version: 66.11
glider: 108
mission: 21
dive: 5
start: 6 20 112 14 14 0
data:
$ID,108
$MISSION,21
$DIVE,5
$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,-189883.94
$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,45
$R_STBD_OVSHOOT,39
$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
$GPS1,200612,140335,6700.256,-5648.418,35,0.9,35,-33.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-67.8
$GPS2,200612,141331,6700.337,-5648.295,17,0.8,17,-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,35.9,4936,-17.8,-10.000
$D_GRID,558
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.6,0.0,0.0,0,138,0.00,0.00,-117.32,0.000,2,0.000,0.000,341,2017,3230,0,0,0,0,0,0,28.83,28.83,28.83
$GC,142,-0.78,-146.6,3.2,-5.2,21,168,10.25,2.25,-9.15,0.000,4,0.259,0.076,2888,3402,3631,0,0,0,0,0,0,26.02,26.29,26.65
$GC,426,-0.69,-146.6,44.7,-12.7,70,433,0.15,2.15,0.00,0.000,6,0.167,0.044,2929,1997,3640,0,0,0,0,0,0,26.22,26.41,28.83
$GC,738,-0.76,-146.6,79.2,-10.1,131,745,0.00,2.22,0.00,0.000,4,0.000,0.060,2921,3402,3640,0,0,0,0,0,0,28.83,26.41,28.83
$GC,976,-0.87,-146.6,101.0,-7.7,176,985,0.12,2.12,0.00,0.000,6,0.065,0.044,2860,1996,3640,0,0,0,0,0,0,26.46,26.49,28.83
$GC,1285,-0.71,-146.6,133.4,-10.8,207,1294,0.17,2.20,0.00,0.000,4,0.173,0.059,2903,3408,3640,0,0,0,0,0,0,26.33,26.47,28.83
$GC,1522,-0.71,-146.6,154.3,-8.8,230,1529,0.00,2.15,0.00,0.000,6,0.000,0.045,2903,1997,3640,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1829,-0.71,-146.6,182.4,-9.8,261,1838,0.00,2.17,0.00,0.000,4,0.000,0.060,2893,3399,3639,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2066,-0.71,-146.6,205.2,-9.4,284,2073,0.00,2.12,0.00,0.000,6,0.000,0.044,2893,1984,3640,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2373,-0.71,-146.6,233.8,-8.6,315,2381,0.00,2.22,0.00,0.000,4,0.000,0.060,2883,3406,3639,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2609,-0.71,-146.6,255.3,-8.8,338,2617,0.15,2.15,0.00,0.000,6,0.157,0.044,2923,1987,3640,0,0,0,0,0,0,26.43,26.61,28.83
$GC,2917,-0.87,-146.6,277.0,-7.3,369,2926,0.15,2.20,0.00,0.000,4,0.095,0.058,2847,3409,3640,0,0,0,0,0,0,26.63,26.57,28.83
$GC,3153,-0.75,-146.6,303.4,-11.7,392,3161,0.20,2.12,0.00,0.000,6,0.156,0.044,2904,1999,3640,0,0,0,0,0,0,26.43,26.63,28.83
$GC,3461,-0.83,-146.6,330.9,-8.6,423,3470,0.00,2.15,0.00,0.000,4,0.000,0.058,2896,3401,3641,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3698,-0.90,-146.6,352.8,-9.2,446,3705,0.12,2.12,0.00,0.000,6,0.103,0.042,2843,1991,3641,0,0,0,0,0,0,26.61,26.65,28.83
$GC,4005,-0.74,-146.6,388.2,-11.2,477,4014,0.20,2.17,0.00,0.000,4,0.161,0.056,2896,3406,3642,0,0,0,0,0,0,26.46,26.62,28.83
$GC,4243,-0.82,-146.6,409.5,-8.6,500,4249,0.00,2.12,0.00,0.000,6,0.000,0.042,2896,1993,3642,0,0,0,0,0,0,28.83,26.67,28.83
$GC,4550,-0.87,-146.6,435.2,-7.7,531,4558,0.00,2.17,0.00,0.000,4,0.000,0.058,2885,3407,3643,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,4720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4720,begin apogee
$GC,4729,-0.17,0.0,450.3,-8.6,548,4853,0.62,0.00,116.93,1.108,6,0.138,0.000,3087,1981,3029,0,0,0,0,0,0,26.48,28.83,23.84
$STATE,4856,end apogee,CONTROL_FINISHED_OK
$STATE,4856,begin climb
$GC,4858,0.78,146.6,452.9,0.0,561,4995,0.90,2.38,123.55,1.082,4,0.073,0.047,3410,592,2431,0,0,0,0,0,0,24.84,24.46,23.60
