version: 66.11
glider: 108
mission: 21
dive: 172
start: 7 21 112 6 21 46
data:
$ID,108
$MISSION,21
$DIVE,172
$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,0.0038399999
$HD_B,0.0103
$HD_C,3.68e-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,-191305.08
$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,61
$R_STBD_OVSHOOT,40
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,448
$VBD_MAX,4001
$C_VBD,3279
$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
$GPS1,210712,061313,6649.906,-6009.590,20,1.6,20,-34.0
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,2.30
$_SM_ANGLEo,-76.6
$GPS2,210712,062113,6649.902,-6009.698,24,1.5,24,-34.0
$SPEED_LIMITS,0.159,0.252
$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,269.2,16178,-16.9,-9.167
$D_GRID,595
$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,12,begin dive
$GC,16,-0.75,-146.6,0.0,0.0,0,80,0.00,0.00,-61.55,0.000,2,0.000,0.000,339,2096,3043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.75,-146.6,3.3,-1.7,11,122,10.23,2.20,-19.60,0.000,4,0.257,0.070,2876,3506,3882,0,0,0,0,0,0,25.89,26.29,26.65
$GC,191,-0.75,-146.6,25.1,-17.9,30,198,0.00,2.10,0.00,0.000,6,0.000,0.032,2880,2105,3886,0,0,0,0,0,0,28.83,26.40,28.83
$GC,503,-0.75,-146.6,67.2,-12.2,91,510,0.00,2.20,0.00,0.000,4,0.000,0.052,2873,3513,3889,0,0,0,0,0,0,28.83,26.36,28.83
$GC,583,-0.75,-146.6,78.5,-14.2,106,590,0.00,2.10,0.00,0.000,6,0.000,0.031,2873,2098,3889,0,0,0,0,0,0,28.83,26.47,28.83
$GC,898,-0.75,-146.6,123.4,-14.3,152,907,0.00,2.17,0.00,0.000,4,0.000,0.052,2863,3502,3889,0,0,0,0,0,0,28.83,26.41,28.83
$GC,983,-0.75,-146.6,135.4,-15.0,160,990,0.00,2.05,0.00,0.000,6,0.000,0.032,2863,2118,3889,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1290,-0.75,-146.6,178.7,-13.6,191,1299,0.00,2.15,0.00,0.000,4,0.000,0.052,2851,3509,3889,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1412,-0.75,-146.6,196.6,-14.8,203,1422,0.15,2.05,0.00,0.000,6,0.171,0.032,2890,2126,3889,0,0,0,0,0,0,26.25,26.55,28.83
$GC,1723,-0.75,-146.6,231.1,-11.0,234,1727,0.00,2.15,0.00,0.000,4,0.000,0.052,2883,3513,3888,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1805,-0.75,-146.6,240.8,-11.9,242,1809,0.00,2.05,0.00,0.000,6,0.000,0.032,2882,2128,3888,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2118,-0.75,-146.6,276.5,-11.5,273,2127,0.00,2.12,0.00,0.000,4,0.000,0.052,2873,3509,3887,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2211,-0.75,-146.6,287.4,-11.6,282,2219,0.00,2.03,0.00,0.000,6,0.000,0.032,2873,2139,3887,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2520,-0.75,-146.6,321.2,-10.7,313,2530,0.00,2.12,0.00,0.000,4,0.000,0.052,2862,3506,3887,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2623,-0.75,-146.6,333.4,-12.0,323,2627,0.00,1.98,0.00,0.000,6,0.000,0.032,2862,2153,3886,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2936,-0.75,-146.6,368.8,-10.7,354,2940,0.00,2.10,0.00,0.000,4,0.000,0.053,2852,3509,3886,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3028,-0.75,-146.6,379.3,-11.6,363,3037,0.15,1.98,0.00,0.000,6,0.164,0.031,2891,2168,3886,0,0,0,0,0,0,26.33,26.64,28.83
