version: 66.11
glider: 108
mission: 21
dive: 72
start: 7 2 112 11 24 14
data:
$ID,108
$MISSION,21
$DIVE,72
$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,-191176.84
$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,53
$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
$GPS1,020712,111603,6646.185,-6011.500,30,1.2,38,-33.9
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,0
$_SM_DEPTHo,2.25
$_SM_ANGLEo,-76.6
$GPS2,020712,112341,6646.133,-6011.434,21,0.8,21,-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,115.6,150193,-16.3,-9.167
$D_GRID,574
$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,12,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,-77.97,0.000,2,0.000,0.000,340,2102,3159,0,0,0,0,0,0,28.83,28.83,28.83
$GC,100,-0.72,-146.6,3.0,-0.9,14,132,10.23,2.25,-12.65,0.000,4,0.265,0.066,2897,707,3631,0,0,0,0,0,0,26.20,26.43,26.73
$GC,361,-0.72,-146.6,40.6,-13.6,64,369,0.00,2.20,0.00,0.000,6,0.000,0.046,2890,2106,3636,0,0,0,0,0,0,28.83,26.48,28.83
$GC,675,-0.72,-146.6,77.7,-11.0,125,681,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2106,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,991,-0.72,-146.6,111.8,-10.5,176,1001,0.00,2.15,0.00,0.000,4,0.000,0.059,2880,3515,3637,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1037,-0.72,-146.6,116.7,-11.5,180,1045,0.00,2.12,0.00,0.000,6,0.000,0.042,2880,2090,3637,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1344,-0.72,-146.6,150.2,-10.7,211,1353,0.00,2.20,0.00,0.000,4,0.000,0.058,2870,3512,3637,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1439,-0.72,-146.6,160.6,-11.2,220,1448,0.00,2.12,0.00,0.000,6,0.000,0.041,2870,2090,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1746,-0.72,-146.6,193.6,-10.6,251,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,2090,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2049,-0.72,-146.6,225.8,-10.6,281,2058,0.00,2.17,0.00,0.000,4,0.000,0.058,2860,3504,3635,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2094,-0.72,-146.6,230.5,-10.8,285,2102,0.15,2.12,0.00,0.000,6,0.181,0.041,2899,2094,3635,0,0,0,0,0,0,26.46,26.63,28.83
$GC,2401,-0.72,-146.6,258.4,-8.4,316,2410,0.00,2.17,0.00,0.000,4,0.000,0.057,2890,3502,3635,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2467,-0.72,-146.6,264.2,-9.1,322,2474,0.00,2.12,0.00,0.000,6,0.000,0.040,2890,2087,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2774,-0.72,-146.6,290.6,-8.2,353,2783,0.00,2.20,0.00,0.000,4,0.000,0.057,2880,3509,3634,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2930,-0.72,-146.6,304.5,-8.7,368,2940,0.00,2.10,0.00,0.000,6,0.000,0.041,2880,2099,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,3241,-0.72,-146.6,331.7,-8.6,399,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2099,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3544,-0.72,-146.6,357.2,-8.2,429,3553,0.00,2.17,0.00,0.000,4,0.000,0.057,2870,3509,3634,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3588,-0.72,-146.6,361.4,-9.2,433,3595,0.00,2.12,0.00,0.000,6,0.000,0.041,2870,2091,3634,0,0,0,0,0,0,28.83,26.68,28.83
$GC,3896,-0.72,-146.6,388.7,-8.2,464,3906,0.00,2.17,0.00,0.000,4,0.000,0.056,2859,3506,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3979,-0.72,-146.6,396.3,-9.2,472,3989,0.10,2.08,0.00,0.000,6,0.155,0.041,2891,2094,3634,0,0,0,0,0,0,26.53,26.70,28.83
