version: 66.11
glider: 108
mission: 21
dive: 80
start: 7 3 112 18 5 50
data:
$ID,108
$MISSION,21
$DIVE,80
$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,-2
$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,400
$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,-191185.59
$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,56
$R_STBD_OVSHOOT,48
$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
$GPS1,030712,134802,6645.747,-5947.542,18,1.1,19,-33.8
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,11.35
$_SM_ANGLEo,-4.3
$GPS2,030712,134802,6645.747,-5947.542,18,1.1,19,-33.8
$SPEED_LIMITS,0.159,0.240
$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,65.0,133534,-26.4,-9.167
$D_GRID,799
$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,17,-0.96,-62.9,0.0,0.0,0,25,0.00,0.65,-5.18,0.000,3,0.000,0.102,3132,955,3289,0,0,1,0,0,0,28.83,26.23,26.55
$GC,29,-1.06,-146.6,12.9,0.0,1,43,0.93,0.40,-6.85,0.000,4,0.066,0.151,2783,702,3633,0,0,0,0,0,0,26.25,26.28,26.55
$GC,208,-1.06,-146.6,43.4,-17.5,35,215,0.00,2.17,0.00,0.000,6,0.000,0.044,2775,2101,3639,0,0,0,0,0,0,28.83,26.33,28.83
$GC,519,-1.06,-146.6,93.8,-15.6,96,526,0.00,2.15,0.00,0.000,4,0.000,0.054,2764,3511,3639,0,0,0,0,0,0,28.83,26.38,28.83
$GC,594,-1.06,-146.6,106.0,-16.2,107,603,0.00,2.12,0.00,0.000,6,0.000,0.037,2772,2096,3639,0,0,0,0,0,0,28.83,26.44,28.83
$GC,904,-1.06,-146.6,152.7,-15.2,138,913,0.00,2.15,0.00,0.000,4,0.000,0.054,2764,3501,3638,0,0,0,0,0,0,28.83,26.44,28.83
$GC,998,-1.06,-146.6,167.8,-16.6,147,1005,0.00,2.12,0.00,0.000,6,0.000,0.037,2772,2096,3638,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1306,-1.06,-146.6,214.3,-14.7,178,1315,0.00,2.17,0.00,0.000,4,0.000,0.054,2763,3500,3637,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1463,-1.06,-146.6,238.0,-15.5,193,1470,0.00,2.12,0.00,0.000,6,0.000,0.037,2772,2086,3637,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1769,-1.06,-146.6,282.1,-14.2,224,1773,0.00,2.20,0.00,0.000,4,0.000,0.054,2763,3504,3637,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1934,-1.06,-146.6,306.8,-15.3,240,1941,0.00,2.10,0.00,0.000,6,0.000,0.037,2771,2101,3637,0,0,0,0,0,0,28.83,26.59,28.83
$GC,2242,-1.06,-146.6,350.7,-13.6,271,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2098,3636,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2543,-1.06,-146.6,390.8,-12.9,301,2547,0.00,2.17,0.00,0.000,4,0.000,0.054,2763,3508,3636,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2638,-1.06,-146.6,403.7,-14.0,310,2645,0.00,2.10,0.00,0.000,6,0.000,0.036,2771,2096,3636,0,0,0,0,0,0,28.83,26.64,28.83
$GC,2945,-1.06,-146.6,441.8,-11.9,341,2955,0.00,2.15,0.00,0.000,4,0.000,0.053,2762,3509,3636,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3008,-1.06,-146.6,449.8,-12.9,347,3018,0.00,2.10,0.00,0.000,6,0.000,0.036,2771,2094,3637,0,0,0,0,0,0,28.83,26.65,28.83
$GC,3318,-1.06,-146.6,485.5,-11.3,378,3322,0.00,2.17,0.00,0.000,4,0.000,0.053,2763,3515,3637,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3370,-1.06,-146.6,491.8,-12.5,383,3379,0.00,2.08,0.00,0.000,6,0.000,0.035,2771,2099,3637,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3681,-1.06,-146.6,527.1,-11.4,414,3682,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2098,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3983,-1.06,-146.6,561.6,-11.4,444,3991,0.00,2.15,0.00,0.000,4,0.000,0.053,2763,3501,3638,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4067,-1.06,-146.6,572.0,-12.5,452,4074,0.00,2.08,0.00,0.000,6,0.000,0.035,2771,2097,3638,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4377,-1.06,-146.6,607.9,-11.6,479,4382,0.00,2.12,0.00,0.000,4,0.000,0.053,2762,3504,3638,0,0,0,0,0,0,28.83,26.65,28.83
