0,0,28.83,26.31,28.83
$GC,663,-0.72,-146.6,76.1,-11.8,121,670,0.00,2.15,0.00,0.000,6,0.000,0.039,2889,2096,3637,0,0,0,0,0,0,28.83,26.37,28.83
$GC,981,-0.72,-146.6,110.8,-10.8,173,985,0.00,2.22,0.00,0.000,4,0.000,0.057,2881,3516,3638,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1046,-0.72,-146.6,118.0,-12.0,179,1053,0.00,2.15,0.00,0.000,6,0.000,0.040,2881,2095,3637,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1354,-0.72,-146.6,153.2,-11.7,210,1362,0.00,2.22,0.00,0.000,4,0.000,0.057,2871,3511,3637,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1446,-0.72,-146.6,164.4,-12.5,219,1454,0.00,2.12,0.00,0.000,6,0.000,0.041,2872,2095,3638,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1756,-0.72,-146.6,198.1,-10.7,250,1760,0.00,2.15,0.00,0.000,4,0.000,0.048,2876,705,3636,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1781,-0.72,-146.6,200.5,-10.6,252,1788,0.00,2.20,0.00,0.000,6,0.000,0.045,2869,2105,3636,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2088,-0.72,-146.6,233.3,-10.3,283,2098,0.00,2.17,0.00,0.000,4,0.000,0.057,2858,3516,3636,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2131,-0.72,-146.6,237.9,-10.9,287,2140,0.15,2.15,0.00,0.000,6,0.181,0.041,2896,2091,3635,0,0,0,0,0,0,26.38,26.55,28.83
$GC,2442,-0.72,-146.6,265.1,-8.5,318,2450,0.00,2.20,0.00,0.000,4,0.000,0.057,2888,3501,3635,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2597,-0.72,-146.6,279.1,-9.3,333,2607,0.00,2.10,0.00,0.000,6,0.000,0.041,2887,2097,3635,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2905,-0.72,-146.6,307.0,-9.1,364,2914,0.00,2.15,0.00,0.000,4,0.000,0.057,2878,3502,3635,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2947,-0.72,-146.6,310.9,-9.6,368,2956,0.00,2.12,0.00,0.000,6,0.000,0.040,2877,2088,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3257,-0.72,-146.6,338.4,-8.8,399,3266,0.00,2.17,0.00,0.000,4,0.000,0.057,2867,3503,3634,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3290,-0.72,-146.6,341.4,-9.1,402,3299,0.00,2.10,0.00,0.000,6,0.000,0.040,2867,2091,3635,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3599,-0.72,-146.6,369.7,-8.9,433,3609,0.00,2.20,0.00,0.000,4,0.000,0.056,2856,3512,3634,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3632,-0.72,-146.6,372.9,-9.3,436,3641,0.15,2.12,0.00,0.000,6,0.172,0.039,2896,2092,3635,0,0,0,0,0,0,26.46,26.63,28.83
$GC,3942,-0.72,-146.6,397.6,-8.0,467,3951,0.00,2.17,0.00,0.000,4,0.000,0.055,2887,3499,3634,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4048,-0.72,-146.6,406.4,-8.7,477,4056,0.00,2.10,0.00,0.000,6,0.000,0.040,2887,2096,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4355,-0.72,-146.6,431.4,-8.2,508,4359,0.00,2.17,0.00,0.000,4,0.000,0.055,2877,3513,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4431,-0.72,-146.6,437.6,-8.7,515,4437,0.00,2.12,0.00,0.000,6,0.000,0.039,2877,2090,3635,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4738,-0.72,-146.6,462.9,-8.1,546,4747,0.00,2.17,0.00,0.000,4,0.000,0.055,2867,3502,3635,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4830,-0.72,-146.6,471.2,-9.3,555,4839,0.12,2.10,0.00,0.000,6,0.173,0.038,2898,2094,3635,0,0,0,0,0,0,26.51,26.67,28.83
