version: 66.11
glider: 108
mission: 21
dive: 3
start: 6 20 112 8 39 2
data:
$ID,108
$MISSION,21
$DIVE,3
$N_DIVES,10
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,150
$T_MISSION,200
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$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,0
$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,5
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,623.11926
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-189881.44
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3150
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$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,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,200612,083356,6658.843,-5646.478,25,1.7,25,-33.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-68.1
$GPS2,200612,083835,6658.787,-5646.376,42,1.0,43,-33.4
$SPEED_LIMITS,0.173,0.247
$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,24.9,7891,-17.8,-10.000
$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,-0.78,-146.6,0.0,0.0,0,152,0.00,0.00,-132.75,0.000,2,0.000,0.000,342,1990,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,155,-0.78,-146.6,3.9,-6.8,17,173,10.35,2.25,0.00,0.000,4,0.260,0.060,2885,3402,3627,0,0,0,0,0,0,25.91,26.22,28.83
$GC,200,0.02,-146.6,20.0,-28.0,23,210,0.80,2.17,0.00,0.000,6,0.140,0.045,3147,2000,3628,0,0,0,0,0,0,26.07,26.29,28.83
$GC,523,-0.88,-146.6,42.2,-6.9,84,530,0.77,2.22,0.00,0.000,4,0.080,0.058,2862,3413,3629,0,0,0,0,0,0,26.28,26.30,28.83
$GC,762,-0.76,-146.6,70.9,-13.0,130,769,0.15,2.17,0.00,0.000,6,0.165,0.044,2901,1991,3629,0,0,0,0,0,0,26.16,26.40,28.83
$GC,1074,-0.76,-146.6,101.8,-8.9,189,1083,0.00,2.22,0.00,0.000,4,0.000,0.060,2893,3412,3630,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1311,-0.76,-146.6,123.7,-9.0,212,1318,0.00,2.17,0.00,0.000,6,0.000,0.045,2893,1989,3630,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1618,-0.76,-146.6,151.0,-8.5,243,1626,0.00,2.22,0.00,0.000,4,0.000,0.061,2883,3399,3630,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1854,-0.76,-146.6,173.8,-9.9,266,1861,0.00,2.15,0.00,0.000,6,0.000,0.044,2883,1987,3630,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2161,-0.76,-146.6,204.9,-9.7,297,2170,0.00,2.20,0.00,0.000,4,0.000,0.060,2873,3399,3629,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2256,-0.76,-146.6,214.5,-10.6,306,2264,0.12,2.12,0.00,0.000,6,0.169,0.044,2904,1997,3629,0,0,0,0,0,0,26.31,26.53,28.83
$GC,2564,-0.85,-146.6,242.2,-9.0,337,2572,0.00,2.20,0.00,0.000,4,0.000,0.060,2896,3401,3630,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2596,-0.94,-146.6,245.2,-9.0,340,2606,0.10,2.10,0.00,0.000,6,0.072,0.044,2841,1999,3630,0,0,0,0,0,0,26.48,26.55,28.83
$GC,2906,-0.79,-146.6,280.7,-11.4,371,2915,0.17,2.17,0.00,0.000,4,0.162,0.058,2885,3405,3630,0,0,0,0,0,0,26.32,26.49,28.83
$GC,2931,-0.69,-146.6,283.1,-10.6,373,2939,0.15,2.12,0.00,0.000,6,0.158,0.043,2925,1997,3630,0,0,0,0,0,0,26.33,26.56,28.83
$GC,3240,-0.89,-146.6,305.0,-6.5,404,3249,0.15,2.17,0.00,0.000,4,0.093,0.057,2847,3403,3631,0,0,0,0,0,0,26.60,26.50,28.83
$GC,3282,-0.89,-146.6,309.0,-9.5,408,3291,0.00,2.10,0.00,0.000,6,0.000,0.043,2847,1999,3631,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3593,-0.77,-146.6,340.3,-9.8,439,3602,0.17,2.17,0.00,0.000,4,0.158,0.057,2892,3405,3632,0,0,0,0,0,0,26.35,26.51,28.83
$GC,3666,-0.86,-146.6,346.4,-7.8,446,3674,0.00,2.10,0.00,0.000,6,0.000,0.042,2892,1996,3632,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3976,-0.92,-146.6,369.3,-7.4,477,3985,0.12,2.17,0.00,0.000,4,0.099,0.057,2822,3403,3632,0,0,0,0,0,0,26.65,26.53,28.83
$GC,4009,-0.85,-146.6,372.6,-9.5,480,4018,0.15,2.10,0.00,0.000,6,0.141,0.042,2872,1994,3632,0,0,0,0,0,0,26.34,26.60,28.83
$GC,4319,-0.85,-146.6,400.0,-8.5,511,4327,0.00,2.17,0.00,0.000,4,0.000,0.057,2864,3405,3633,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4363,-0.85,-146.6,403.8,-9.1,515,4370,0.00,2.12,0.00,0.000,6,0.000,0.042,2864,1994,3633,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4671,-0.85,-146.6,431.0,-8.5,546,4679,0.00,2.17,0.00,0.000,4,0.000,0.058,2853,3406,3634,0,0,0,0,0,0,28.83,26.55,28.83
$GC,4726,-0.79,-146.6,435.8,-9.6,551,4733,0.15,2.12,0.00,0.000,6,0.158,0.042,2893,1992,3635,0,0,0,0,0,0,26.39,26.63,28.83