$GC,4435,-1.06,-146.6,615.4,-11.9,481,4441,0.00,2.08,0.00,0.000,6,0.000,0.035,2770,2102,3638,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4766,-1.06,-146.6,653.1,-11.3,492,4772,0.00,2.12,0.00,0.000,4,0.000,0.052,2762,3502,3638,0,0,0,0,0,0,28.83,26.66,28.83
$GC,4818,-1.06,-146.6,656.8,-11.4,493,4826,0.00,2.08,0.00,0.000,6,0.000,0.034,2771,2096,3638,0,0,0,0,0,0,28.83,26.71,28.83
$GC,5125,-1.06,-146.6,694.0,-11.1,504,5129,0.00,2.17,0.00,0.000,4,0.000,0.053,2762,3509,3638,0,0,0,0,0,0,28.83,26.66,28.83
$GC,5150,-1.06,-146.6,694.0,-11.1,504,5157,0.00,2.10,0.00,0.000,6,0.000,0.035,2770,2088,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5457,-1.06,-146.6,731.6,-11.2,515,5461,0.00,2.17,0.00,0.000,4,0.000,0.052,2762,3513,3638,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5519,-1.06,-146.6,739.2,-11.8,517,5525,0.00,2.10,0.00,0.000,6,0.000,0.035,2769,2092,3638,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5849,-1.06,-146.6,776.4,-11.0,528,5853,0.00,2.17,0.00,0.000,4,0.000,0.053,2761,3511,3638,0,0,0,0,0,0,28.83,26.67,28.83
$GC,5884,-1.06,-146.6,780.2,-11.1,529,5888,0.00,2.10,0.00,0.000,6,0.000,0.035,2768,2092,3639,0,0,0,0,0,0,28.83,26.73,28.83
$STATE,6057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6057,begin apogee
$GC,6064,-0.17,0.0,800.2,-11.4,535,6195,0.95,0.00,126.00,1.373,6,0.168,0.000,3065,1882,3029,0,0,0,0,0,0,26.52,28.83,23.63
$STATE,6198,end apogee,CONTROL_FINISHED_OK
$STATE,6198,begin climb
$GC,6201,1.06,146.6,802.8,0.0,539,6333,1.20,0.00,128.25,1.251,6,0.090,0.000,3464,1882,2431,0,0,0,0,0,0,24.68,28.83,23.18
$GC,6622,1.06,146.6,713.9,24.3,554,6628,0.00,2.20,0.00,0.000,4,0.000,0.043,3474,523,2418,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6694,1.06,146.6,699.4,24.3,556,6698,0.00,2.25,0.00,0.000,6,0.000,0.038,3467,1909,2418,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7007,1.06,146.6,621.2,24.1,567,7012,0.00,2.25,0.00,0.000,4,0.000,0.042,3475,511,2416,0,0,0,0,0,0,28.83,25.83,28.83
$GC,7070,1.06,146.6,606.8,24.1,569,7074,0.00,2.20,0.00,0.000,6,0.000,0.039,3467,1900,2416,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7378,1.06,146.6,531.9,23.7,598,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1899,2415,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7681,1.06,146.6,460.4,23.9,628,7689,0.00,2.15,0.00,0.000,4,0.000,0.044,3474,516,2414,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7732,1.06,146.6,447.2,23.9,633,7742,0.00,2.20,0.00,0.000,6,0.000,0.039,3467,1906,2414,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8042,1.06,146.6,373.7,23.4,664,8051,0.00,2.20,0.00,0.000,4,0.000,0.043,3474,519,2414,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8087,1.06,146.6,364.0,23.7,668,8094,0.00,2.17,0.00,0.000,6,0.000,0.038,3467,1906,2413,0,0,0,0,0,0,28.83,26.32,28.83
