version: 66.06
glider: 108
mission: 14
dive: 61
start: 6 17 110 10 59 46
data:
$ID,108
$MISSION,14
$DIVE,61
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_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,330
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,900
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,51740
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038000001
$HD_B,0.0099999998
$HD_C,2.7999999e-06
$HEADING,-1
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,5
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-179891.89
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3112
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3058
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,540
$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,2
$PRESSURE_YINT,-21.817678
$PRESSURE_SLOPE,0.0001161151
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$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
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043387706
$SEABIRD_T_H,0.00063929392
$SEABIRD_T_I,2.2459495e-05
$SEABIRD_T_J,2.0328812e-06
$SEABIRD_C_G,-10.121161
$SEABIRD_C_H,1.1529624
$SEABIRD_C_I,-0.002153415
$SEABIRD_C_J,0.0002365096
$GPS1,105231,6701.232,-5649.686,39,1.4,39,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-71.6
$GPS2,105926,6701.200,-5649.594,14,1.4,14,-37.5
$SPEED_LIMITS,0.173,0.263
$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,56.6,3528,-18.1,-10.000
$D_GRID,561
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,67,0.00,0.00,-49.50,0.000,2,0.000,0.000,339,2274,2948,0,0,0,0,0,0
$GC,71,-0.78,-146.1,3.1,-2.5,10,118,10.20,2.33,-31.00,0.000,4,0.242,0.071,2935,835,3655,0,0,0,0,0,0
$GC,181,-0.78,-146.1,11.2,-11.5,30,186,0.00,2.33,0.00,0.000,6,0.000,0.065,2928,2242,3659,0,0,0,0,0,0
$GC,526,-0.78,-146.1,48.4,-10.5,91,531,0.00,2.17,0.00,0.000,4,0.000,0.074,2917,3605,3661,0,0,0,0,0,0
$GC,566,-0.78,-146.1,53.0,-11.0,98,572,0.10,2.15,0.00,0.000,6,0.172,0.051,2942,2241,3661,0,0,0,0,0,0
$GC,912,-0.78,-146.1,84.1,-8.8,159,918,0.00,2.22,0.00,0.000,4,0.000,0.072,2935,3606,3661,0,0,0,0,0,0
$GC,1032,-0.78,-146.1,95.3,-9.4,180,1037,0.00,2.12,0.00,0.000,6,0.000,0.051,2934,2248,3662,0,0,0,0,0,0
$GC,1365,-0.78,-146.1,124.5,-8.6,216,1369,0.00,2.20,0.00,0.000,4,0.000,0.062,2935,831,3661,0,0,0,0,0,0
$GC,1514,-0.78,-146.1,138.5,-9.1,228,1520,0.00,2.30,0.00,0.000,6,0.000,0.064,2925,2257,3661,0,0,0,0,0,0
$GC,1839,-0.78,-146.1,170.5,-9.5,259,1843,0.00,2.12,0.00,0.000,4,0.000,0.075,2915,3604,3661,0,0,0,0,0,0
$GC,1934,-0.78,-146.1,180.7,-11.0,267,1940,0.10,2.12,0.00,0.000,6,0.169,0.052,2940,2238,3660,0,0,0,0,0,0
$GC,2260,-0.78,-146.1,207.3,-7.8,298,2263,0.00,2.17,0.00,0.000,4,0.000,0.063,2940,846,3661,0,0,0,0,0,0
$GC,2433,-0.78,-146.1,220.8,-7.9,313,2437,0.00,2.28,0.00,0.000,6,0.000,0.065,2933,2258,3661,0,0,0,0,0,0
$GC,2758,-0.78,-146.1,245.4,-7.2,343,2762,0.00,2.12,0.00,0.000,4,0.000,0.076,2923,3598,3660,0,0,0,0,0,0
$GC,2848,-0.78,-146.1,252.3,-7.6,351,2852,0.00,2.10,0.00,0.000,6,0.000,0.052,2923,2240,3660,0,0,0,0,0,0
$GC,3179,-0.78,-146.1,277.5,-8.0,382,3183,0.00,2.17,0.00,0.000,4,0.000,0.063,2923,843,3660,0,0,0,0,0,0
