version: 66.11
glider: 108
mission: 21
dive: 4
start: 6 20 112 11 27 59
data:
$ID,108
$MISSION,21
$DIVE,4
$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,-189882.69
$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,45
$R_STBD_OVSHOOT,38
$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
$GPS1,200612,111405,6659.026,-5646.955,25,1.2,25,-33.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-67.1
$GPS2,200612,112730,6659.102,-5646.966,16,1.3,17,-33.4
$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,27.5,7259,-17.8,-10.000
$D_GRID,564
$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,-146.6,0.0,0.0,0,143,0.00,0.00,-122.28,0.000,2,0.000,0.000,349,2018,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,147,-0.78,-146.6,3.4,-5.0,22,173,10.25,2.22,-6.07,0.000,4,0.261,0.076,2885,3402,3631,0,0,0,0,0,0,26.01,26.30,26.65
$GC,403,-0.71,-146.6,40.9,-11.7,71,410,0.12,2.15,0.00,0.000,6,0.176,0.044,2920,1997,3636,0,0,0,0,0,0,26.22,26.41,28.83
$GC,715,-0.76,-146.6,67.7,-7.8,132,722,0.00,2.22,0.00,0.000,4,0.000,0.060,2912,3402,3637,0,0,0,0,0,0,28.83,26.39,28.83
$GC,952,-0.80,-146.6,89.2,-9.6,178,959,0.00,2.15,0.00,0.000,6,0.000,0.044,2912,1993,3637,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1267,-0.80,-146.6,118.2,-9.8,221,1276,0.00,2.22,0.00,0.000,4,0.000,0.061,2901,3401,3636,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1504,-0.80,-146.6,142.5,-10.3,244,1511,0.00,2.15,0.00,0.000,6,0.000,0.045,2901,1991,3636,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1811,-0.80,-146.6,172.1,-9.3,275,1820,0.00,2.22,0.00,0.000,4,0.000,0.062,2891,3406,3636,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2048,-0.80,-146.6,193.5,-8.9,298,2054,0.00,2.15,0.00,0.000,6,0.000,0.046,2891,1994,3637,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2355,-0.80,-146.6,219.2,-8.2,329,2359,0.00,2.22,0.00,0.000,4,0.000,0.062,2880,3409,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2590,-0.80,-146.6,241.2,-9.6,352,2598,0.00,2.12,0.00,0.000,6,0.000,0.046,2880,1987,3637,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2900,-0.80,-146.6,269.4,-9.1,383,2909,0.00,2.22,0.00,0.000,4,0.000,0.060,2869,3409,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3102,-0.75,-146.6,288.6,-9.2,403,3112,0.10,2.12,0.00,0.000,6,0.152,0.045,2902,1994,3637,0,0,0,0,0,0,26.41,26.62,28.83
$GC,3413,-0.83,-146.6,311.6,-7.0,434,3421,0.00,2.20,0.00,0.000,4,0.000,0.060,2893,3402,3638,0,0,0,0,0,0,28.83,26.57,28.83
$GC,3648,-0.89,-146.6,329.5,-7.7,457,3655,0.00,2.12,0.00,0.000,6,0.000,0.044,2893,1997,3639,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3955,-0.94,-146.6,354.1,-8.2,488,3964,0.12,2.17,0.00,0.000,4,0.104,0.059,2826,3404,3639,0,0,0,0,0,0,26.67,26.59,28.83
$GC,4051,-0.73,-146.6,364.3,-11.5,497,4058,0.30,2.12,0.00,0.000,6,0.155,0.044,2914,1996,3639,0,0,0,0,0,0,26.40,26.65,28.83
$GC,4358,-0.88,-146.6,386.5,-7.0,528,4367,0.12,2.17,0.00,0.000,4,0.101,0.057,2846,3409,3640,0,0,0,0,0,0,26.68,26.60,28.83
$GC,4495,-0.76,-146.6,399.8,-10.4,541,4502,0.20,2.12,0.00,0.000,6,0.160,0.043,2903,1998,3640,0,0,0,0,0,0,26.43,26.66,28.83
$GC,4802,-0.86,-146.6,422.6,-7.2,572,4811,0.00,2.17,0.00,0.000,4,0.000,0.059,2895,3412,3640,0,0,0,0,0,0,28.83,26.61,28.83
$GC,5038,-0.93,-146.6,440.1,-7.4,595,5045,0.15,2.12,0.00,0.000,6,0.095,0.042,2833,1997,3641,0,0,0,0,0,0,26.63,26.68,28.83
$STATE,5141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5141,begin apogee
$GC,5148,-0.17,0.0,450.9,-10.4,606,5274,0.82,0.00,120.65,1.112,6,0.151,0.000,3092,1989,3029,0,0,0,0,0,0,26.42,28.83,23.77
$STATE,5277,end apogee,CONTROL_FINISHED_OK
$STATE,5277,begin climb
$GC,5280,0.78,146.6,453.0,0.0,619,5417,0.88,2.42,124.12,1.083,4,0.073,0.057,3398,3400,2430,0,0,0,0,0,0,24.79,24.42,23.56
$GC,5643,0.32,146.6,394.4,19.4,655,5650,0.55,2.20,0.00,0.000,6,0.167,0.043,3253,1994,2421,0,0,0,0,0,0,25.39,25.59,28.83
