version: 66.11
glider: 108
mission: 21
dive: 12
start: 6 21 112 7 46 9
data:
$ID,108
$MISSION,21
$DIVE,12
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$D_NO_BLEED,200
$D_BOOST,20
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,360
$T_MISSION,440
$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,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$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,2
$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,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,623.11926
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-190379.25
$T_RSLEEP,10
$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,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$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,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$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
$GPS1,210612,044619,6702.725,-5648.589,181,99.0,181,-33.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-70.5
$GPS2,210612,074535,6702.274,-5650.717,31,0.8,32,-33.5
$SPEED_LIMITS,0.159,0.240
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,246.4,161088,-26.4,-9.167
$D_GRID,590
$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,-0.96,-62.9,0.0,0.0,0,148,0.00,0.00,-124.78,0.000,6,0.000,0.000,331,2105,3286,0,0,0,0,0,0,28.83,28.83,26.78
$GC,152,-1.06,-146.6,1.9,-0.5,21,178,9.65,2.22,-8.23,0.000,4,0.256,0.078,2774,3512,3632,0,0,0,0,0,0,26.15,26.39,26.72
$GC,358,-1.06,-146.6,49.7,-20.2,60,365,0.00,2.15,0.00,0.000,6,0.000,0.045,2780,2099,3637,0,0,0,0,0,0,28.83,26.48,28.83
$GC,670,-1.06,-146.6,105.9,-17.7,118,680,0.00,2.17,0.00,0.000,4,0.000,0.062,2772,3505,3637,0,0,0,0,0,0,28.83,26.47,28.83
$GC,876,-1.06,-146.6,142.8,-18.3,138,883,0.00,2.15,0.00,0.000,6,0.000,0.044,2779,2091,3637,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1183,-1.06,-146.6,192.8,-14.8,169,1191,0.00,2.20,0.00,0.000,4,0.000,0.060,2771,3506,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1288,-1.06,-146.6,209.1,-15.9,179,1294,0.00,2.15,0.00,0.000,6,0.000,0.044,2776,2087,3637,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1595,-1.06,-146.6,252.7,-14.1,210,1605,0.00,2.22,0.00,0.000,4,0.000,0.060,2768,3508,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1728,-1.06,-146.6,272.7,-15.0,223,1737,0.00,2.12,0.00,0.000,6,0.000,0.044,2770,2093,3637,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2038,-1.06,-146.6,317.2,-14.8,254,2048,0.00,2.22,0.00,0.000,4,0.000,0.060,2761,3517,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2183,-1.06,-146.6,339.4,-15.7,268,2191,0.00,2.12,0.00,0.000,6,0.000,0.044,2761,2094,3637,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2491,-1.06,-146.6,384.1,-14.1,299,2500,0.00,2.17,0.00,0.000,4,0.000,0.059,2752,3501,3638,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2668,-1.06,-146.6,410.2,-15.2,316,2676,0.12,2.12,0.00,0.000,6,0.194,0.043,2783,2093,3638,0,0,0,0,0,0,26.48,26.66,28.83
$GC,2976,-1.06,-146.6,447.5,-11.3,347,2985,0.00,2.15,0.00,0.000,4,0.000,0.058,2775,3504,3639,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3071,-1.06,-146.6,459.1,-12.4,356,3078,0.00,2.12,0.00,0.000,6,0.000,0.042,2780,2087,3640,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3378,-1.06,-146.6,498.9,-13.0,387,3387,0.00,2.17,0.00,0.000,4,0.000,0.058,2771,3499,3640,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3592,-1.06,-146.6,528.9,-14.7,408,3600,0.00,2.10,0.00,0.000,6,0.000,0.041,2771,2094,3641,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,3839,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3839,begin apogee
$GC,3846,-0.17,0.0,563.6,-13.4,433,3971,0.95,0.00,118.55,1.180,6,0.161,0.000,3067,1876,3029,0,0,0,0,0,0,26.51,28.83,23.80
$STATE,3975,end apogee,CONTROL_FINISHED_OK
$STATE,3975,begin climb
$GC,3977,1.06,146.6,565.8,0.0,446,4112,1.17,0.00,124.72,1.099,6,0.084,0.000,3467,1876,2431,0,0,0,0,0,0,24.79,28.83,23.63
$GC,4412,1.06,146.6,484.3,21.4,490,4421,0.00,2.22,0.00,0.000,4,0.000,0.049,3476,507,2422,0,0,0,0,0,0,28.83,25.66,28.83