$GC,3319,-0.78,-146.1,289.5,-8.2,394,3326,0.08,2.22,0.00,0.000,6,0.131,0.064,2940,2247,3660,0,0,0,0,0,0
$GC,3645,-0.78,-146.1,312.9,-7.2,425,3648,0.00,2.15,0.00,0.000,4,0.000,0.075,2932,3605,3660,0,0,0,0,0,0
$GC,3740,-0.78,-146.1,320.6,-8.4,433,3745,0.00,2.10,0.00,0.000,6,0.000,0.051,2931,2246,3660,0,0,0,0,0,0
$GC,4065,-0.78,-146.1,345.4,-7.6,464,4069,0.00,2.17,0.00,0.000,4,0.000,0.062,2931,845,3660,0,0,0,0,0,0
$GC,4227,-0.78,-146.1,358.5,-7.8,478,4232,0.00,2.25,0.00,0.000,6,0.000,0.064,2922,2253,3660,0,0,0,0,0,0
$GC,4552,-0.78,-146.1,383.4,-7.2,509,4555,0.00,2.12,0.00,0.000,4,0.000,0.074,2912,3602,3660,0,0,0,0,0,0
$GC,4621,-0.78,-146.1,389.1,-8.3,515,4625,0.12,2.08,0.00,0.000,6,0.158,0.051,2946,2250,3659,0,0,0,0,0,0
$GC,4951,-0.78,-146.1,409.8,-6.3,546,4955,0.00,2.17,0.00,0.000,4,0.000,0.061,2946,846,3660,0,0,0,0,0,0
$GC,5036,-0.78,-146.1,415.6,-6.8,553,5040,0.00,2.25,0.00,0.000,6,0.000,0.064,2939,2255,3660,0,0,0,0,0,0
$GC,5361,-0.78,-146.1,437.0,-6.4,583,5365,0.00,2.10,0.00,0.000,4,0.000,0.074,2929,3604,3660,0,0,0,0,0,0
$GC,5491,-0.78,-146.1,446.0,-6.9,594,5496,0.00,2.08,0.00,0.000,6,0.000,0.050,2929,2241,3660,0,0,0,0,0,0
$GC,5822,-0.78,-146.1,467.5,-6.7,625,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2240,3660,0,0,0,0,0,0
$GC,6141,-0.78,-146.1,487.8,-6.3,655,6145,0.00,2.15,0.00,0.000,4,0.000,0.061,2929,846,3661,0,0,0,0,0,0
$GC,6302,-0.78,-146.1,498.7,-6.6,668,6308,0.10,2.25,0.00,0.000,6,0.160,0.063,2947,2262,3661,0,0,0,0,0,0
$GC,6627,-0.78,-146.1,517.1,-5.8,699,6631,0.00,2.10,0.00,0.000,4,0.000,0.073,2938,3602,3661,0,0,0,0,0,0
$GC,6678,-0.78,-146.1,520.3,-6.7,703,6684,0.00,2.08,0.00,0.000,6,0.000,0.049,2938,2245,3661,0,0,0,0,0,0
$STATE,6873,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6873,begin apogee
$GC,6879,-0.17,0.0,532.9,6.7,722,7006,0.40,0.00,119.78,1.152,6,0.127,0.000,3073,2244,3058,0,0,0,0,0,0
$STATE,7006,end apogee,CONTROL_FINISHED_OK
$STATE,7009,begin climb
$GC,7012,0.78,146.1,534.7,0.0,735,7141,0.60,2.38,120.30,1.093,4,0.084,0.067,3281,3595,2461,0,0,0,0,0,0
$GC,7188,0.78,146.1,517.5,14.9,751,7192,0.00,2.28,0.00,0.000,6,0.000,0.047,3291,2203,2459,0,0,0,0,0,0
$GC,7519,0.78,146.1,472.9,13.4,782,7523,0.00,2.28,0.00,0.000,4,0.000,0.058,3302,783,2457,0,0,0,0,0,0
$GC,7552,0.78,146.1,468.2,13.3,784,7558,0.00,2.35,0.00,0.000,6,0.000,0.058,3302,2215,2457,0,0,0,0,0,0
$GC,7877,0.78,146.1,424.0,13.4,815,7881,0.00,2.20,0.00,0.000,4,0.000,0.070,3302,3598,2455,0,0,0,0,0,0
$GC,7932,0.78,146.1,415.6,15.2,819,7938,0.12,2.20,0.00,0.000,6,0.178,0.048,3280,2195,2455,0,0,0,0,0,0
$GC,8257,0.78,146.1,378.2,11.4,850,8258,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,2194,2455,0,0,0,0,0,0
$GC,8578,0.78,146.1,342.3,11.3,880,8582,0.00,2.25,0.00,0.000,4,0.000,0.068,3280,3592,2455,0,0,0,0,0,0
$GC,8600,0.78,146.1,339.5,11.4,882,8605,0.00,2.17,0.00,0.000,6,0.000,0.048,3288,2192,2455,0,0,0,0,0,0
$GC,8926,0.78,146.1,303.4,10.3,912,8930,0.00,2.25,0.00,0.000,4,0.000,0.068,3288,3591,2456,0,0,0,0,0,0
$GC,8944,0.78,146.1,301.5,10.8,913,8948,0.00,2.15,0.00,0.000,6,0.000,0.048,3298,2200,2456,0,0,0,0,0,0
$GC,9269,0.78,146.1,265.0,11.4,943,9270,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2199,2456,0,0,0,0,0,0