$GC,8395,1.06,146.6,294.6,22.6,699,8404,0.00,2.17,0.00,0.000,4,0.000,0.043,3475,509,2413,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8467,1.06,146.6,278.8,21.7,706,8476,0.00,2.15,0.00,0.000,6,0.000,0.038,3467,1901,2413,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8777,1.06,146.6,216.6,19.7,737,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,1901,2413,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9079,1.06,146.6,162.5,17.2,767,9088,0.00,2.17,0.00,0.000,4,0.000,0.043,3475,513,2413,0,0,0,0,0,0,28.83,26.47,28.83
$GC,9181,1.06,146.6,144.4,17.4,777,9185,0.00,2.15,0.00,0.000,6,0.000,0.039,3468,1903,2413,0,0,0,0,0,0,28.83,26.49,28.83
$GC,9488,1.06,146.6,94.0,16.0,811,9494,0.00,2.17,0.00,0.000,4,0.000,0.044,3475,514,2413,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9517,1.06,146.6,89.1,16.7,816,9524,0.00,2.15,0.00,0.000,6,0.000,0.038,3468,1901,2413,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9830,1.06,146.6,40.0,15.8,877,9838,0.00,2.17,0.00,0.000,4,0.000,0.044,3476,510,2413,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9882,1.06,146.6,32.8,14.1,886,9888,0.00,2.17,0.00,0.000,6,0.000,0.039,3468,1911,2414,0,0,0,0,0,0,28.83,26.55,28.83
$FREEZE,8.65,0.747,-1.776,2,2,0
$FREEZE,8.05,0.841,-1.775,2,2,0
$FREEZE,7.46,1.679,-1.774,2,2,0
$FREEZE,6.84,2.358,-1.759,2,2,0
$FREEZE,6.26,2.698,-1.747,2,2,0
$FREEZE,5.56,2.421,-1.735,2,2,0
$FREEZE,4.91,1.999,-1.728,2,2,0
$FREEZE,4.40,2.144,-1.722,2,2,0
$FREEZE,3.69,2.305,-1.721,2,2,0
$STATE,10101,end climb,SURFACE_DEPTH_REACHED
$STATE,10101,begin surface coast
$FREEZE,3.32,2.484,-1.719,2,2,0
$FREEZE,2.78,2.501,-1.720,2,2,0
$FREEZE,2.39,2.565,-1.719,2,2,0
$FREEZE,1.92,2.573,-1.719,2,2,0
$FREEZE,1.32,2.562,-1.720,2,2,0
$FREEZE,1.43,2.468,-0.238,2,2,0
$FINISH,1.4,1.003432
$STATE,10135,end surface coast,CONTROL_FINISHED_OK
$STATE,10135,begin surface
$SM_CCo,10155,110.50,0.073,0,0,1397,400.08
$SM_GC,2.30,8.30,0.28,110.50,0.054,0.068,0.073,346,2108,1397,-8.64,-1.13,400.08,0,0,0,0,0,0,26.53,26.55,26.34
$RAFOS_CLK,574
$RAFOS,5,1341348071,20.700001,20.686388,47,46,45,42,40,40,202,416,1074,1015,514,700
$RAFOS,4,1341347584,20.566668,20.551111,47,44,42,42,41,41,1103,1660,156,151,1584,1412
$RAFOS,3,1341347104,20.433332,20.417778,47,43,42,42,42,39,1304,622,1807,351,1910,1
$RAFOS,2,1341346630,20.299999,20.286112,46,45,44,42,41,39,1209,1209,394,1026,1271,1485
$RAFOS,1,1341346145,20.166666,20.151388,49,43,42,42,41,40,1484,593,1072,1441,1762,1
$RAFOS,0,1341345664,20.033333,20.017778,55,45,44,44,43,41,1288,304,201,1111,1142,1419
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6620.33,-5953.65,030712,131339
$TT8_MAMPS,0.026964,0.026964
$HUMID,39.52
$INTERNAL_PRESSURE,8.97495
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.5
$24V_AH,23.2,12.123
$10V_AH,10.2,14.027
$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,11.375,94.075,254.250,110.500,0.000,0.000,0.000,0.000,3.250,0.000,0.000,2447.935,5527.109,463.553,1673.053,218.245,0.000,1350.016,0.000,1652.362,2520.000,24.938,0.000
$DEVICE_MAMPS,167.535,151.470,1373.175,72.675,0.000,0.000,0.000,0.000,420.000,0.000,0.000,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,653.344,715.566,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151576
$DATA_FILE_SIZE,43506,935
$CAP_FILE_SIZE,106033,0
$CFSIZE,260165632,239304704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$SOUNDSPEED,1456.2
$CURRENT,0.548,133.0,1
$GPS,030712,205823,6644.680,-5939.513,38,0.8,38,-33.8