$GC,4289,-0.72,-146.6,419.7,-7.5,503,4298,0.00,2.17,0.00,0.000,4,0.000,0.055,2883,3509,3634,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4365,-0.72,-146.6,425.6,-8.4,510,4372,0.00,2.10,0.00,0.000,6,0.000,0.038,2883,2095,3634,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4675,-0.72,-146.6,450.4,-8.0,541,4683,0.00,2.15,0.00,0.000,4,0.000,0.055,2872,3512,3634,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4770,-0.72,-146.6,458.8,-9.1,550,4776,0.00,2.10,0.00,0.000,6,0.000,0.038,2872,2098,3635,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5077,-0.72,-146.6,485.8,-8.7,581,5086,0.00,2.12,0.00,0.000,4,0.000,0.054,2862,3501,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5179,-0.72,-146.6,495.5,-9.6,591,5184,0.12,2.08,0.00,0.000,6,0.174,0.038,2893,2101,3635,0,0,0,0,0,0,26.55,26.72,28.83
$GC,5493,-0.72,-146.6,519.4,-7.1,622,5497,0.00,2.17,0.00,0.000,4,0.000,0.055,2885,3507,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5528,-0.72,-146.6,521.9,-7.6,625,5535,0.00,2.10,0.00,0.000,6,0.000,0.039,2885,2095,3636,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5836,-0.72,-146.6,546.4,-8.1,656,5845,0.00,2.17,0.00,0.000,4,0.000,0.054,2874,3512,3636,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5905,-0.72,-146.6,552.4,-9.1,662,5912,0.00,2.10,0.00,0.000,6,0.000,0.038,2874,2099,3636,0,0,0,0,0,0,28.83,26.72,28.83
$STATE,6159,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6161,begin apogee
$GC,6169,-0.17,0.0,574.4,-7.9,688,6295,0.62,0.00,121.95,1.219,6,0.145,0.000,3074,1882,3029,0,0,0,0,0,0,26.56,28.83,23.78
$STATE,6298,end apogee,CONTROL_FINISHED_OK
$STATE,6298,begin climb
$GC,6301,0.72,146.6,576.7,0.0,701,6440,0.85,2.38,125.05,1.191,4,0.090,0.046,3367,518,2429,0,0,0,0,0,0,24.75,24.20,23.33
$GC,6515,0.72,146.6,552.3,14.3,722,6522,0.00,2.30,0.00,0.000,6,0.000,0.039,3367,1898,2423,0,0,1,0,0,0,28.83,24.89,28.83
$GC,6823,0.72,146.6,505.9,14.7,753,6832,0.00,2.25,0.00,0.000,4,0.000,0.051,3367,3312,2418,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6846,0.72,146.6,502.5,15.1,755,6855,0.00,2.17,0.00,0.000,6,0.000,0.038,3377,1920,2417,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7155,0.72,146.6,453.1,15.6,786,7164,0.00,2.28,0.00,0.000,4,0.000,0.047,3387,487,2416,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7228,0.72,146.6,441.7,15.5,793,7237,0.00,2.25,0.00,0.000,6,0.000,0.041,3387,1904,2416,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7537,0.72,146.6,390.6,16.7,824,7538,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,1904,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7839,0.72,146.6,340.2,16.7,854,7843,0.00,2.25,0.00,0.000,4,0.000,0.047,3397,497,2415,0,0,0,0,0,0,28.83,26.21,28.83
$GC,7891,0.72,146.6,331.2,16.8,859,7901,0.12,2.22,0.00,0.000,6,0.170,0.040,3363,1908,2414,0,0,0,0,0,0,26.11,26.25,28.83
$GC,8201,0.72,146.6,289.4,12.5,890,8210,0.00,2.15,0.00,0.000,4,0.000,0.052,3363,3314,2414,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8246,0.72,146.6,283.6,13.8,894,8253,0.00,2.17,0.00,0.000,6,0.000,0.039,3370,1886,2414,0,0,0,0,0,0,28.83,26.33,28.83
$GC,8554,0.72,146.6,244.8,11.8,925,8555,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1885,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8855,0.72,146.6,210.3,11.7,955,8864,0.00,2.15,0.00,0.000,4,0.000,0.048,3380,507,2414,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8920,0.72,146.6,202.7,12.2,961,8927,0.00,2.20,0.00,0.000,6,0.000,0.040,3380,1911,2413,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9227,0.72,146.6,164.4,12.1,992,9228,0.00,0.00,0.00,0.000,6,0.000,0.000,3380,1911,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9529,0.72,146.6,130.1,11.2,1022,9535,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1911,2414,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9839,0.72,146.6,94.2,11.7,1057,9846,0.00,2.22,0.00,0.000,4,0.000,0.049,3389,505,2413,0,0,0,0,0,0,28.83,26.52,28.83
