version: 66.11
glider: 108
mission: 21
dive: 10
start: 6 21 112 2 44 58
data:
$ID,108
$MISSION,21
$DIVE,10
$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,-190193.61
$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,48
$R_STBD_OVSHOOT,39
$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
$GPS1,210612,023849,6703.253,-5648.629,13,1.8,13,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-73.0
$GPS2,210612,024425,6703.314,-5648.586,17,1.0,18,-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,177.5,720,-26.5,-9.804
$D_GRID,516
$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,-0.97,-69.5,0.0,0.0,0,132,0.00,0.00,-112.60,0.000,2,0.000,0.000,344,1982,3126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.04,-125.4,3.2,-4.6,20,162,10.02,2.30,-9.57,0.000,4,0.269,0.075,2778,3405,3544,0,0,0,0,0,0,25.99,26.25,26.57
$GC,381,-1.04,-125.4,51.8,-17.6,67,387,0.00,2.15,0.00,0.000,6,0.000,0.044,2785,2006,3551,0,0,0,0,0,0,28.83,26.36,28.83
$GC,692,-1.04,-125.4,107.1,-17.2,124,701,0.00,2.20,0.00,0.000,4,0.000,0.060,2777,3399,3550,0,0,0,0,0,0,28.83,26.39,28.83
$GC,854,-1.04,-125.4,135.7,-17.2,140,863,0.00,2.12,0.00,0.000,6,0.000,0.045,2783,2005,3550,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1164,-1.04,-125.4,181.9,-13.4,171,1173,0.00,2.20,0.00,0.000,4,0.000,0.060,2776,3413,3550,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1206,-1.04,-125.4,188.0,-14.6,175,1215,0.00,2.12,0.00,0.000,6,0.000,0.044,2781,2017,3550,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1516,-1.04,-125.4,233.7,-15.0,206,1525,0.00,2.17,0.00,0.000,4,0.000,0.060,2773,3407,3550,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1598,-1.04,-125.4,246.9,-16.4,214,1607,0.00,2.10,0.00,0.000,6,0.000,0.044,2773,2022,3550,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1908,-1.04,-125.4,294.8,-15.0,245,1917,0.00,2.15,0.00,0.000,4,0.000,0.059,2764,3399,3550,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2022,-1.04,-125.4,312.0,-15.2,256,2030,0.00,2.05,0.00,0.000,6,0.000,0.044,2766,2034,3550,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2330,-1.04,-125.4,355.2,-13.4,287,2334,0.00,2.15,0.00,0.000,4,0.000,0.059,2758,3414,3550,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2385,-1.04,-125.4,362.7,-14.9,292,2393,0.15,2.10,0.00,0.000,6,0.192,0.043,2794,2026,3550,0,0,0,0,0,0,26.41,26.60,28.83
$GC,2693,-1.04,-125.4,399.9,-11.4,323,2701,0.00,2.12,0.00,0.000,4,0.000,0.057,2787,3397,3551,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2754,-1.04,-125.4,407.6,-12.3,329,2763,0.00,2.03,0.00,0.000,6,0.000,0.043,2787,2045,3551,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3065,-1.04,-125.4,446.4,-12.9,360,3073,0.00,2.12,0.00,0.000,4,0.000,0.057,2777,3421,3552,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3089,-1.04,-125.4,449.4,-13.1,362,3096,0.00,2.05,0.00,0.000,6,0.000,0.042,2782,2045,3552,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3397,-1.04,-125.4,489.4,-13.0,393,3405,0.00,2.12,0.00,0.000,4,0.000,0.057,2774,3403,3553,0,0,0,0,0,0,28.83,26.61,28.83
$STATE,3476,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3476,begin apogee
$GC,3485,-0.17,0.0,500.6,-13.8,401,3591,0.93,0.00,101.10,1.134,4,0.167,0.000,3066,1981,3029,0,0,0,0,0,0,26.46,28.83,23.92
$STATE,3592,end apogee,CONTROL_FINISHED_OK
$STATE,3592,begin climb