$GC,5221,0.48,146.6,401.1,16.6,597,5229,0.38,2.30,0.00,0.000,6,0.162,0.046,3304,1996,2424,0,0,0,0,0,0,25.42,25.58,28.83
$GC,5528,0.48,146.6,365.7,11.2,628,5537,0.00,2.28,0.00,0.000,4,0.000,0.048,3311,587,2422,0,0,0,0,0,0,28.83,25.92,28.83
$GC,5765,0.53,146.6,339.8,11.2,651,5772,0.00,2.28,0.00,0.000,6,0.000,0.046,3311,2006,2422,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6072,0.53,146.6,304.1,11.7,682,6081,0.00,2.22,0.00,0.000,4,0.000,0.049,3321,603,2422,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6308,0.53,146.6,276.9,11.8,705,6315,0.00,2.22,0.00,0.000,6,0.000,0.046,3321,2002,2422,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6615,0.53,146.6,239.4,11.9,736,6624,0.00,2.22,0.00,0.000,4,0.000,0.049,3330,587,2422,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6851,0.53,146.6,213.4,10.4,759,6858,0.00,2.25,0.00,0.000,6,0.000,0.046,3330,2009,2422,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7158,0.48,146.6,178.1,11.4,790,7167,0.00,2.22,0.00,0.000,4,0.000,0.048,3340,592,2422,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7395,0.48,146.6,151.9,11.0,813,7402,0.15,2.22,0.00,0.000,6,0.164,0.046,3300,2004,2422,0,0,0,0,0,0,26.32,26.48,28.83
$GC,7703,0.60,159.8,122.9,9.4,844,7722,0.12,2.28,10.38,0.819,4,0.104,0.050,3365,596,2377,0,0,0,0,0,0,26.53,26.29,25.51
$GC,7956,0.54,159.8,90.5,13.1,875,7963,0.15,2.22,0.00,0.000,6,0.162,0.046,3326,2006,2377,0,0,0,0,0,0,26.25,26.40,28.83
$GC,8271,0.68,193.4,60.4,8.5,936,8307,0.12,2.28,29.15,0.857,4,0.099,0.047,3389,592,2240,0,0,0,0,0,0,26.48,25.89,25.16
$GC,8538,0.62,193.4,28.1,12.3,987,8546,0.15,2.25,0.00,0.000,6,0.164,0.047,3351,1999,2238,0,0,0,0,0,0,26.01,26.15,28.83
$GC,8854,0.91,313.7,5.0,4.5,1048,8873,0.25,0.00,16.27,0.073,2,0.073,0.000,3454,1998,2094,0,0,0,0,0,0,26.28,28.83,28.83
$STATE,8874,end climb,SURFACE_DEPTH_REACHED
$STATE,8874,begin surface coast
$FINISH,1.3,1.025432
$STATE,8935,end surface coast,CONTROL_FINISHED_OK
$STATE,8935,begin surface
$SM_CCo,8955,182.10,0.070,0,0,487,623.31
$SM_GC,2.37,8.75,0.00,182.10,0.081,0.000,0.070,347,2015,487,-8.71,0.42,623.31,0,0,0,0,0,0,26.22,28.83,26.06
$RAFOS_CLK,433
$RAFOS,4,1340209983,16.566668,16.550833,63,62,46,44,42,41,1106,1129,968,1909,1464,112
$RAFOS,3,1340209506,16.433332,16.418333,52,51,48,46,43,42,531,497,1941,555,1814,1578
$RAFOS,2,1340209024,16.299999,16.284445,50,49,48,41,40,39,1660,1627,531,1088,1684,700
$RAFOS,1,1340208545,16.166666,16.151388,55,50,49,47,45,43,1387,1374,1550,919,286,1776
$RAFOS,0,1340208062,16.033333,16.017221,55,52,46,43,42,41,1330,1343,1514,269,1039,479
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5652.12,200612,141430
$TT8_MAMPS,0.029211,0.029211
$HUMID,37.71
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,16.0
$24V_AH,23.6,4.623
$10V_AH,10.3,5.709
$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,23.125,70.650,296.275,182.100,0.000,0.000,0.000,411.950,0.500,0.000,17.570,2525.389,3853.438,627.342,2472.907,254.865,0.000,2071.761,0.000,1985.944,2160.000,2.612,0.000
$DEVICE_MAMPS,259.335,75.735,1107.720,70.380,0.000,0.000,0.000,275.648,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,758.793,812.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,50111,1063
$CAP_FILE_SIZE,120557,0
$CFSIZE,260165632,245174272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,30
$SOUNDSPEED,1463.8
$GPS,200612,141331,6700.337,-5648.295,301,99.0,301,-33.4