version: 66.11
glider: 108
mission: 21
dive: 7
start: 6 20 112 19 37 0
data:
$ID,108
$MISSION,21
$DIVE,7
$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,-190189.77
$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,42
$R_STBD_OVSHOOT,41
$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
$GPS1,200612,193034,6701.132,-5648.328,32,1.0,32,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.0
$GPS2,200612,193631,6701.058,-5648.277,18,0.8,19,-33.5
$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,36.7,3603,-17.8,-10.000
$D_GRID,543
$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,-146.6,0.0,0.0,0,137,0.00,0.00,-115.88,0.000,2,0.000,0.000,346,2013,3189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,141,-0.78,-146.6,3.1,-3.8,21,167,10.32,2.25,-9.73,0.000,4,0.262,0.076,2884,3409,3631,0,0,0,0,0,0,25.92,26.18,26.52
$GC,397,-0.68,-146.6,43.3,-12.9,70,404,0.15,2.17,0.00,0.000,6,0.164,0.044,2926,1997,3638,0,0,0,0,0,0,26.16,26.31,28.83
$GC,710,-0.75,-146.6,73.3,-9.7,131,717,0.00,2.25,0.00,0.000,4,0.000,0.060,2918,3408,3638,0,0,0,0,0,0,28.83,26.34,28.83
$GC,819,-0.80,-146.6,84.7,-10.6,152,826,0.00,2.15,0.00,0.000,6,0.000,0.044,2918,1991,3638,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1130,-0.87,-146.6,114.9,-8.9,197,1140,0.12,2.25,0.00,0.000,4,0.105,0.060,2849,3426,3638,0,0,0,0,0,0,26.46,26.41,28.83
$GC,1368,-0.68,-146.6,146.2,-13.8,220,1375,0.28,2.20,0.00,0.000,6,0.159,0.045,2928,1988,3638,0,0,0,0,0,0,26.29,26.48,28.83
$GC,1675,-0.85,-146.6,172.0,-8.1,251,1684,0.12,2.20,0.00,0.000,4,0.104,0.060,2858,3396,3637,0,0,0,0,0,0,26.53,26.48,28.83
$GC,1912,-0.75,-146.6,199.2,-11.6,274,1919,0.17,2.15,0.00,0.000,6,0.167,0.046,2907,1992,3637,0,0,0,0,0,0,26.36,26.53,28.83
$GC,2219,-0.86,-146.6,225.7,-8.4,305,2228,0.00,2.17,0.00,0.000,4,0.000,0.054,2907,592,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2395,-0.95,-146.6,240.3,-7.9,321,2403,0.17,2.22,0.00,0.000,6,0.086,0.050,2831,1994,3637,0,0,0,0,0,0,26.55,26.55,28.83
$GC,2702,-0.75,-146.6,273.1,-10.4,352,2711,0.25,2.15,0.00,0.000,4,0.160,0.059,2899,3405,3637,0,0,0,0,0,0,26.41,26.55,28.83
$GC,2829,-0.83,-146.6,282.9,-8.0,364,2835,0.00,2.15,0.00,0.000,6,0.000,0.044,2900,1993,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3136,-0.91,-146.6,305.9,-7.9,395,3145,0.12,2.20,0.00,0.000,4,0.105,0.059,2832,3412,3637,0,0,0,0,0,0,26.63,26.57,28.83
$GC,3202,-0.73,-146.6,312.8,-11.6,401,3209,0.28,2.15,0.00,0.000,6,0.153,0.044,2915,1994,3638,0,0,0,0,0,0,26.43,26.62,28.83
$GC,3509,-0.89,-146.6,336.6,-7.6,432,3518,0.12,2.17,0.00,0.000,4,0.100,0.058,2847,3402,3639,0,0,0,0,0,0,26.65,26.58,28.83
$GC,3591,-0.77,-146.6,345.3,-11.0,440,3600,0.15,2.10,0.00,0.000,6,0.142,0.044,2897,1993,3639,0,0,0,0,0,0,26.46,26.63,28.83
$GC,3901,-0.86,-146.6,371.8,-8.4,471,3910,0.00,2.17,0.00,0.000,4,0.000,0.059,2889,3403,3640,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4007,-0.93,-146.6,381.1,-9.1,481,4014,0.12,2.12,0.00,0.000,6,0.104,0.043,2836,1998,3640,0,0,0,0,0,0,26.61,26.65,28.83
$GC,4316,-0.77,-146.6,416.2,-11.6,512,4328,0.20,2.20,0.00,0.000,4,0.158,0.057,2889,3414,3640,0,0,0,0,0,0,26.48,26.61,28.83
$GC,4404,-0.84,-146.6,424.5,-8.9,520,4412,0.00,2.10,0.00,0.000,6,0.000,0.042,2889,1992,3641,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4707,-0.17,0.0,450.1,-8.4,550,4832,0.62,0.00,117.47,1.110,6,0.132,0.000,3094,1991,3029,0,0,0,0,0,0,26.51,28.83,23.84
$STATE,4835,end apogee,CONTROL_FINISHED_OK
$STATE,4836,begin climb
$GC,4838,0.78,146.6,453.7,0.0,563,4975,0.88,2.40,123.22,1.084,4,0.070,0.048,3413,601,2431,0,0,0,0,0,0,24.84,24.44,23.60
