version: 66.11
glider: 108
mission: 21
dive: 67
start: 7 1 112 19 46 13
data:
$ID,108
$MISSION,21
$DIVE,67
$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,-191170.5
$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,40
$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
$GPS1,010712,193834,6647.564,-6010.763,31,0.8,31,-33.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-76.3
$GPS2,010712,194542,6647.597,-6010.579,19,0.9,19,-33.9
$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,293.5,13102,-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,16,-0.72,-146.6,0.0,0.0,0,96,0.00,0.00,-77.62,0.000,2,0.000,0.000,345,2083,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.72,-146.6,3.1,-1.9,14,132,10.05,2.17,-13.30,0.000,4,0.258,0.066,2898,699,3631,0,0,0,0,0,0,26.17,26.40,26.69
$GC,200,-0.72,-146.6,17.4,-13.8,32,208,0.00,2.22,0.00,0.000,6,0.000,0.047,2891,2107,3635,0,0,0,0,0,0,28.83,26.41,28.83
$GC,513,-0.72,-146.6,56.4,-11.1,93,520,0.00,2.15,0.00,0.000,4,0.000,0.058,2881,3512,3636,0,0,0,0,0,0,28.83,26.44,28.83
$GC,623,-0.72,-146.6,69.8,-12.6,114,629,0.00,2.12,0.00,0.000,6,0.000,0.041,2881,2094,3637,0,0,0,0,0,0,28.83,26.51,28.83
$GC,935,-0.72,-146.6,107.0,-11.6,169,943,0.00,2.22,0.00,0.000,4,0.000,0.057,2873,3516,3637,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1009,-0.72,-146.6,115.6,-12.2,176,1017,0.00,2.15,0.00,0.000,6,0.000,0.041,2873,2095,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1316,-0.72,-146.6,151.7,-11.6,207,1325,0.00,2.22,0.00,0.000,4,0.000,0.057,2864,3516,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1391,-0.72,-146.6,160.4,-12.2,214,1399,0.12,2.15,0.00,0.000,6,0.183,0.041,2895,2090,3637,0,0,0,0,0,0,26.42,26.58,28.83
$GC,1699,-0.72,-146.6,190.9,-9.8,245,1707,0.00,2.20,0.00,0.000,4,0.000,0.057,2886,3507,3636,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1792,-0.72,-146.6,201.0,-10.7,254,1800,0.00,2.12,0.00,0.000,6,0.000,0.041,2886,2098,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2102,-0.72,-146.6,231.4,-9.5,285,2110,0.00,2.15,0.00,0.000,4,0.000,0.057,2876,3502,3635,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2146,-0.72,-146.6,235.8,-10.6,289,2153,0.00,2.12,0.00,0.000,6,0.000,0.041,2876,2093,3635,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2453,-0.72,-146.6,266.5,-9.4,320,2463,0.00,2.22,0.00,0.000,4,0.000,0.057,2865,3518,3635,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2519,-0.72,-146.6,272.6,-10.0,326,2526,0.12,2.12,0.00,0.000,6,0.177,0.041,2897,2092,3635,0,0,0,0,0,0,26.48,26.63,28.83
$GC,2827,-0.72,-146.6,297.1,-7.6,357,2836,0.00,2.20,0.00,0.000,4,0.000,0.057,2889,3515,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2924,-0.72,-146.6,304.8,-8.6,366,2930,0.00,2.12,0.00,0.000,6,0.000,0.041,2889,2097,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3231,-0.72,-146.6,329.6,-7.8,397,3239,0.00,2.15,0.00,0.000,4,0.000,0.057,2878,3506,3634,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3324,-0.72,-146.6,337.8,-8.6,406,3332,0.00,2.08,0.00,0.000,6,0.000,0.041,2878,2096,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3634,-0.72,-146.6,363.9,-8.4,437,3642,0.00,2.17,0.00,0.000,4,0.000,0.056,2868,3508,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3709,-0.72,-146.6,370.8,-9.8,444,3717,0.00,2.12,0.00,0.000,6,0.000,0.040,2868,2088,3635,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4016,-0.72,-146.6,399.7,-9.2,475,4028,0.00,2.20,0.00,0.000,4,0.000,0.055,2856,3510,3635,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4095,-0.72,-146.6,407.2,-9.8,482,4102,0.15,2.12,0.00,0.000,6,0.166,0.040,2896,2088,3634,0,0,0,0,0,0,26.53,26.68,28.83