$GC,9889,0.72,146.6,88.3,11.8,1066,9895,0.00,2.20,0.00,0.000,6,0.000,0.041,3389,1913,2413,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10201,0.72,146.6,52.7,10.9,1127,10207,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1913,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10512,0.73,147.0,21.3,9.2,1188,10519,0.00,2.25,0.00,0.000,4,0.000,0.050,3397,494,2413,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10552,0.73,147.0,17.5,9.3,1195,10560,0.12,2.20,0.00,0.000,6,0.158,0.042,3365,1904,2413,0,0,0,0,0,0,26.47,26.58,28.83
$FREEZE,8.93,0.131,-1.771,2,1,0
$FREEZE,8.58,0.638,-1.755,2,1,0
$FREEZE,8.17,0.848,-1.762,2,1,0
$FREEZE,7.88,1.427,-1.745,2,1,0
$FREEZE,7.51,1.469,-1.748,2,1,0
$FREEZE,7.16,1.607,-1.747,2,1,0
$FREEZE,6.81,1.712,-1.746,2,1,0
$FREEZE,6.48,1.935,-1.743,2,1,0
$FREEZE,6.19,1.947,-1.745,2,1,0
$FREEZE,5.84,1.915,-1.746,2,1,0
$FREEZE,5.59,1.871,-1.748,2,1,0
$FREEZE,5.33,1.805,-1.749,2,1,0
$FREEZE,5.06,1.747,-1.750,2,1,0
$FREEZE,4.75,1.875,-1.749,2,1,0
$FREEZE,4.39,1.995,-1.746,2,1,0
$FREEZE,4.09,1.997,-1.746,2,1,0
$FREEZE,3.82,2.073,-1.744,2,1,0
$STATE,10750,end climb,SURFACE_DEPTH_REACHED
$STATE,10751,begin surface coast
$FREEZE,3.39,2.195,-1.743,2,1,0
$FREEZE,2.96,2.280,-1.736,2,1,0
$FREEZE,2.59,2.301,-1.733,2,1,0
$FREEZE,2.23,2.444,-1.730,2,1,0
$FREEZE,2.02,2.539,-1.729,2,1,0
$FREEZE,1.76,2.591,-1.729,2,1,0
$FREEZE,1.42,2.656,-1.728,2,1,0
$FREEZE,1.33,2.638,-1.729,2,1,0
$FREEZE,1.29,2.035,-1.750,2,1,0
$FREEZE,1.30,2.155,-0.835,2,1,0
$FREEZE,1.26,2.373,-0.718,2,1,0
$FREEZE,1.33,2.549,-1.730,2,1,0
$FREEZE,1.30,2.340,-0.133,2,1,0
$FREEZE,1.28,2.313,-0.824,2,1,0
$FINISH,1.3,1.012137
$STATE,10825,end surface coast,CONTROL_FINISHED_OK
$STATE,10825,begin surface
$SM_CCo,10845,110.65,0.073,0,0,1397,400.08
$SM_GC,2.20,8.07,0.28,110.65,0.057,0.071,0.073,340,2095,1397,-8.66,-1.41,400.08,0,0,0,0,0,0,26.55,26.59,26.38
$RAFOS_CLK,561
$RAFOS,6,1341233344,12.833333,12.817778,55,50,44,41,41,40,1134,431,61,712,1712,1389
$RAFOS,5,1341232865,12.700000,12.684722,53,45,45,43,43,41,1289,220,1386,994,1003,861
$RAFOS,4,1341232390,12.566667,12.552778,47,44,43,42,42,41,574,481,881,805,151,1348
$RAFOS,3,1341231907,12.433333,12.418612,44,44,41,41,40,40,380,1404,1,1635,545,1935
$RAFOS,2,1341231421,12.300000,12.283611,48,41,41,41,39,39,61,1593,1652,1528,70,1644
$RAFOS,1,1341230945,12.166667,12.151389,63,44,43,41,41,41,481,1342,892,1756,1121,1816
$RAFOS,0,1341230462,12.033333,12.017222,44,43,43,43,43,42,540,301,541,1627,1893,1294
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6013.28,020712,080838
$TT8_MAMPS,0.026215,0.026215
$HUMID,40.90
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.7
$ALTIM_BOTTOM_PING,550.2,71.8
$24V_AH,23.3,11.344
$10V_AH,10.2,13.186
$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,20.400,91.975,247.000,110.650,0.000,0.000,0.000,322.650,2.000,0.000,22.203,3133.753,5072.600,548.536,2352.432,309.587,0.000,1947.134,0.000,2012.554,2520.000,16.071,0.000
$DEVICE_MAMPS,265.455,71.145,1218.645,73.440,0.000,0.000,0.000,268.158,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,869.791,942.835,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151568
$DATA_FILE_SIZE,56685,1247
$CAP_FILE_SIZE,132545,0
$CFSIZE,260165632,239882240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1454.1
$CURRENT,0.043,348.3,1
$GPS,020712,142823,6646.407,-6008.247,40,0.8,40,-33.9