$GC,3596,1.04,125.4,503.9,0.0,412,3712,1.17,2.33,107.00,1.118,4,0.082,0.047,3463,590,2516,0,0,0,0,0,0,24.90,24.94,23.59
$GC,3735,1.04,125.4,488.4,17.1,426,3742,0.00,2.35,0.00,0.000,6,0.000,0.046,3456,1994,2514,0,0,0,0,0,0,28.83,24.84,28.83
$GC,4042,1.04,125.4,426.4,19.8,457,4051,0.00,2.25,0.00,0.000,4,0.000,0.048,3463,597,2508,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4198,1.04,125.4,397.4,18.5,472,4205,0.00,2.22,0.00,0.000,6,0.000,0.046,3457,1980,2508,0,0,1,0,0,0,28.83,25.89,28.83
$GC,4506,1.04,125.4,339.8,18.3,503,4514,0.00,2.20,0.00,0.000,4,0.000,0.048,3464,596,2507,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4718,1.04,125.4,299.1,19.5,524,4727,0.00,2.17,0.00,0.000,6,0.000,0.047,3464,1952,2507,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5028,1.04,125.4,235.2,20.9,555,5032,0.00,2.15,0.00,0.000,4,0.000,0.049,3473,592,2507,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5177,1.04,125.4,206.5,20.0,569,5184,0.00,2.12,0.00,0.000,6,0.000,0.047,3470,1946,2507,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5482,1.04,125.4,150.6,16.5,600,5491,0.00,2.15,0.00,0.000,4,0.000,0.049,3477,589,2507,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5714,1.04,125.4,111.3,17.3,623,5723,0.00,2.10,0.00,0.000,6,0.000,0.047,3477,1918,2507,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6028,1.04,125.4,62.2,14.2,678,6035,0.00,2.10,0.00,0.000,4,0.000,0.049,3486,591,2507,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6102,1.04,125.4,51.0,15.1,692,6109,0.00,2.05,0.00,0.000,6,0.000,0.047,3483,1902,2507,0,0,0,0,0,0,28.83,26.49,28.83
$GC,6418,1.06,140.1,12.4,8.4,753,6431,0.00,2.30,6.10,0.095,4,0.000,0.056,3480,3407,2457,0,0,0,0,0,0,28.83,26.48,26.44
$GC,6460,1.06,143.1,8.5,9.5,760,6467,0.00,2.30,1.42,0.087,6,0.000,0.044,3489,1892,2445,0,0,0,0,0,0,28.83,26.52,26.44
$STATE,6519,end climb,SURFACE_DEPTH_REACHED
$STATE,6519,begin surface coast
$FINISH,0.8,1.025365
$STATE,6593,end surface coast,CONTROL_FINISHED_OK
$STATE,6594,begin surface
$SM_CCo,6613,218.15,0.069,0,0,487,623.31
$SM_GC,1.66,8.52,0.20,218.15,0.066,0.071,0.069,348,2008,487,-8.64,-0.93,623.31,0,0,0,0,0,0,26.49,26.54,26.22
$RAFOS_CLK,315
$RAFOS,3,1340252702,4.433333,4.417222,49,46,45,44,43,43,919,102,1439,529,189,920
$RAFOS,2,1340252223,4.300000,4.284167,56,51,50,40,39,39,309,344,330,1850,385,450
$RAFOS,1,1340251746,4.166667,4.151667,62,55,54,43,41,39,1016,1848,1918,610,419,986
$RAFOS,0,1340251263,4.033333,4.017500,54,52,51,40,39,39,878,577,909,1884,426,1154
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5653.72,210612,000055
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.12
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,23.6,5.051
$10V_AH,10.4,6.098
$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,20.800,69.450,215.625,218.150,0.000,0.000,0.000,223.600,0.500,0.000,19.292,1870.064,2880.408,596.304,1638.996,195.113,0.000,1573.983,0.000,1365.689,1800.000,2.615,0.000
$DEVICE_MAMPS,268.515,74.970,1133.730,68.850,0.000,0.000,0.000,261.417,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,554.337,575.255,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151624
$DATA_FILE_SIZE,36814,782
$CAP_FILE_SIZE,88282,0
$CFSIZE,260165632,244928512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,15
$SOUNDSPEED,1464.0
$GPS,210612,044005,6702.726,-5648.722,28,1.0,28,-33.5