$GC,5140,-0.72,-146.6,493.6,-7.0,586,5144,0.00,2.17,0.00,0.000,4,0.000,0.054,2889,3517,3636,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5203,-0.72,-146.6,498.4,-7.6,592,5211,0.00,2.10,0.00,0.000,6,0.000,0.037,2889,2093,3636,0,0,0,0,0,0,28.83,26.68,28.83
$GC,5513,-0.72,-146.6,521.4,-6.9,623,5521,0.00,2.17,0.00,0.000,4,0.000,0.054,2879,3507,3636,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5565,-0.72,-146.6,525.1,-7.2,628,5569,0.00,2.10,0.00,0.000,6,0.000,0.037,2878,2099,3637,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5877,-0.72,-146.6,548.7,-8.8,659,5886,0.00,2.15,0.00,0.000,4,0.000,0.054,2868,3512,3637,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5934,-0.72,-146.6,554.2,-10.3,664,5941,0.00,2.10,0.00,0.000,6,0.000,0.037,2868,2093,3637,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,6008,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6008,begin apogee
$GC,6016,-0.17,0.0,561.6,-8.8,672,6143,0.65,0.00,122.50,1.218,6,0.148,0.000,3074,1895,3029,0,0,0,0,0,0,26.53,28.83,23.77
$STATE,6146,end apogee,CONTROL_FINISHED_OK
$STATE,6146,begin climb
$GC,6149,0.72,146.6,565.0,0.0,685,6282,0.85,0.00,124.90,1.172,6,0.093,0.000,3357,1895,2430,0,0,0,0,0,0,24.73,28.83,23.34
$GC,6581,0.72,146.6,507.2,14.7,729,6590,0.00,2.28,0.00,0.000,4,0.000,0.052,3357,3310,2418,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6623,0.72,146.6,500.5,16.0,733,6632,0.00,2.20,0.00,0.000,6,0.000,0.038,3366,1908,2418,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6933,0.72,146.6,453.5,14.9,764,6942,0.00,2.25,0.00,0.000,4,0.000,0.047,3377,500,2416,0,0,0,0,0,0,28.83,25.83,28.83
$GC,6995,0.72,146.6,444.3,14.9,770,6999,0.00,2.22,0.00,0.000,6,0.000,0.041,3376,1898,2416,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7307,0.72,146.6,395.7,15.8,801,7316,0.00,2.17,0.00,0.000,4,0.000,0.052,3377,3304,2415,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7342,0.72,146.6,390.2,17.0,804,7349,0.00,2.15,0.00,0.000,6,0.000,0.039,3386,1894,2414,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7650,0.72,146.6,338.6,16.1,835,7658,0.00,2.17,0.00,0.000,4,0.000,0.048,3397,498,2414,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7761,0.72,146.6,320.7,16.0,846,7766,0.12,2.20,0.00,0.000,6,0.171,0.040,3367,1906,2414,0,0,0,0,0,0,26.12,26.25,28.83
$GC,8074,0.72,146.6,277.5,12.9,877,8083,0.00,2.17,0.00,0.000,4,0.000,0.052,3366,3312,2414,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8139,0.72,146.6,268.6,14.4,883,8145,0.00,2.15,0.00,0.000,6,0.000,0.039,3374,1888,2413,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8446,0.72,146.6,226.5,13.3,914,8456,0.00,2.17,0.00,0.000,4,0.000,0.048,3384,497,2413,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8540,0.72,146.6,214.0,13.5,923,8549,0.00,2.17,0.00,0.000,6,0.000,0.040,3384,1895,2413,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8850,0.72,146.6,172.5,13.5,954,8859,0.00,2.20,0.00,0.000,4,0.000,0.047,3393,504,2413,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8914,0.72,146.6,163.9,13.8,960,8923,0.08,2.17,0.00,0.000,6,0.146,0.040,3368,1905,2413,0,0,0,0,0,0,26.34,26.46,28.83