$STATE,4920,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4920,begin apogee
$GC,4928,-0.17,0.0,450.3,-7.2,571,5055,0.60,0.00,120.25,1.113,6,0.132,0.000,3091,1992,3029,0,0,0,0,0,0,26.36,28.83,23.73
$STATE,5057,end apogee,CONTROL_FINISHED_OK
$STATE,5058,begin climb
$GC,5060,0.78,146.6,452.4,0.0,584,5195,0.88,2.33,122.22,0.981,4,0.070,0.047,3408,600,2431,0,0,0,0,0,0,24.80,24.51,23.66
$GC,5231,0.44,146.6,433.4,16.6,601,5239,0.43,2.35,0.00,0.000,6,0.161,0.046,3293,2002,2426,0,0,0,0,0,0,24.87,25.02,28.83
$GC,5540,0.52,156.3,401.4,9.6,632,5558,0.00,2.28,8.10,0.882,4,0.000,0.046,3300,599,2391,0,0,0,0,0,0,28.83,25.58,24.68
$GC,5601,0.63,168.8,395.5,9.4,638,5621,0.17,2.28,12.55,0.942,6,0.083,0.046,3368,2007,2340,0,0,0,0,0,0,25.70,25.71,24.55
$GC,5921,0.43,168.8,349.8,14.6,670,5930,0.25,2.22,0.00,0.000,4,0.158,0.047,3301,608,2336,0,0,0,0,0,0,25.76,25.91,28.83
$GC,6159,0.55,179.0,326.4,9.5,693,6175,0.00,2.25,9.43,0.889,6,0.000,0.047,3302,2012,2299,0,0,0,0,0,0,28.83,26.08,25.01
$GC,6475,0.61,179.0,292.0,11.3,725,6484,0.12,2.22,0.00,0.000,4,0.095,0.047,3368,599,2297,0,0,0,0,0,0,26.15,26.11,28.83
$GC,6580,0.50,179.0,277.1,15.3,735,6590,0.20,2.22,0.00,0.000,6,0.159,0.047,3309,1999,2297,0,0,0,0,0,0,25.99,26.16,28.83
$GC,6888,0.54,179.0,240.0,11.5,766,6897,0.00,2.15,0.00,0.000,4,0.000,0.056,3309,3398,2296,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6903,0.54,179.0,238.9,11.6,767,6910,0.00,2.12,0.00,0.000,6,0.000,0.041,3316,2004,2296,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7210,0.54,179.0,201.9,11.3,798,7214,0.00,2.17,0.00,0.000,4,0.000,0.049,3327,595,2296,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7286,0.60,179.0,194.0,11.0,805,7292,0.00,2.22,0.00,0.000,6,0.000,0.046,3327,2001,2296,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7592,0.60,179.0,156.7,12.1,836,7601,0.00,2.22,0.00,0.000,4,0.000,0.049,3337,583,2296,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7608,0.60,179.0,155.7,12.1,837,7615,0.00,2.25,0.00,0.000,6,0.000,0.044,3337,2013,2296,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7914,0.60,179.0,118.9,11.9,868,7918,0.00,2.25,0.00,0.000,4,0.000,0.049,3346,592,2296,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7956,0.60,179.0,113.8,12.5,872,7960,0.00,2.20,0.00,0.000,6,0.000,0.046,3346,1998,2296,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8265,0.60,179.0,76.0,10.6,922,8271,0.00,2.15,0.00,0.000,4,0.000,0.057,3346,3406,2296,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8503,0.51,179.0,49.4,11.1,968,8510,0.15,2.15,0.00,0.000,6,0.161,0.044,3316,1993,2296,0,0,0,0,0,0,26.31,26.53,28.83
$GC,8817,0.77,237.2,24.6,7.3,1029,8862,0.20,2.25,31.45,0.806,4,0.082,0.050,3409,602,2060,0,0,0,0,0,0,26.54,25.95,25.21
$GC,8893,0.70,237.2,15.4,13.9,1041,8900,0.12,2.25,0.00,0.000,6,0.177,0.047,3379,2003,2057,0,0,0,0,0,0,25.91,26.06,28.83
$STATE,9000,end climb,SURFACE_DEPTH_REACHED
$STATE,9001,begin surface coast
$FINISH,0.8,1.003537
$STATE,9039,end surface coast,CONTROL_FINISHED_OK
$STATE,9039,begin surface
$SM_CCo,9058,171.93,0.067,0,0,487,623.31
$SM_GC,1.56,8.27,0.00,171.93,0.060,0.000,0.067,350,2002,487,-8.71,0.08,623.31,0,0,0,0,0,0,26.12,28.83,25.97
$RAFOS_CLK,441
$RAFOS,6,1340182142,8.833333,8.817223,51,49,47,41,41,38,1684,1342,1309,759,1358,1820
$RAFOS,5,1340181667,8.700000,8.685278,46,45,45,45,43,39,1294,1062,1188,1693,1786,1920
$RAFOS,2,1340180225,8.300000,8.284722,52,50,47,44,44,44,349,1455,1751,916,1177,1202
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5632.31,200612,080806
$TT8_MAMPS,0.025466,0.025466
$HUMID,38.85
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.20
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,23.7,4.443
$10V_AH,10.4,5.498
$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,24.775,96.500,304.000,171.925,0.000,0.000,0.000,0.000,1.000,0.000,44.479,2523.541,4052.252,638.739,1912.976,217.572,0.000,1660.750,0.000,1791.142,720.000,2.612,0.000
$DEVICE_MAMPS,260.100,61.200,1113.075,67.320,0.000,0.000,0.000,0.000,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.405,827.917,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151644
$DATA_FILE_SIZE,50087,1069
$CAP_FILE_SIZE,131916,0
$CFSIZE,260165632,245301248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,28
$SOUNDSPEED,1464.1
$GPS,200612,111405,6659.026,-5646.955,25,1.2,25,-33.4