version: 66.11
glider: 108
mission: 21
dive: 15
start: 6 21 112 16 35 10
data:
$ID,108
$MISSION,21
$DIVE,15
$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,633.11926
$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,-190747.28
$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,38
$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
$GPS1,210612,131508,6702.128,-5651.924,181,99.0,181,-33.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,4.48
$_SM_ANGLEo,-56.6
$GPS2,210612,131508,6702.128,-5651.924,181,99.0,181,-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,246.4,160168,-26.4,-9.167
$D_GRID,608
$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,-0.96,-62.9,0.0,0.0,0,25,0.00,0.00,-6.45,0.000,2,0.000,0.000,341,2106,640,0,0,0,0,0,0,28.83,28.83,28.83
$GC,28,-1.06,-146.6,4.5,0.0,1,147,9.27,2.20,-99.82,0.000,4,0.243,0.077,2775,3506,3631,0,0,0,0,0,0,26.22,26.46,26.78
$GC,369,-1.06,-146.6,50.6,-20.1,64,376,0.00,2.12,0.00,0.000,6,0.000,0.044,2775,2102,3638,0,0,0,0,0,0,28.83,26.53,28.83
$GC,680,-1.06,-146.6,110.0,-19.0,120,689,0.00,2.20,0.00,0.000,4,0.000,0.061,2767,3518,3638,0,0,0,0,0,0,28.83,26.53,28.83
$GC,732,-1.06,-146.6,119.9,-19.3,125,741,0.00,2.15,0.00,0.000,6,0.000,0.044,2767,2095,3638,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1042,-1.06,-146.6,174.6,-17.1,156,1046,0.00,2.20,0.00,0.000,4,0.000,0.061,2759,3508,3637,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1064,-1.06,-146.6,178.6,-17.8,158,1073,0.00,2.12,0.00,0.000,6,0.000,0.044,2763,2094,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1374,-1.06,-146.6,231.8,-16.6,189,1383,0.00,2.22,0.00,0.000,4,0.000,0.060,2754,3519,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1409,-1.06,-146.6,237.4,-16.9,192,1417,0.12,2.15,0.00,0.000,6,0.198,0.044,2783,2093,3637,0,0,0,0,0,0,26.45,26.63,28.83
$GC,1716,-1.06,-146.6,284.7,-14.7,223,1725,0.00,2.22,0.00,0.000,4,0.000,0.059,2775,3520,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1749,-1.06,-146.6,289.6,-15.3,226,1757,0.00,2.12,0.00,0.000,6,0.000,0.043,2779,2096,3637,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2058,-1.06,-146.6,335.2,-14.7,257,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2094,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2360,-1.06,-146.6,377.9,-13.8,287,2369,0.00,2.17,0.00,0.000,4,0.000,0.058,2771,3505,3638,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2402,-1.06,-146.6,384.3,-14.9,291,2411,0.00,2.12,0.00,0.000,6,0.000,0.042,2771,2088,3638,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2712,-1.06,-146.6,428.2,-14.0,322,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2088,3638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3014,-1.06,-146.6,469.6,-13.6,352,3020,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2088,3639,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3325,-1.06,-146.6,512.4,-14.1,383,3334,0.00,2.17,0.00,0.000,4,0.000,0.058,2761,3506,3639,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3360,-1.06,-146.6,517.7,-15.2,386,3366,0.00,2.10,0.00,0.000,6,0.000,0.041,2766,2098,3639,0,0,0,0,0,0,28.83,26.71,28.83
$GC,3668,-1.06,-146.6,562.5,-14.2,417,3677,0.00,2.17,0.00,0.000,4,0.000,0.057,2758,3514,3640,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3710,-1.06,-146.6,569.0,-15.2,421,3721,0.12,2.12,0.00,0.000,6,0.188,0.041,2787,2088,3640,0,0,0,0,0,0,26.55,26.72,28.83
$STATE,4007,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4007,begin apogee
$GC,4014,-0.17,0.0,609.1,-13.2,447,4138,0.90,0.00,119.05,1.215,6,0.158,0.000,3072,1889,3029,0,0,0,0,0,0,26.55,28.83,23.80
$STATE,4141,end apogee,CONTROL_FINISHED_OK
$STATE,4141,begin climb
$GC,4144,1.06,146.6,612.5,0.0,451,4280,1.17,2.40,124.38,1.135,4,0.082,0.047,3481,514,2431,0,0,0,0,0,0,24.78,24.46,23.64