$GC,5080,0.40,146.6,423.9,16.8,587,5089,0.43,2.28,0.00,0.000,6,0.164,0.046,3287,1997,2427,0,0,0,0,0,0,25.13,25.28,28.83
$GC,5389,0.53,179.6,394.7,8.5,618,5419,0.00,0.00,27.62,1.001,6,0.000,0.000,3287,1996,2296,0,0,0,0,0,0,28.83,28.83,24.43
$GC,5719,0.68,206.2,364.7,8.8,651,5748,0.25,0.00,23.38,0.981,6,0.076,0.000,3379,1996,2188,0,0,0,0,0,0,25.84,28.83,24.56
$GC,6049,0.40,206.2,309.2,16.7,684,6058,0.32,2.25,0.00,0.000,4,0.165,0.047,3292,600,2186,0,0,0,0,0,0,25.74,25.88,28.83
$GC,6115,0.56,208.6,301.9,9.9,690,6123,0.12,2.28,0.00,0.000,6,0.095,0.046,3342,2010,2185,0,0,0,0,0,0,25.94,25.95,28.83
$GC,6422,0.45,208.6,259.0,14.9,721,6431,0.15,2.25,0.00,0.000,4,0.161,0.047,3305,592,2185,0,0,0,0,0,0,26.00,26.12,28.83
$GC,6454,0.45,208.6,254.8,13.6,724,6463,0.00,2.25,0.00,0.000,6,0.000,0.045,3305,2013,2185,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6764,0.54,208.6,218.4,11.7,755,6766,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2012,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7067,0.64,208.6,183.0,11.8,785,7073,0.12,0.00,0.00,0.000,6,0.099,0.000,3362,2012,2185,0,0,0,0,0,0,26.36,28.83,28.83
$GC,7376,0.54,208.6,138.3,13.3,816,7383,0.15,0.00,0.00,0.000,6,0.165,0.000,3324,2013,2185,0,0,0,0,0,0,26.27,28.83,28.83
$GC,7684,0.66,208.6,104.8,10.5,847,7694,0.12,2.25,0.00,0.000,4,0.103,0.049,3389,587,2184,0,0,0,0,0,0,26.46,26.44,28.83
$GC,7747,0.56,208.6,97.1,12.6,855,7755,0.20,2.22,0.00,0.000,6,0.158,0.047,3333,2008,2185,0,0,0,0,0,0,26.31,26.45,28.83
$GC,8060,0.72,242.1,69.2,8.5,916,8096,0.12,0.00,30.00,0.853,6,0.101,0.000,3386,2008,2041,0,0,0,0,0,0,26.51,28.83,25.19
$GC,8403,0.64,242.1,25.9,12.9,982,8410,0.00,2.25,0.00,0.000,4,0.000,0.050,3395,595,2038,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8453,0.64,242.1,19.1,13.4,991,8460,0.15,2.25,0.00,0.000,6,0.163,0.048,3356,1999,2038,0,0,0,0,0,0,26.08,26.20,28.83
$STATE,8632,end climb,SURFACE_DEPTH_REACHED
$STATE,8632,begin surface coast
$FINISH,0.7,1.012620
$STATE,8680,end surface coast,CONTROL_FINISHED_OK
$STATE,8680,begin surface
$SM_CCo,8699,177.90,0.136,1,0,487,623.31
$SM_GC,1.73,8.18,0.00,177.90,0.060,0.000,0.136,349,1998,487,-8.71,-0.06,623.31,0,0,0,0,1,0,26.25,28.83,25.20
$RAFOS_CLK,426
$RAFOS,6,1340225345,20.833334,20.818056,51,50,46,46,45,42,1328,1243,1346,1342,1463,840
$RAFOS,5,1340224868,20.700001,20.685556,48,48,44,43,41,40,577,547,812,776,1747,1780
$RAFOS,4,1340224385,20.566668,20.551390,53,52,50,39,39,39,1140,1656,1697,112,511,1615
$RAFOS,3,1340223902,20.433332,20.417223,53,53,53,44,43,40,455,1451,1469,239,1930,480
$RAFOS,2,1340223429,20.299999,20.285833,53,45,44,42,42,42,1869,1761,1905,1078,1255,1915
$RAFOS,1,1340222946,20.166666,20.151667,58,53,51,41,41,40,1894,1868,1852,258,1810,880
$RAFOS,0,1340222462,20.033333,20.017221,53,52,50,46,39,39,491,532,505,358,727,1694
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5646.10,200612,161654
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.14
$INTERNAL_PRESSURE,8.92612
$TCM_TEMP,16.30
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.5
$24V_AH,23.6,4.819
$10V_AH,10.4,5.884
$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,24.425,66.225,321.700,177.900,0.000,0.000,0.000,235.925,0.500,0.000,19.697,2410.012,3882.591,659.374,2052.293,238.612,0.000,1827.541,0.000,1719.413,2520.000,2.616,0.000
$DEVICE_MAMPS,261.630,75.735,1110.015,136.170,0.000,0.000,0.000,271.154,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,743.042,811.447,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,46758,1035
$CAP_FILE_SIZE,112594,0
$CFSIZE,260165632,245059584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,38
$SOUNDSPEED,1462.4
$GPS,200612,220607,6701.135,-5647.809,16,0.9,16,-33.5