$GC,9590,0.78,146.1,230.0,11.3,973,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2200,2456,0,0,0,0,0,0
$GC,9907,0.78,146.1,193.4,11.6,1003,9911,0.00,2.17,0.00,0.000,4,0.000,0.059,3308,786,2456,0,0,0,0,0,0
$GC,9935,0.78,146.1,190.0,11.5,1005,9941,0.10,2.28,0.00,0.000,6,0.176,0.060,3282,2214,2456,0,0,0,0,0,0
$GC,10260,0.79,151.3,156.7,9.8,1036,10269,0.00,0.00,4.78,0.694,6,0.000,0.000,3283,2214,2440,0,0,0,0,0,0
$GC,10589,0.81,167.8,125.3,9.2,1067,10608,0.00,0.00,14.60,0.879,6,0.000,0.000,3283,2214,2373,0,0,0,0,0,0
$GC,10932,0.83,187.4,93.8,9.1,1105,10953,0.00,2.30,16.50,0.864,4,0.000,0.074,3283,3602,2292,0,0,0,0,0,0
$GC,10988,0.83,187.4,88.4,10.0,1115,10993,0.00,2.22,0.00,0.000,6,0.000,0.051,3290,2191,2290,0,0,0,0,0,0
$GC,11332,0.85,202.3,57.1,9.3,1176,11353,0.00,2.28,12.55,0.821,4,0.000,0.061,3297,797,2233,0,0,0,0,0,0
$GC,11365,0.88,227.0,54.0,8.9,1182,11392,0.00,2.30,21.45,0.840,6,0.000,0.062,3297,2205,2132,0,0,0,0,0,0
$GC,11729,0.88,227.0,18.9,11.3,1247,11735,0.00,2.28,0.00,0.000,4,0.000,0.059,3306,793,2125,0,0,0,0,0,0
$GC,11747,0.90,243.0,17.3,9.3,1250,11768,0.00,2.28,13.75,0.797,6,0.000,0.062,3306,2201,2066,0,0,0,0,0,0
$FREEZE,8.64,3.958,-1.835,0,1,0
$FREEZE,8.20,3.962,-1.834,0,1,0
$FREEZE,7.66,3.962,-1.834,0,1,0
$FREEZE,7.08,3.961,-1.834,0,1,0
$FREEZE,6.42,3.963,-1.833,0,1,0
$STATE,11863,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,11863,begin subsurface finish
$FINISH1,6.4,1.026485,25
$GC,11871,0.03,25.3,6.4,-9.6,1271,11907,0.55,0.00,-29.85,0.000,6,0.117,0.000,3120,2201,2958,0,0,0,0,0,0
$FINISH2,4.5
$STATE,11908,end subsurface finish,CONTROL_FINISHED_OK
$STATE,11908,begin surface
$RAFOS_CLK,440
$RAFOS,6,1276778946,12.833333,12.818334,79,73,42,42,41,39,844,843,1,1783,243,1787
$RAFOS,5,1276778471,12.700000,12.686389,65,64,44,42,42,41,638,638,1001,1003,1700,198
$RAFOS,4,1276777982,12.566667,12.550555,67,65,46,42,41,41,913,912,1725,1291,332,1829
$RAFOS,3,1276777510,12.433333,12.419444,47,44,42,42,41,41,587,257,1182,909,900,1794
$RAFOS,2,1276777026,12.300000,12.285000,51,51,46,44,43,42,1393,1547,61,851,365,1353
$RAFOS,1,1276776544,12.166667,12.151111,46,43,43,42,41,39,567,189,962,1104,1782,1406
$RAFOS,0,1276776062,12.033333,12.017222,47,46,43,43,41,41,1153,1154,1330,1942,138,1597
$RAFOS_FIX,6704.023438,-5650.256348,170610,121244,3,70,0.84
$IRIDIUM_FIX,6631.12,-5701.34,110999,060645
$TT8_MAMPS,0.026845
$HUMID,40.58
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.6
$ALTIM_BOTTOM_PING,500.6,46.8
$24V_AH,23.7,10.580
$10V_AH,10.4,5.667
$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,12.475,105.800,323.700,0.000,0.000,32.760,41.260,188.478,1.750,0.000,16.259,2093.305,7104.618,435.792,2098.916,579.593,0.000,1523.721,0.000,2067.219,2520.000,14.228,0.000
$DEVICE_MAMPS,242.372,75.933,1152.034,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,934.978,878.114,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135652
$DATA_FILE_SIZE,50434,1278
$CAP_FILE_SIZE,135350,0
$CFSIZE,260165632,244396032
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.2
$GPS,170610,124344,6704.023,-5650.256,0,3070.3,0,-37.5