version: 66.06
glider: 108
mission: 14
dive: 62
start: 6 17 110 14 20 25
data:
$ID,108
$MISSION,14
$DIVE,62
$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,37
$R_STBD_OVSHOOT,25
$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
$GPS1,124344,6704.023,-5650.256,0,3070.3,0,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,6.75
$_SM_ANGLEo,-0.2
$GPS2,124344,6704.023,-5650.256,0,3070.3,0,-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,176.8,2499,-18.9,-10.000
$D_GRID,495
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.80,-133.8,0.0,0.0,0,23,0.00,0.00,-4.30,0.000,2,0.000,0.000,3119,2201,3110,0,0,0,0,0,0
$GC,27,-0.81,-146.1,7.2,-0.0,1,48,0.50,2.17,-15.18,0.000,4,0.069,0.074,2926,842,3657,0,0,0,0,0,0
$GC,224,-0.81,-146.1,25.0,-9.3,36,229,0.00,2.30,0.00,0.000,6,0.000,0.063,2917,2254,3662,0,0,0,0,0,0
$GC,568,-0.81,-146.1,53.8,-8.5,97,574,0.00,2.25,0.00,0.000,4,0.000,0.060,2917,843,3662,0,0,0,0,0,0
$GC,597,-0.81,-146.1,56.3,-8.8,102,603,0.10,2.28,0.00,0.000,6,0.165,0.064,2934,2258,3662,0,0,0,0,0,0
$GC,942,-0.81,-146.1,80.5,-7.6,163,948,0.00,2.15,0.00,0.000,4,0.000,0.074,2926,3605,3663,0,0,0,0,0,0
$GC,972,-0.81,-146.1,82.7,-7.7,168,978,0.00,2.12,0.00,0.000,6,0.000,0.051,2926,2242,3663,0,0,0,0,0,0
$GC,1314,-0.81,-146.1,110.3,-8.2,218,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2242,3663,0,0,0,0,0,0
$GC,1634,-0.81,-146.1,135.9,-8.5,248,1638,0.00,2.20,0.00,0.000,4,0.000,0.063,2926,835,3662,0,0,0,0,0,0
$GC,1713,-0.81,-146.1,142.9,-8.4,254,1719,0.00,2.28,0.00,0.000,6,0.000,0.065,2916,2251,3662,0,0,0,0,0,0
$GC,2039,-0.81,-146.1,171.3,-8.4,285,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2251,3662,0,0,0,0,0,0
$GC,2359,-0.81,-146.1,198.7,-8.1,315,2360,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2251,3661,0,0,0,0,0,0
$GC,2678,-0.81,-146.1,223.6,-7.6,345,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2251,3661,0,0,0,0,0,0
$GC,3005,-0.81,-146.1,248.9,-7.3,376,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2251,3661,0,0,0,0,0,0
$GC,3324,-0.81,-146.1,271.6,-7.3,406,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2251,3661,0,0,0,0,0,0
$GC,3652,-0.81,-146.1,295.6,-7.3,437,3656,0.00,2.15,0.00,0.000,4,0.000,0.077,2906,3607,3661,0,0,0,0,0,0
$GC,3665,-0.81,-146.1,296.8,-7.3,438,3669,0.12,2.10,0.00,0.000,6,0.156,0.051,2941,2250,3661,0,0,0,0,0,0
$GC,3990,-0.81,-146.1,316.5,-6.0,468,3994,0.00,2.20,0.00,0.000,4,0.000,0.062,2941,832,3662,0,0,0,0,0,0
$GC,4002,-0.81,-146.1,317.2,-5.9,468,4008,0.00,2.28,0.00,0.000,6,0.000,0.064,2933,2256,3662,0,0,0,0,0,0
$GC,4327,-0.81,-146.1,336.2,-5.9,499,4331,0.00,2.20,0.00,0.000,4,0.000,0.061,2933,847,3661,0,0,0,0,0,0
