version: 66.11
glider: 108
mission: 21
dive: 8
start: 6 20 112 22 12 41
data:
$ID,108
$MISSION,21
$DIVE,8
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$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,170
$T_MISSION,220
$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,-190191.02
$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,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,2000
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,2
$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,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
$GPS1,200612,220607,6701.135,-5647.809,16,0.9,16,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.3
$GPS2,200612,221210,6701.137,-5647.848,20,0.7,21,-33.5
$SPEED_LIMITS,0.170,0.245
$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,31.7,3453,-17.5,-9.804
$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,-0.76,-146.6,0.0,0.0,0,143,0.00,0.00,-122.20,0.000,2,0.000,0.000,349,1999,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,147,-0.76,-146.6,3.5,-3.9,16,172,10.20,2.30,-5.70,0.000,4,0.259,0.067,2884,598,3631,0,0,0,0,0,0,25.91,26.16,26.48
$GC,422,-0.76,-146.6,48.3,-12.5,64,429,0.00,2.25,0.00,0.000,6,0.000,0.050,2877,1998,3638,0,0,0,0,0,0,28.83,26.28,28.83
$GC,733,-0.76,-146.6,84.5,-11.2,125,740,0.00,2.20,0.00,0.000,4,0.000,0.060,2866,3418,3638,0,0,0,0,0,0,28.83,26.33,28.83
$GC,880,-0.76,-146.6,102.4,-12.4,152,888,0.00,2.12,0.00,0.000,6,0.000,0.045,2866,2009,3638,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1188,-0.76,-146.6,138.4,-11.6,183,1197,0.00,2.20,0.00,0.000,4,0.000,0.062,2856,3406,3638,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1273,-0.76,-146.6,148.3,-12.1,191,1279,0.00,2.12,0.00,0.000,6,0.000,0.045,2856,2022,3638,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1580,-0.76,-146.6,182.7,-10.9,222,1589,0.00,2.20,0.00,0.000,4,0.000,0.061,2845,3409,3638,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1712,-0.76,-146.6,198.7,-12.3,235,1721,0.12,2.10,0.00,0.000,6,0.177,0.045,2878,2041,3638,0,0,0,0,0,0,26.35,26.51,28.83
$GC,2022,-0.76,-146.6,229.6,-10.1,266,2031,0.00,2.17,0.00,0.000,4,0.000,0.060,2870,3418,3638,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2144,-0.76,-146.6,242.7,-10.9,278,2153,0.00,2.10,0.00,0.000,6,0.000,0.044,2870,2042,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2454,-0.76,-146.6,273.0,-9.3,309,2463,0.00,2.10,0.00,0.000,4,0.000,0.060,2860,3402,3638,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2578,-0.76,-146.6,285.1,-10.1,321,2585,0.00,2.03,0.00,0.000,6,0.000,0.044,2860,2068,3638,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2886,-0.76,-146.6,314.6,-9.4,352,2895,0.00,2.08,0.00,0.000,4,0.000,0.060,2850,3410,3638,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2998,-0.76,-146.6,326.0,-10.4,363,3007,0.12,2.03,0.00,0.000,6,0.172,0.044,2881,2072,3638,0,0,0,0,0,0,26.45,26.61,28.83
$GC,3308,-0.76,-146.6,352.2,-8.7,394,3317,0.00,2.08,0.00,0.000,4,0.000,0.059,2874,3403,3639,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3383,-0.76,-146.6,358.6,-9.0,401,3390,0.00,2.00,0.00,0.000,6,0.000,0.043,2874,2076,3639,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3690,-0.76,-146.6,386.2,-8.9,432,3699,0.00,2.08,0.00,0.000,4,0.000,0.059,2864,3410,3640,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3752,-0.76,-146.6,392.3,-9.9,438,3761,0.00,2.00,0.00,0.000,6,0.000,0.042,2864,2087,3640,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4062,-0.76,-146.6,421.7,-9.4,469,4071,0.00,2.05,0.00,0.000,4,0.000,0.058,2853,3410,3641,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4134,-0.76,-146.6,428.7,-9.8,476,4142,0.00,2.00,0.00,0.000,6,0.000,0.042,2854,2086,3641,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4445,-0.76,-146.6,457.8,-9.2,507,4453,0.00,2.05,0.00,0.000,4,0.000,0.058,2844,3409,3642,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4487,-0.76,-146.6,461.8,-9.5,511,4496,0.15,1.98,0.00,0.000,6,0.162,0.042,2884,2099,3642,0,0,0,0,0,0,26.51,26.67,28.83
$GC,4797,-0.76,-146.6,485.6,-7.5,542,4805,0.00,2.05,0.00,0.000,4,0.000,0.059,2876,3417,3643,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4869,-0.76,-146.6,491.7,-8.7,549,4877,0.00,1.98,0.00,0.000,6,0.000,0.042,2876,2098,3643,0,0,0,0,0,0,28.83,26.68,28.83