$GC,4402,-0.72,-146.6,431.1,-7.7,513,4411,0.00,2.17,0.00,0.000,4,0.000,0.055,2888,3505,3635,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4468,-0.72,-146.6,436.3,-8.6,519,4474,0.00,2.08,0.00,0.000,6,0.000,0.040,2888,2097,3635,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4774,-0.72,-146.6,461.3,-8.0,550,4783,0.00,2.17,0.00,0.000,4,0.000,0.055,2877,3516,3636,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4896,-0.72,-146.6,472.0,-9.1,562,4905,0.00,2.10,0.00,0.000,6,0.000,0.039,2877,2093,3636,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5207,-0.72,-146.6,498.4,-8.7,593,5216,0.00,2.17,0.00,0.000,4,0.000,0.054,2867,3513,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5283,-0.72,-146.6,505.6,-9.9,600,5291,0.00,2.10,0.00,0.000,6,0.000,0.038,2867,2098,3636,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5591,-0.72,-146.6,532.7,-8.5,631,5600,0.00,2.15,0.00,0.000,4,0.000,0.054,2856,3515,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5683,-0.72,-146.6,541.0,-9.1,640,5693,0.10,2.12,0.00,0.000,6,0.148,0.037,2890,2088,3637,0,0,0,0,0,0,26.56,26.72,28.83
$GC,5993,-0.72,-146.6,564.5,-7.2,671,6002,0.00,2.17,0.00,0.000,4,0.000,0.055,2882,3503,3637,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,6054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6054,begin apogee
$GC,6064,-0.17,0.0,569.4,-7.9,677,6195,0.60,0.00,122.47,1.219,6,0.145,0.000,3073,1876,3027,0,0,0,0,0,0,26.55,28.83,23.81
$STATE,6198,end apogee,CONTROL_FINISHED_OK
$STATE,6198,begin climb
$GC,6201,0.72,146.6,571.3,0.0,691,6336,0.85,0.00,124.75,1.174,6,0.093,0.000,3356,1876,2429,0,0,0,0,0,0,24.81,28.83,23.39
$GC,6635,0.72,146.6,517.1,13.2,735,6637,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1876,2419,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6938,0.72,146.6,476.1,13.2,765,6943,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,1876,2417,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7248,0.72,146.6,435.3,13.1,796,7257,0.00,2.22,0.00,0.000,4,0.000,0.053,3356,3305,2416,0,0,0,0,0,0,28.83,26.01,28.83
$GC,7270,0.72,146.6,431.8,13.9,798,7279,0.00,2.17,0.00,0.000,6,0.000,0.040,3365,1895,2415,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7581,0.72,146.6,385.8,15.0,829,7590,0.00,2.15,0.00,0.000,4,0.000,0.048,3376,505,2414,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7686,0.72,146.6,370.5,14.8,839,7693,0.00,2.22,0.00,0.000,6,0.000,0.040,3377,1915,2414,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7993,0.72,146.6,322.8,15.6,870,8002,0.00,2.12,0.00,0.000,4,0.000,0.053,3377,3301,2414,0,0,0,0,0,0,28.83,26.28,28.83
$GC,8025,0.72,146.6,317.9,15.3,873,8034,0.00,2.12,0.00,0.000,6,0.000,0.039,3386,1891,2414,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8335,0.72,146.6,270.9,14.8,904,8344,0.00,2.17,0.00,0.000,4,0.000,0.048,3396,504,2414,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8430,0.72,146.6,256.8,15.4,913,8438,0.12,2.20,0.00,0.000,6,0.170,0.040,3364,1908,2414,0,0,0,0,0,0,26.27,26.39,28.83
$GC,8738,0.72,146.6,215.1,12.7,944,8747,0.00,2.12,0.00,0.000,4,0.000,0.051,3363,3307,2414,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8761,0.72,146.6,212.1,12.6,946,8769,0.00,2.15,0.00,0.000,6,0.000,0.037,3371,1890,2414,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9071,0.72,146.6,173.4,12.4,977,9080,0.00,2.15,0.00,0.000,4,0.000,0.048,3381,504,2414,0,0,0,0,0,0,28.83,26.46,28.83
