version: 66.11
glider: 108
mission: 21
dive: 9
start: 6 21 112 0 51 44
data:
$ID,108
$MISSION,21
$DIVE,9
$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,-190192.27
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,210612,004506,6702.089,-5648.682,40,0.8,40,-33.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.1
$GPS2,210612,005113,6702.167,-5648.713,16,0.9,17,-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,52.0,1626,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.97,-69.5,0.0,0.0,0,140,0.00,0.00,-118.30,0.000,2,0.000,0.000,345,1994,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,144,-1.05,-136.2,3.2,-3.5,21,169,9.45,2.25,-7.20,0.000,4,0.249,0.067,2793,601,3588,0,0,0,0,0,0,26.13,26.38,26.68
$GC,402,-1.05,-136.2,51.1,-17.6,70,408,0.00,2.22,0.00,0.000,6,0.000,0.050,2786,2001,3595,0,0,0,0,0,0,28.83,26.44,28.83
$GC,713,-1.05,-136.2,104.0,-16.8,129,722,0.00,2.15,0.00,0.000,4,0.000,0.060,2776,3410,3595,0,0,0,0,0,0,28.83,26.46,28.83
$GC,815,-1.05,-136.2,121.7,-17.1,139,824,0.00,2.17,0.00,0.000,6,0.000,0.045,2780,1994,3595,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1125,-1.05,-136.2,176.1,-17.2,170,1134,0.00,2.22,0.00,0.000,4,0.000,0.059,2773,3407,3594,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1250,-1.05,-136.2,198.5,-18.0,182,1257,0.00,2.15,0.00,0.000,6,0.000,0.045,2780,2000,3594,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1557,-1.05,-136.2,251.0,-17.0,213,1566,0.00,2.20,0.00,0.000,4,0.000,0.060,2772,3421,3594,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1701,-1.05,-136.2,277.0,-18.6,227,1710,0.00,2.15,0.00,0.000,6,0.000,0.044,2779,2006,3594,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2009,-1.05,-136.2,328.5,-16.2,258,2018,0.00,2.20,0.00,0.000,4,0.000,0.060,2772,3423,3594,0,0,0,0,0,0,28.83,26.57,28.83
$GC,2123,-1.05,-136.2,346.9,-16.4,269,2132,0.00,2.12,0.00,0.000,6,0.000,0.044,2772,2026,3594,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2431,-1.05,-136.2,394.3,-14.5,300,2435,0.00,2.15,0.00,0.000,4,0.000,0.059,2765,3411,3594,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2503,-1.05,-136.2,405.3,-15.4,307,2512,0.00,2.10,0.00,0.000,6,0.000,0.044,2772,2029,3594,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2813,-1.05,-136.2,449.6,-14.2,338,2822,0.00,2.15,0.00,0.000,4,0.000,0.058,2764,3422,3595,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2908,-1.05,-136.2,463.0,-14.5,347,2915,0.00,2.05,0.00,0.000,6,0.000,0.043,2768,2061,3595,0,0,0,0,0,0,28.83,26.66,28.83
$STATE,3175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3175,begin apogee
$GC,3182,-0.17,0.0,501.0,-14.0,374,3298,0.98,0.00,109.53,1.136,4,0.164,0.000,3070,1997,3029,0,0,0,0,0,0,26.48,28.83,23.87
$STATE,3301,end apogee,CONTROL_FINISHED_OK
$STATE,3301,begin climb
$GC,3304,1.05,136.2,504.3,0.0,386,3425,1.15,0.00,115.57,1.115,6,0.086,0.000,3463,1997,2473,0,0,0,0,0,0,24.85,28.83,23.56
$GC,3726,1.05,136.2,421.8,23.0,429,3734,0.00,2.25,0.00,0.000,4,0.000,0.049,3473,596,2466,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3892,1.05,136.2,385.3,22.4,445,3899,0.00,2.25,0.00,0.000,6,0.000,0.047,3466,1998,2465,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4199,1.05,136.2,318.4,21.5,476,4208,0.00,2.20,0.00,0.000,4,0.000,0.048,3474,604,2464,0,0,0,0,0,0,28.83,26.07,28.83
$GC,4261,1.05,136.2,305.2,21.3,482,4270,0.00,2.22,0.00,0.000,6,0.000,0.046,3466,1989,2464,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4572,1.05,136.2,239.7,20.5,513,4580,0.00,2.20,0.00,0.000,4,0.000,0.048,3473,600,2464,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4606,1.05,136.2,233.0,20.0,516,4613,0.00,2.17,0.00,0.000,6,0.000,0.046,3466,1980,2464,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4913,1.05,136.2,170.0,20.3,547,4915,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1980,2464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5216,1.05,136.2,112.8,17.2,577,5225,0.00,2.17,0.00,0.000,4,0.000,0.049,3473,600,2464,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5308,1.05,136.2,96.6,16.0,588,5315,0.00,2.17,0.00,0.000,6,0.000,0.046,3466,1978,2464,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5618,1.05,136.2,50.2,14.6,649,5625,0.00,2.20,0.00,0.000,4,0.000,0.049,3474,589,2464,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5713,1.05,136.2,36.4,14.0,667,5720,0.00,2.20,0.00,0.000,6,0.000,0.047,3466,1975,2464,0,0,0,0,0,0,28.83,26.47,28.83
$GC,6025,1.12,188.9,4.5,4.8,728,6042,0.00,0.00,15.43,0.075,2,0.000,0.000,3466,1974,2329,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6043,end climb,SURFACE_DEPTH_REACHED
$STATE,6043,begin surface coast
$FINISH,2.1,1.025786
$STATE,6135,end surface coast,CONTROL_FINISHED_OK
$STATE,6135,begin surface
$SM_CCo,6155,205.88,0.103,1,0,485,623.31
$SM_GC,1.72,9.12,0.00,205.88,0.109,0.000,0.103,344,1974,485,-8.65,-0.74,623.31,0,0,0,0,1,0,26.46,28.83,25.42
$RAFOS_CLK,296
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5649.11,200612,222259
$TT8_MAMPS,0.025466,0.025466
$HUMID,37.95
$INTERNAL_PRESSURE,8.93589
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.4,17.0
$24V_AH,23.6,4.980
$10V_AH,10.4,6.032
$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,20.700,52.400,240.525,205.875,0.000,0.000,0.000,248.700,0.500,0.000,17.812,1753.591,2656.809,587.819,1552.834,186.631,0.000,1537.782,0.000,1255.679,0.000,2.611,0.000
$DEVICE_MAMPS,248.625,153.765,1136.025,102.510,0.000,0.000,0.000,274.150,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,531.974,567.703,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151688
$DATA_FILE_SIZE,33434,745
$CAP_FILE_SIZE,78734,0
$CFSIZE,260165632,244981760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1,20
$SOUNDSPEED,1463.5
$GPS,210612,023849,6703.253,-5648.629,13,1.8,13,-33.5