$GC,5950,0.57,177.8,365.9,8.6,686,5983,0.20,2.33,25.88,0.989,4,0.082,0.049,3347,592,2304,0,0,0,0,0,0,25.92,25.36,24.52
$GC,6213,0.49,177.8,328.9,14.7,712,6223,0.15,2.30,0.00,0.000,6,0.166,0.047,3304,2010,2300,0,0,0,0,0,0,25.70,25.84,28.83
$GC,6523,0.49,177.8,290.2,12.0,743,6531,0.00,2.25,0.00,0.000,4,0.000,0.049,3311,598,2299,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6726,0.57,177.8,266.6,11.1,763,6730,0.00,2.22,0.00,0.000,6,0.000,0.047,3311,2001,2299,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7038,0.57,177.8,228.7,12.3,794,7047,0.00,2.22,0.00,0.000,4,0.000,0.049,3320,588,2299,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7090,0.57,177.8,222.6,11.8,799,7099,0.00,2.25,0.00,0.000,6,0.000,0.046,3320,2005,2299,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7400,0.57,177.8,185.2,12.4,830,7409,0.00,2.22,0.00,0.000,4,0.000,0.049,3330,592,2299,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7474,0.57,177.8,176.6,11.8,837,7481,0.00,2.22,0.00,0.000,6,0.000,0.046,3330,2004,2299,0,0,1,0,0,0,28.83,26.36,28.83
$GC,7782,0.57,177.8,138.1,12.1,868,7791,0.00,2.22,0.00,0.000,4,0.000,0.049,3340,592,2299,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7816,0.57,177.8,134.2,12.0,871,7823,0.00,2.22,0.00,0.000,6,0.000,0.046,3340,2001,2299,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8125,0.57,177.8,99.1,10.8,902,8132,0.00,2.22,0.00,0.000,4,0.000,0.049,3349,594,2299,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8191,0.57,177.8,91.5,11.1,914,8198,0.00,2.22,0.00,0.000,6,0.000,0.046,3349,2005,2299,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8502,0.57,177.8,57.0,10.3,975,8509,0.00,2.25,0.00,0.000,4,0.000,0.050,3358,583,2299,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8522,0.57,177.8,54.8,11.3,978,8529,0.00,2.22,0.00,0.000,6,0.000,0.046,3358,2000,2299,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8833,0.61,213.1,22.2,8.4,1039,8858,0.00,2.33,18.40,0.773,4,0.000,0.050,3368,587,2160,0,0,0,0,0,0,28.83,26.17,25.44
$GC,8866,0.66,255.3,19.4,8.1,1044,8896,0.00,2.25,20.73,0.110,6,0.000,0.045,3368,2000,1984,0,0,0,0,0,0,28.83,26.22,26.08
$STATE,9023,end climb,SURFACE_DEPTH_REACHED
$STATE,9023,begin surface coast
$FINISH,0.8,1.008341
$STATE,9065,end surface coast,CONTROL_FINISHED_OK
$STATE,9065,begin surface
$SM_CCo,9083,167.40,0.067,0,0,487,623.31
$SM_GC,1.46,8.23,0.00,167.40,0.060,0.000,0.067,344,2000,487,-8.72,0.00,623.31,0,0,0,0,0,0,26.25,28.83,26.08
$RAFOS_CLK,441
$RAFOS,6,1340196544,12.833333,12.817778,51,51,50,41,39,38,1498,1520,1452,101,916,1784
$RAFOS,5,1340196067,12.700000,12.685278,50,47,46,43,41,40,973,291,1785,1666,435,1866
$RAFOS,4,1340195591,12.566667,12.553056,46,44,44,44,43,40,449,1432,151,1482,208,1567
$RAFOS,3,1340195104,12.433333,12.417778,60,54,52,46,42,41,632,616,620,1061,1560,1057
$RAFOS,2,1340194622,12.300000,12.283889,47,44,42,42,36,36,210,974,1588,1736,141,797
$RAFOS,1,1340194144,12.166667,12.151111,52,48,46,46,41,40,243,723,1269,1300,673,1595
$RAFOS,0,1340193665,12.033333,12.018056,52,48,47,46,45,45,891,901,1288,660,1401,1577
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5649.11,200612,111146
$TT8_MAMPS,0.026215,0.026215
$HUMID,38.14
$INTERNAL_PRESSURE,8.94566
$TCM_TEMP,16.60
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,18.9
$24V_AH,23.6,4.534
$10V_AH,10.3,5.609
$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,22.200,84.025,309.775,167.400,0.000,0.000,0.000,558.475,0.500,0.000,18.171,2558.090,4075.059,641.652,2507.670,276.200,0.000,2235.370,0.000,1946.090,2520.000,2.619,0.000
$DEVICE_MAMPS,260.865,75.735,1112.310,67.320,0.000,0.000,0.000,259.919,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,772.397,748.228,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151596
$DATA_FILE_SIZE,50068,1082
$CAP_FILE_SIZE,127596,0
$CFSIZE,260165632,245235712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$SOUNDSPEED,1464.0
$GPS,200612,140335,6700.256,-5648.418,35,0.9,35,-33.4