$GC,4350,-0.81,-146.1,337.6,-6.1,501,4354,0.00,2.25,0.00,0.000,6,0.000,0.064,2924,2251,3661,0,0,0,0,0,0
$GC,4675,-0.81,-146.1,358.4,-7.0,531,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2252,3661,0,0,0,0,0,0
$GC,4997,-0.81,-146.1,380.7,-6.1,561,5002,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2251,3661,0,0,0,0,0,0
$GC,5325,-0.81,-146.1,397.4,-5.0,592,5328,0.00,2.12,0.00,0.000,4,0.000,0.074,2914,3605,3661,0,0,0,0,0,0
$GC,5352,-0.81,-146.1,399.2,-6.0,594,5359,0.10,2.08,0.00,0.000,6,0.156,0.050,2942,2238,3661,0,0,0,0,0,0
$GC,5678,-0.81,-146.1,415.7,-4.8,625,5682,0.00,2.17,0.00,0.000,4,0.000,0.072,2935,3600,3662,0,0,0,0,0,0
$GC,5707,-0.81,-146.1,417.3,-5.3,627,5710,0.00,2.05,0.00,0.000,6,0.000,0.050,2935,2250,3662,0,0,0,0,0,0
$GC,6037,-0.81,-146.1,433.9,-5.2,658,6043,0.00,2.20,0.00,0.000,4,0.000,0.060,2935,837,3662,0,0,0,0,0,0
$GC,6054,-0.81,-146.1,434.8,-5.1,659,6059,0.00,2.25,0.00,0.000,6,0.000,0.063,2926,2251,3662,0,0,0,0,0,0
$GC,6379,-0.81,-146.1,452.6,-5.9,690,6383,0.00,2.17,0.00,0.000,4,0.000,0.059,2925,847,3663,0,0,0,0,0,0
$GC,6443,-0.81,-146.1,455.8,-4.3,695,6447,0.00,2.25,0.00,0.000,6,0.000,0.062,2916,2261,3663,0,0,0,0,0,0
$STATE,6531,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6532,begin apogee
$GC,6539,-0.17,0.0,460.2,5.2,703,6665,0.47,0.00,119.20,1.112,6,0.120,0.000,3078,2194,3058,0,0,0,0,0,0
$STATE,6666,end apogee,CONTROL_FINISHED_OK
$STATE,6666,begin climb
$GC,6669,0.81,146.1,461.1,0.0,716,6798,0.60,2.42,119.53,1.051,4,0.065,0.067,3295,3590,2461,0,0,0,0,0,0
$GC,6877,0.81,146.1,439.7,14.3,735,6882,0.00,2.28,0.00,0.000,6,0.000,0.048,3306,2200,2458,0,0,0,0,0,0
$GC,7202,0.81,146.1,396.1,14.0,765,7206,0.00,2.28,0.00,0.000,4,0.000,0.059,3316,790,2456,0,0,0,0,0,0
$GC,7263,0.81,146.1,387.7,13.4,770,7269,0.12,2.33,0.00,0.000,6,0.173,0.061,3285,2205,2456,0,0,0,0,0,0
$GC,7588,0.81,146.1,347.8,11.9,801,7592,0.00,2.22,0.00,0.000,4,0.000,0.070,3285,3591,2454,0,0,0,0,0,0
$GC,7746,0.81,146.1,325.7,14.2,814,7752,0.00,2.20,0.00,0.000,6,0.000,0.048,3292,2184,2454,0,0,0,0,0,0
$GC,8071,0.81,146.1,287.1,11.0,845,8075,0.00,2.17,0.00,0.000,4,0.000,0.057,3303,792,2454,0,0,0,0,0,0
$GC,8183,0.81,146.1,274.6,11.2,854,8189,0.00,2.28,0.00,0.000,6,0.000,0.058,3303,2209,2455,0,0,0,0,0,0
$GC,8508,0.81,146.1,237.8,11.5,885,8512,0.00,2.17,0.00,0.000,4,0.000,0.070,3303,3591,2455,0,0,0,0,0,0
$GC,8603,0.81,146.1,225.3,13.7,893,8610,0.10,2.17,0.00,0.000,6,0.187,0.049,3288,2188,2455,0,0,0,0,0,0
$GC,8931,0.81,146.1,191.9,10.2,924,8935,0.00,2.15,0.00,0.000,4,0.000,0.059,3296,793,2455,0,0,0,0,0,0
$GC,9021,0.81,146.1,182.5,10.3,931,9027,0.00,2.25,0.00,0.000,6,0.000,0.060,3296,2200,2456,0,0,0,0,0,0
$GC,9346,0.81,146.1,148.2,10.5,962,9350,0.00,2.22,0.00,0.000,4,0.000,0.071,3296,3595,2455,0,0,0,0,0,0