$GC,4368,1.06,146.6,579.6,20.3,465,4378,0.00,2.30,0.00,0.000,6,0.000,0.045,3481,1895,2428,0,0,0,0,0,0,28.83,25.21,28.83
$GC,4678,1.06,146.6,516.7,19.4,496,4679,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1895,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4981,1.06,146.6,451.6,22.3,526,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1895,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5292,1.06,146.6,383.0,22.1,557,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1895,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5601,1.06,146.6,315.6,21.4,588,5609,0.00,2.20,0.00,0.000,4,0.000,0.049,3489,512,2421,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5625,1.06,146.6,310.4,21.9,590,5631,0.00,2.22,0.00,0.000,6,0.000,0.046,3487,1909,2420,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5932,1.06,146.6,243.7,21.3,621,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1908,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6234,1.06,146.6,181.0,20.1,651,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1908,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6545,1.06,146.6,123.4,17.8,682,6551,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1908,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6854,1.06,146.6,70.8,16.1,730,6861,0.00,2.15,0.00,0.000,4,0.000,0.057,3486,3305,2420,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6883,1.06,146.6,65.8,16.4,735,6890,0.00,2.12,0.00,0.000,6,0.000,0.043,3494,1904,2420,0,0,0,0,0,0,28.83,26.53,28.83
$GC,7212,1.06,146.6,14.7,13.5,796,7221,0.00,2.20,0.00,0.000,4,0.000,0.051,3505,507,2420,0,0,0,0,0,0,28.83,26.55,28.83
$FREEZE,8.93,0.377,-1.777,0,2,0
$FREEZE,8.15,0.169,-1.769,0,2,0
$FREEZE,7.32,0.023,-1.769,0,2,0
$FREEZE,6.66,-0.130,-1.766,0,2,0
$FREEZE,5.88,-0.186,-1.765,0,2,0
$FREEZE,5.26,-0.233,-1.762,0,2,0
$FREEZE,4.70,-0.263,-1.760,0,2,0
$GC,7297,1.06,146.6,4.7,9.7,808,7307,0.08,2.22,0.00,0.000,6,0.177,0.046,3479,1903,2420,0,0,0,0,0,0,26.41,26.56,28.83
$FREEZE,2.95,-0.379,-1.751,0,2,0
$STATE,7315,end climb,SURFACE_DEPTH_REACHED
$STATE,7315,begin surface coast
$FREEZE,2.37,-0.441,-1.750,0,2,0
$FREEZE,1.84,-0.405,-1.747,0,2,0
$FREEZE,1.27,-0.328,-1.741,0,2,0
$FREEZE,1.27,-0.328,-1.740,0,2,0
$FREEZE,1.25,-0.357,-1.741,0,2,0
$FREEZE,1.28,-0.378,-1.741,0,2,0
$FREEZE,1.28,-0.384,-1.741,0,2,0
$FREEZE,1.28,-0.375,-1.740,0,2,0
$FREEZE,1.31,-0.395,-1.741,0,2,0
$FINISH,1.3,1.025548
$STATE,7379,end surface coast,CONTROL_FINISHED_OK
$STATE,7379,begin surface
$SM_CCo,7399,234.90,0.080,1,0,447,633.12
$SM_GC,2.42,8.55,0.30,234.90,0.070,0.069,0.080,343,2115,447,-8.65,-0.88,633.12,0,0,0,0,1,0,26.53,26.56,25.53
$RAFOS_CLK,430
$RAFOS,6,1340297349,16.833334,16.819166,56,50,50,43,42,41,1592,527,1826,1402,289,1882
$RAFOS,5,1340296865,16.700001,16.684723,51,51,50,41,39,39,327,1097,812,1514,453,641
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5650.71,210612,131324
$TT8_MAMPS,0.026964,0.026964
$HUMID,37.32
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,18.2
$24V_AH,23.6,5.482
$10V_AH,10.4,6.538
$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,20.225,52.975,243.425,234.900,0.000,0.000,0.000,121.625,3.000,0.000,181.768,2048.458,3598.885,626.203,1689.552,224.148,0.000,1478.412,0.000,1303.470,720.000,20.474,0.000
$DEVICE_MAMPS,242.505,77.265,1214.820,80.325,0.000,0.000,0.000,248.668,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,587.343,667.641,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151592
$DATA_FILE_SIZE,36809,819
$CAP_FILE_SIZE,84892,0
$CFSIZE,260165632,244621312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,35
$SOUNDSPEED,1465.4
$CURRENT,0.160,219.5,1
$GPS,210612,131508,6702.128,-5651.924,181,99.0,181,-33.5