$GC,3339,-0.75,-146.6,406.4,-8.3,394,3347,0.00,2.05,0.00,0.000,4,0.000,0.051,2884,3507,3887,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3381,-0.75,-146.6,410.3,-9.2,398,3390,0.00,1.98,0.00,0.000,6,0.000,0.031,2884,2160,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3691,-0.75,-146.6,438.5,-9.0,429,3700,0.00,2.10,0.00,0.000,4,0.000,0.051,2874,3518,3886,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3756,-0.75,-146.6,445.0,-10.4,435,3763,0.00,1.98,0.00,0.000,6,0.000,0.031,2874,2163,3886,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4064,-0.75,-146.6,475.6,-9.7,466,4068,0.00,2.08,0.00,0.000,4,0.000,0.051,2864,3516,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4159,-0.75,-146.6,485.2,-10.3,475,4165,0.00,1.95,0.00,0.000,6,0.000,0.031,2864,2176,3886,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4467,-0.75,-146.6,516.8,-10.4,506,4476,0.00,2.08,0.00,0.000,4,0.000,0.051,2853,3520,3886,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4539,-0.75,-146.6,524.8,-11.1,513,4543,0.12,1.95,0.00,0.000,6,0.166,0.031,2885,2186,3886,0,0,0,0,0,0,26.39,26.67,28.83
$GC,4852,-0.75,-146.6,553.4,-9.1,544,4856,0.00,2.05,0.00,0.000,4,0.000,0.051,2877,3513,3886,0,0,0,0,0,0,28.83,26.56,28.83
$GC,4904,-0.75,-146.6,558.3,-9.7,549,4907,0.00,1.92,0.00,0.000,6,0.000,0.031,2877,2204,3886,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5216,-0.75,-146.6,586.9,-9.6,580,5224,0.00,2.03,0.00,0.000,4,0.000,0.051,2868,3508,3886,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,5295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5295,begin apogee
$GC,5305,-0.17,0.0,595.2,-10.6,588,5430,0.65,0.00,120.57,1.261,4,0.144,0.000,3073,1879,3279,0,0,0,0,0,0,26.31,28.83,23.84
$STATE,5433,end apogee,CONTROL_FINISHED_OK
$STATE,5433,begin climb
$GC,5436,0.75,146.6,599.9,0.0,601,5570,0.88,2.25,123.60,1.222,4,0.074,0.037,3372,512,2681,0,0,0,0,0,0,24.81,24.85,23.00
$GC,5798,0.75,146.6,564.6,12.6,636,5805,0.00,2.28,0.00,0.000,6,0.000,0.036,3372,1909,2670,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6104,0.75,146.6,523.9,13.3,667,6113,0.00,2.15,0.00,0.000,4,0.000,0.048,3372,3306,2667,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6338,0.75,146.6,488.9,15.6,690,6347,0.00,2.12,0.00,0.000,6,0.000,0.032,3381,1897,2665,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6647,0.75,146.6,446.0,13.4,721,6651,0.00,2.15,0.00,0.000,4,0.000,0.040,3392,505,2665,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6703,0.75,146.6,439.1,13.2,726,6710,0.00,2.20,0.00,0.000,6,0.000,0.037,3392,1908,2665,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7009,0.75,146.6,396.2,13.8,757,7018,0.00,2.20,0.00,0.000,4,0.000,0.040,3401,504,2665,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7074,0.75,146.6,387.2,14.5,763,7081,0.12,2.17,0.00,0.000,6,0.175,0.037,3371,1900,2665,0,0,0,0,0,0,26.06,26.27,28.83
$GC,7381,0.75,146.6,346.6,13.3,794,7391,0.00,2.15,0.00,0.000,4,0.000,0.048,3370,3302,2665,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7407,0.75,146.6,343.6,13.3,796,7416,0.00,2.10,0.00,0.000,6,0.000,0.031,3377,1886,2664,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7714,0.75,146.6,303.3,12.6,827,7718,0.00,2.10,0.00,0.000,4,0.000,0.041,3387,510,2664,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7807,0.75,146.6,291.7,12.0,836,7816,0.00,2.12,0.00,0.000,6,0.000,0.037,3387,1889,2664,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8117,0.75,146.6,254.8,10.9,867,8126,0.00,2.12,0.00,0.000,4,0.000,0.040,3396,513,2664,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8149,0.75,146.6,251.0,11.6,870,8158,0.00,2.15,0.00,0.000,6,0.000,0.036,3396,1896,2664,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8459,0.75,146.6,214.6,11.9,901,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1896,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8759,0.75,146.6,180.5,11.0,931,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1896,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9061,0.75,146.6,147.8,10.6,961,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3396,1896,2664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9369,0.75,146.6,116.3,10.0,992,9373,0.00,2.15,0.00,0.000,4,0.000,0.041,3405,509,2664,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9463,0.75,146.6,106.8,10.5,1001,9471,0.12,2.12,0.00,0.000,6,0.172,0.038,3371,1887,2664,0,0,0,0,0,0,26.32,26.55,28.83