$GC,4486,1.06,146.6,468.8,21.3,497,4493,0.00,2.28,0.00,0.000,6,0.000,0.045,3468,1904,2422,0,0,0,0,0,0,28.83,25.76,28.83
$GC,4794,1.06,146.6,401.4,21.5,528,4803,0.00,2.22,0.00,0.000,4,0.000,0.048,3476,521,2421,0,0,0,0,0,0,28.83,26.01,28.83
$GC,4856,1.06,146.6,388.0,21.4,534,4865,0.00,2.22,0.00,0.000,6,0.000,0.045,3470,1906,2421,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5166,1.06,146.6,323.1,21.2,565,5175,0.00,2.25,0.00,0.000,4,0.000,0.048,3477,498,2421,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5211,1.06,146.6,314.2,21.0,569,5218,0.00,2.25,0.00,0.000,6,0.000,0.044,3470,1906,2421,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5518,1.06,146.6,247.5,21.6,600,5527,0.00,2.20,0.00,0.000,4,0.000,0.049,3477,516,2421,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5592,1.06,146.6,231.9,21.3,607,5601,0.00,2.17,0.00,0.000,6,0.000,0.045,3471,1898,2421,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5900,1.06,146.6,168.1,19.6,638,5909,0.00,2.20,0.00,0.000,4,0.000,0.049,3478,513,2421,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5932,1.06,146.6,161.9,20.1,641,5941,0.00,2.20,0.00,0.000,6,0.000,0.045,3476,1903,2421,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6243,1.06,146.6,107.3,15.9,672,6251,0.00,2.20,0.00,0.000,4,0.000,0.049,3483,507,2421,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6387,1.06,146.6,85.5,15.2,695,6395,0.00,2.20,0.00,0.000,6,0.000,0.045,3482,1900,2421,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6700,1.06,146.6,39.6,13.2,756,6706,0.00,2.20,0.00,0.000,4,0.000,0.050,3489,512,2421,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6783,1.06,146.6,27.9,13.9,769,6792,0.00,2.22,0.00,0.000,6,0.000,0.047,3488,1903,2421,0,0,0,0,0,0,28.83,26.52,28.83
$FREEZE,8.56,0.629,-1.779,0,1,0
$FREEZE,7.64,0.502,-1.775,0,1,0
$FREEZE,7.02,0.379,-1.774,0,1,0
$FREEZE,6.26,0.289,-1.769,0,1,0
$FREEZE,5.46,0.172,-1.767,0,1,0
$FREEZE,4.88,0.107,-1.764,0,1,0
$FREEZE,4.15,-0.011,-1.754,0,1,0
$FREEZE,3.59,-0.100,-1.751,0,1,0
$STATE,6984,end climb,SURFACE_DEPTH_REACHED
$STATE,6984,begin surface coast
$FREEZE,2.65,-0.117,-1.750,0,1,0
$FREEZE,2.25,-0.120,-1.748,0,1,0
$FREEZE,1.71,-0.122,-1.747,0,1,0
$FREEZE,1.16,-0.123,-1.746,0,1,0
$FREEZE,0.87,-0.142,-1.741,0,1,0
$FREEZE,0.81,-0.216,-1.568,0,1,0
$FREEZE,0.89,-0.235,-1.746,0,1,0
$FREEZE,0.93,-0.238,-1.743,0,1,0
$FINISH,0.9,1.025571
$STATE,7042,end surface coast,CONTROL_FINISHED_OK
$STATE,7042,begin surface
$SM_CCo,7062,217.15,0.109,1,0,486,623.31
$SM_GC,1.74,8.62,0.30,217.15,0.073,0.069,0.109,348,2115,486,-8.64,-0.88,623.31,0,0,0,0,1,0,26.50,26.53,25.44
$RAFOS_CLK,342
$RAFOS,6,1340268550,8.833333,8.819445,46,43,42,39,38,37,1074,1937,191,146,1,161
$RAFOS,5,1340268064,8.700000,8.684444,47,46,44,43,42,39,1424,995,1678,677,662,1886
$RAFOS,4,1340267582,8.566667,8.550555,54,54,50,43,43,42,458,536,527,762,1531,712
$RAFOS,3,1340267107,8.433333,8.418612,49,48,47,46,44,40,1778,620,1116,734,578,1766
$RAFOS,2,1340266624,8.300000,8.284445,52,48,48,43,42,40,295,271,337,1054,293,151
$RAFOS,1,1340266152,8.166667,8.153334,60,60,58,50,46,41,1144,1798,1125,1730,1005,307
$RAFOS,0,1340265669,8.033334,8.019167,58,54,50,44,42,39,1379,607,637,1013,321,444
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5646.10,210612,070715
$TT8_MAMPS,0.026215,0.026215
$HUMID,36.65
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,550.1,27.8
$24V_AH,23.6,5.222
$10V_AH,10.3,6.284
$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,20.525,66.225,243.275,217.150,0.000,0.000,0.000,538.025,2.250,0.000,33.023,2027.385,3118.317,665.440,2058.061,224.414,0.000,1968.327,0.000,1394.146,2520.000,15.954,0.000
$DEVICE_MAMPS,256.275,78.030,1179.630,108.630,0.000,0.000,0.000,261.417,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,573.073,695.072,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151612
$DATA_FILE_SIZE,36790,808
$CAP_FILE_SIZE,98995,0
$CFSIZE,260165632,244801536
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,1,51
$SOUNDSPEED,1465.1
$CURRENT,0.191,123.9,1
$GPS,210612,094849,6701.282,-5651.075,24,1.2,24,-33.5