$GC,9106,0.72,146.6,169.4,12.4,980,9114,0.00,2.17,0.00,0.000,6,0.000,0.040,3381,1897,2413,0,0,0,0,0,0,28.83,26.48,28.83
$GC,9413,0.72,146.6,132.2,11.5,1011,9422,0.00,2.22,0.00,0.000,4,0.000,0.047,3390,498,2414,0,0,0,0,0,0,28.83,26.50,28.83
$GC,9447,0.72,146.6,128.7,11.2,1014,9454,0.00,2.20,0.00,0.000,6,0.000,0.040,3390,1907,2414,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9756,0.72,146.6,94.2,10.4,1050,9763,0.00,2.15,0.00,0.000,4,0.000,0.052,3390,3312,2414,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9776,0.72,146.6,92.0,11.2,1053,9784,0.15,2.12,0.00,0.000,6,0.166,0.040,3359,1905,2414,0,0,0,0,0,0,26.41,26.55,28.83
$GC,10088,0.72,146.6,62.2,9.3,1114,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,1905,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10399,0.79,199.8,36.3,6.9,1175,10448,0.00,2.22,42.30,0.878,4,0.000,0.048,3367,506,2213,0,0,0,0,0,0,28.83,25.81,25.08
$GC,10502,0.81,212.4,27.9,8.6,1193,10521,0.00,2.25,10.50,0.796,6,0.000,0.041,3367,1906,2162,0,0,0,0,0,0,28.83,25.92,24.99
$FREEZE,8.88,0.537,-1.765,2,1,0
$FREEZE,8.44,0.625,-1.765,2,1,0
$FREEZE,8.17,0.775,-1.763,2,1,0
$FREEZE,7.76,0.830,-1.760,2,1,0
$FREEZE,7.38,0.805,-1.759,2,1,0
$FREEZE,6.90,0.800,-1.758,2,1,0
$FREEZE,6.53,0.848,-1.756,2,1,0
$FREEZE,6.08,0.849,-1.755,2,1,0
$FREEZE,5.59,0.911,-1.753,2,1,0
$FREEZE,5.14,1.141,-1.761,2,1,0
$FREEZE,4.71,1.670,-1.747,2,1,0
$FREEZE,4.28,1.786,-1.746,2,1,0
$FREEZE,3.99,1.814,-1.746,2,1,0
$STATE,10787,end climb,SURFACE_DEPTH_REACHED
$STATE,10787,begin surface coast
$FREEZE,3.48,1.805,-1.747,2,1,0
$FREEZE,3.18,1.808,-1.747,2,1,0
$FREEZE,2.77,1.812,-1.747,2,1,0
$FREEZE,2.37,1.813,-1.747,2,1,0
$FREEZE,2.07,1.804,-1.748,2,1,0
$FREEZE,1.57,1.792,-1.749,2,1,0
$FREEZE,1.35,1.771,-0.951,2,1,0
$FREEZE,1.21,1.793,-0.914,2,1,0
$FREEZE,1.40,1.586,-1.749,2,1,0
$FREEZE,1.35,1.386,-1.761,2,1,0
$FREEZE,1.43,1.345,-1.774,2,1,0
$FINISH,1.4,1.025925
$STATE,10849,end surface coast,CONTROL_FINISHED_OK
$STATE,10849,begin surface
$SM_CCo,10869,83.90,0.073,0,0,1397,400.08
$SM_GC,2.26,8.20,0.28,83.90,0.054,0.066,0.073,345,2102,1397,-8.64,-1.27,400.08,0,0,0,0,0,0,26.06,26.09,25.96
$RAFOS_CLK,557
$RAFOS,6,1341175747,20.833334,20.818611,47,47,46,43,41,40,460,151,588,451,1000,1060
$RAFOS,5,1341175263,20.700001,20.684166,47,45,44,39,39,39,327,1818,837,1,1224,1910
$RAFOS,4,1341174786,20.566668,20.551666,40,40,40,39,39,39,760,1820,1220,444,673,1067
$RAFOS,3,1341174304,20.433332,20.417778,47,46,42,42,41,40,320,1509,1,913,366,1008
$RAFOS,2,1341173822,20.299999,20.283890,48,46,41,41,40,39,1469,1614,209,1418,1689,301
$RAFOS,1,1341173343,20.166666,20.150833,76,48,43,42,41,40,506,507,1568,1201,1803,1012
$RAFOS,0,1341172865,20.033333,20.018055,48,46,44,43,43,41,1198,1372,1057,61,237,1641
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6005.83,010712,161638
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.11
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.6
$24V_AH,23.4,10.896
$10V_AH,10.2,12.713
$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,20.475,108.700,300.025,83.900,0.000,0.000,0.000,293.225,1.750,0.000,19.780,3113.297,4988.835,611.423,2369.665,296.482,0.000,2020.875,0.000,2056.337,2520.000,13.214,0.000
$DEVICE_MAMPS,257.805,65.790,1218.645,73.440,0.000,0.000,0.000,270.405,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,875.768,945.977,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,56735,1259
$CAP_FILE_SIZE,136560,0
$CFSIZE,260165632,240226304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1454.3
$CURRENT,0.268,348.4,1
$GPS,010712,225004,6649.101,-6014.722,26,0.7,26,-34.0