$GC,9447,0.81,146.1,135.9,12.7,971,9451,0.00,2.17,0.00,0.000,6,0.000,0.050,3306,2189,2455,0,0,0,0,0,0
$GC,9772,0.81,147.4,102.8,9.9,1001,9776,0.00,2.25,0.00,0.000,4,0.000,0.069,3306,3602,2455,0,0,0,0,0,0
$GC,9835,0.81,147.4,95.6,12.0,1009,9841,0.12,2.15,0.00,0.000,6,0.176,0.051,3283,2199,2455,0,0,0,0,0,0
$GC,10183,0.85,179.6,66.1,8.4,1070,10215,0.00,2.22,26.15,0.880,4,0.000,0.060,3291,788,2324,0,0,0,0,0,0
$GC,10267,0.87,192.8,58.7,9.3,1085,10283,0.00,2.28,11.38,0.795,6,0.000,0.061,3291,2201,2272,0,0,0,0,0,0
$GC,10621,0.88,202.7,24.8,9.5,1148,10637,0.00,2.30,9.05,0.763,4,0.000,0.073,3291,3597,2230,0,0,0,0,0,0
$GC,10733,0.94,249.7,13.7,7.7,1168,10780,0.00,2.20,39.22,0.835,6,0.000,0.051,3299,2202,2039,0,0,0,0,0,0
$FREEZE,8.74,3.983,-1.835,0,2,0
$FREEZE,8.30,3.983,-1.834,0,2,0
$FREEZE,7.80,3.983,-1.834,0,2,0
$FREEZE,7.30,3.979,-1.834,0,2,0
$FREEZE,6.91,3.982,-1.834,0,2,0
$STATE,10815,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,10815,begin subsurface finish
$FINISH1,6.9,1.026482,25
$GC,10822,0.03,25.4,6.9,-8.3,1183,10859,0.55,2.33,-28.08,0.000,4,0.121,0.076,3119,788,2958,0,0,0,0,0,0
$FINISH2,5.8
$STATE,10860,end subsurface finish,CONTROL_FINISHED_OK
$STATE,10860,begin surface
$RAFOS_CLK,440
$RAFOS,6,1276793351,16.833334,16.819723,67,66,45,43,40,40,829,828,616,1653,294,1355
$RAFOS,5,1276792867,16.700001,16.685278,126,119,45,43,42,41,667,668,922,1731,1791,1303
$RAFOS,4,1276792387,16.566668,16.551945,54,47,44,43,40,39,877,882,1827,443,1,443
$RAFOS,3,1276791906,16.433332,16.418333,49,45,44,44,44,42,768,1571,854,1196,480,805
$RAFOS,2,1276791423,16.299999,16.284166,46,45,43,43,40,39,850,1676,61,1220,1321,1398
$RAFOS,1,1276790946,16.166666,16.151667,51,48,45,43,41,41,1781,802,1782,1045,208,1225
$RAFOS,0,1276790466,16.033333,16.018333,49,46,43,43,41,40,645,744,1035,1922,90,1914
$RAFOS_FIX,6703.422852,-5645.919922,170610,161656,2,96,0.23
$IRIDIUM_FIX,6631.12,-5701.34,110999,060645
$TT8_MAMPS,0.027612
$HUMID,39.64
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.6
$ALTIM_BOTTOM_PING,450.1,25.1
$24V_AH,23.8,10.674
$10V_AH,10.3,5.730
$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,2.800,95.375,324.525,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,1939.027,6489.986,377.119,1872.288,243.292,0.000,1358.310,0.000,1863.254,2520.000,17.542,0.000
$DEVICE_MAMPS,187.148,96.642,1112.150,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,874.720,820.526,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135720
$DATA_FILE_SIZE,47254,1190
$CAP_FILE_SIZE,118993,0
$CFSIZE,260165632,244342784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.0
$GPS,170610,164656,6703.423,-5645.920,0,2096.5,0,-37.5