$STATE,4966,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4966,begin apogee
$GC,4973,-0.17,0.0,500.3,-8.6,559,5098,0.60,0.00,117.30,1.130,4,0.142,0.000,3069,1992,3029,0,0,0,0,0,0,26.51,28.83,23.82
$STATE,5101,end apogee,CONTROL_FINISHED_OK
$STATE,5101,begin climb
$GC,5104,0.76,146.6,503.1,0.0,572,5241,0.88,2.35,123.95,1.112,4,0.080,0.047,3371,592,2431,0,0,0,0,0,0,24.84,24.88,23.56
$GC,5416,0.76,146.6,466.2,14.6,603,5424,0.00,2.28,0.00,0.000,6,0.000,0.047,3371,1999,2425,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5724,0.76,146.6,418.7,15.3,634,5733,0.00,2.25,0.00,0.000,4,0.000,0.057,3372,3418,2422,0,0,0,0,0,0,28.83,25.85,28.83
$GC,5907,0.76,146.6,386.9,17.6,652,5916,0.00,2.22,0.00,0.000,6,0.000,0.044,3381,1993,2420,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6217,0.76,146.6,335.8,16.7,683,6226,0.00,2.20,0.00,0.000,4,0.000,0.048,3392,596,2420,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6364,0.76,146.6,311.9,16.6,697,6371,0.00,2.20,0.00,0.000,6,0.000,0.046,3391,1975,2420,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6669,0.76,146.6,259.7,16.4,728,6678,0.00,2.20,0.00,0.000,4,0.000,0.048,3398,593,2420,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6714,0.76,146.6,252.9,16.6,732,6721,0.00,2.20,0.00,0.000,6,0.000,0.046,3398,1978,2420,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7021,0.76,146.6,203.4,15.3,763,7030,0.00,2.20,0.00,0.000,4,0.000,0.048,3407,592,2420,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7073,0.76,146.6,195.1,15.9,768,7083,0.12,2.17,0.00,0.000,6,0.188,0.046,3379,1963,2420,0,0,0,0,0,0,26.23,26.39,28.83
$GC,7383,0.76,146.6,152.9,12.8,799,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,1963,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7685,0.76,146.6,116.7,11.0,829,7694,0.00,2.12,0.00,0.000,4,0.000,0.049,3385,594,2420,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7729,0.76,146.6,111.5,11.8,833,7736,0.00,2.17,0.00,0.000,6,0.000,0.047,3385,1966,2420,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8040,0.77,153.1,77.8,9.5,885,8053,0.00,2.22,4.85,0.672,4,0.000,0.050,3394,590,2405,0,0,0,0,0,0,28.83,26.44,25.61
$GC,8110,0.77,153.1,70.7,10.3,898,8117,0.00,2.12,0.00,0.000,6,0.000,0.046,3394,1951,2405,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8422,0.77,153.1,38.9,11.1,959,8430,0.00,2.25,0.00,0.000,4,0.000,0.058,3394,3404,2405,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8493,0.77,153.1,30.0,12.7,972,8500,0.00,2.22,0.00,0.000,6,0.000,0.044,3403,1943,2405,0,0,0,0,0,0,28.83,26.53,28.83
$STATE,8766,end climb,SURFACE_DEPTH_REACHED
$STATE,8767,begin surface coast
$FINISH,0.9,1.013331
$STATE,8822,end surface coast,CONTROL_FINISHED_OK
$STATE,8822,begin surface
$SM_CCo,8841,214.12,0.067,0,0,486,623.31
$SM_GC,1.73,8.20,0.10,214.12,0.060,0.106,0.067,346,1994,486,-8.65,-1.30,623.31,0,0,0,0,0,0,26.51,26.59,26.25
$RAFOS_CLK,435
$RAFOS,4,1340238788,0.566667,0.552222,57,56,48,47,45,45,1278,263,1226,458,1316,1936
$RAFOS,3,1340238302,0.433333,0.417222,53,52,47,42,41,40,588,393,1637,1606,1032,331
$RAFOS,2,1340237821,0.300000,0.283611,56,52,51,48,47,45,1416,1313,1336,530,1617,303
$RAFOS,1,1340237341,0.166667,0.150278,58,50,50,42,39,38,1179,1147,1192,1380,1718,785
$RAFOS,0,1340236867,0.033333,0.018611,56,52,51,49,46,41,1585,830,877,853,450,353
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5644.51,200612,191930
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.75
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.6
$24V_AH,23.6,4.902
$10V_AH,10.4,5.966
$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,20.400,85.875,246.100,214.125,0.000,0.000,0.000,238.050,0.500,0.000,21.654,2420.913,4009.730,635.154,2117.235,240.993,0.000,1867.877,0.000,1757.752,1800.000,2.614,0.000
$DEVICE_MAMPS,258.570,106.335,1129.905,67.320,0.000,0.000,0.000,271.154,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,735.466,837.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151620
$DATA_FILE_SIZE,46709,1035
$CAP_FILE_SIZE,111239,0
$CFSIZE,260165632,244998144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,46
$SOUNDSPEED,1464.3
$GPS,210612,004506,6702.089,-5648.682,40,0.8,40,-33.5