$GC,9223,0.72,146.6,129.0,11.2,991,9227,0.00,2.15,0.00,0.000,4,0.000,0.053,3369,3314,2413,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9268,0.72,146.6,123.8,12.2,995,9275,0.00,2.12,0.00,0.000,6,0.000,0.040,3375,1898,2413,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9576,0.72,146.6,87.7,11.2,1036,9583,0.00,2.17,0.00,0.000,4,0.000,0.049,3386,501,2413,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9671,0.72,146.6,76.6,11.7,1054,9678,0.00,2.20,0.00,0.000,6,0.000,0.041,3385,1910,2413,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9983,0.72,146.6,42.3,10.1,1115,9989,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,1910,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10297,0.75,166.5,14.7,8.3,1176,10310,0.00,2.30,8.18,0.104,4,0.000,0.050,3395,497,2349,0,0,0,0,0,0,28.83,26.54,26.46
$FREEZE,8.60,0.673,-1.766,2,1,0
$FREEZE,8.27,0.694,-1.765,2,1,0
$FREEZE,7.87,0.717,-1.764,2,1,0
$FREEZE,7.52,0.745,-1.762,2,1,0
$FREEZE,6.70,1.105,-1.757,2,1,0
$FREEZE,6.06,1.590,-1.750,2,1,0
$GC,10387,0.79,201.3,7.5,7.7,1192,10410,0.00,2.20,16.30,0.082,6,0.000,0.041,3395,1907,2207,0,0,0,0,0,0,28.83,26.56,26.47
$FREEZE,4.65,1.367,-1.752,2,1,0
$FREEZE,4.40,1.448,-1.751,2,1,0
$FREEZE,4.01,1.552,-1.749,2,1,0
$FREEZE,3.59,1.765,-1.749,2,1,0
$STATE,10432,end climb,SURFACE_DEPTH_REACHED
$STATE,10432,begin surface coast
$FREEZE,3.01,2.090,-1.743,2,1,0
$FREEZE,2.62,2.238,-1.740,2,1,0
$FREEZE,1.99,2.299,-1.738,2,1,0
$FREEZE,1.54,2.328,-1.738,2,1,0
$FREEZE,1.28,2.223,-1.672,2,1,0
$FREEZE,1.32,1.577,-0.125,2,1,0
$FREEZE,1.37,1.998,-0.843,2,1,0
$FREEZE,1.32,2.064,-0.727,2,1,0
$FREEZE,1.25,2.189,-0.711,2,1,0
$FREEZE,1.27,2.363,-0.099,2,1,0
$FREEZE,1.28,2.344,-0.124,2,1,0
$FINISH,1.3,1.001744
$STATE,10491,end surface coast,CONTROL_FINISHED_OK
$STATE,10491,begin surface
$SM_CCo,10511,87.00,0.073,0,0,1397,400.08
$SM_GC,2.25,8.15,0.28,87.00,0.055,0.069,0.073,340,2102,1397,-8.66,-1.22,400.08,0,0,0,0,0,0,26.51,26.53,26.36
$RAFOS_CLK,538
$RAFOS,6,1341218951,8.833333,8.819722,47,47,44,44,41,40,1089,1407,597,709,1841,865
$RAFOS,5,1341218462,8.700000,8.683888,46,40,40,39,39,37,1396,934,732,506,310,1286
$RAFOS,4,1341217983,8.566667,8.550834,49,43,43,43,43,41,862,472,915,735,1102,1
$RAFOS,3,1341217501,8.433333,8.416945,48,43,42,42,41,40,1815,660,1,646,1242,426
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6614.97,-5828.55,020712,050505
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.66
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.8
$ALTIM_BOTTOM_PING,551.0,44.1
$24V_AH,23.3,11.257
$10V_AH,10.2,13.088
$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,20.650,113.425,271.875,87.000,0.000,0.000,0.000,273.625,2.250,0.000,22.552,3036.173,4811.840,573.996,2280.655,306.599,0.000,1927.604,0.000,1983.912,1440.000,16.001,0.000
$DEVICE_MAMPS,264.690,68.850,1217.880,73.440,0.000,0.000,0.000,271.903,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,843.201,912.362,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151576
$DATA_FILE_SIZE,56654,1210
$CAP_FILE_SIZE,133275,0
$CFSIZE,260165632,239951872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1453.8
$CURRENT,0.016,339.2,1
$GPS,020712,111603,6646.185,-6011.500,30,1.2,38,-33.9