$GC,9774,0.77,169.8,78.6,8.2,1055,9800,0.00,2.17,17.92,0.920,4,0.000,0.047,3371,3309,2585,0,0,0,0,0,0,28.83,26.22,25.37
$GC,9858,0.77,169.8,70.7,9.9,1070,9866,0.00,2.15,0.00,0.000,6,0.000,0.032,3378,1886,2581,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10171,0.81,196.8,44.4,8.0,1131,10202,0.00,2.17,22.83,0.910,4,0.000,0.043,3389,508,2475,0,0,0,0,0,0,28.83,25.94,25.10
$GC,10251,0.81,196.8,36.9,10.0,1145,10258,0.00,2.17,0.00,0.000,6,0.000,0.037,3389,1877,2472,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10564,0.92,290.8,12.0,5.2,1206,10615,0.12,2.22,44.50,0.090,4,0.105,0.041,3454,508,2091,0,0,0,0,0,0,26.18,26.11,26.00
$FREEZE,8.11,3.114,-1.683,2,1,0
$FREEZE,7.65,3.277,-1.679,2,1,0
$FREEZE,7.35,3.517,-1.671,2,1,0
$FREEZE,7.00,3.695,-1.671,2,1,0
$FREEZE,6.68,4.182,-1.653,2,1,0
$FREEZE,6.46,4.335,-1.649,2,1,0
$FREEZE,6.05,4.046,-1.649,2,1,0
$FREEZE,5.78,3.991,-1.649,2,1,0
$FREEZE,5.46,3.911,-1.649,2,1,0
$FREEZE,5.24,3.772,-1.645,2,1,0
$FREEZE,4.93,3.776,-1.643,2,1,0
$FREEZE,4.67,3.774,-1.642,2,1,0
$FREEZE,4.30,3.757,-1.642,2,1,0
$FREEZE,4.00,3.748,-1.642,2,1,0
$FREEZE,3.77,3.750,-1.641,2,1,0
$STATE,10694,end climb,SURFACE_DEPTH_REACHED
$STATE,10695,begin surface coast
$FREEZE,3.40,3.757,-1.641,2,1,0
$FREEZE,3.08,3.757,-1.640,2,1,0
$FREEZE,2.73,3.755,-1.640,2,1,0
$FREEZE,2.38,3.756,-1.640,2,1,0
$FREEZE,2.07,3.757,-1.640,2,1,0
$FREEZE,1.71,3.751,-1.640,2,1,0
$FREEZE,1.40,3.741,-1.640,2,1,0
$FREEZE,1.26,3.522,-0.970,2,1,0
$FREEZE,1.46,3.687,-1.642,2,1,0
$FREEZE,1.35,3.665,-0.894,2,1,0
$FREEZE,1.42,3.402,-1.658,2,1,0
$FREEZE,1.38,3.065,-1.675,2,1,0
$FREEZE,1.39,3.741,-1.639,2,1,0
$FREEZE,1.38,3.424,-0.824,2,1,0
$FINISH,1.4,1.012104
$STATE,10770,end surface coast,CONTROL_FINISHED_OK
$STATE,10771,begin surface
$SM_CCo,10792,47.62,0.075,0,0,1647,400.08
$SM_GC,2.33,8.38,2.53,47.62,0.051,0.040,0.075,341,2097,1647,-8.65,-1.44,400.08,0,0,1,0,0,0,26.16,26.20,26.06
$RAFOS_CLK,552
$RAFOS,6,1342860542,8.833333,8.817223,42,42,41,41,38,38,1448,860,1259,1292,1581,266
$RAFOS,5,1342860062,8.700000,8.683888,46,44,42,42,41,41,239,899,1219,1397,1152,1336
$RAFOS,4,1342859590,8.566667,8.552778,47,44,42,41,40,40,747,207,994,138,1010,371
$RAFOS,3,1342859107,8.433333,8.418612,45,45,43,41,41,40,1179,1688,326,1215,1939,461
$RAFOS,2,1342858623,8.300000,8.284166,45,42,42,41,40,39,237,1938,746,390,942,1582
$RAFOS,1,1342858151,8.166667,8.153055,71,48,47,44,41,40,451,1297,1404,451,1,107
$RAFOS,0,1342857667,8.033334,8.018611,45,45,43,39,38,36,61,1836,550,527,1,478
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-6015.31,210712,030316
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.73
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,15.40
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,23.0,21.782
$10V_AH,10.0,24.947
$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,20.925,106.100,329.425,47.625,0.000,0.000,0.000,338.950,3.000,0.000,25.404,3148.733,4878.190,531.254,2458.054,305.615,0.000,1993.188,0.000,2089.456,2520.000,13.219,0.000
$DEVICE_MAMPS,257.040,70.380,1260.720,74.970,0.000,0.000,0.000,284.636,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,873.136,904.238,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151556
$DATA_FILE_SIZE,56789,1243
$CAP_FILE_SIZE,136321,0
$CFSIZE,260165632,231555072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1454.1
$CURRENT,0.370,165.7,1
$GPS,210712,092359,6647.258,-6011.187,40,0.8,40,-33.9