version: 66.06
glider: 108
mission: 14
dive: 72
start: 6 19 110 6 38 22
data:
$ID,108
$MISSION,14
$DIVE,72
$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,-180008.05
$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,32
$R_STBD_OVSHOOT,22
$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,2.5
$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
$GPS1,063042,6700.992,-5653.512,27,1.0,32,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.62
$_SM_ANGLEo,-75.4
$GPS2,063802,6700.980,-5653.568,11,1.1,11,-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,84.6,5492,-18.1,-10.000
$D_GRID,615
$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,13,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,59,0.00,0.00,-39.00,0.000,2,0.000,0.000,335,2260,2706,0,0,0,0,0,0
$GC,63,-0.78,-146.1,3.1,-2.3,8,126,10.18,2.35,-46.00,0.000,4,0.239,0.076,2940,833,3656,0,0,0,0,0,0
$GC,256,-0.78,-146.1,17.7,-11.0,43,261,0.00,2.38,0.00,0.000,6,0.000,0.067,2933,2264,3659,0,0,0,0,0,0
$GC,599,-0.78,-146.1,54.3,-11.0,104,604,0.00,2.15,0.00,0.000,4,0.000,0.077,2923,3604,3660,0,0,0,0,0,0
$GC,639,-0.78,-146.1,58.8,-11.1,111,645,0.00,2.15,0.00,0.000,6,0.000,0.054,2923,2248,3660,0,0,0,0,0,0
$GC,985,-0.78,-146.1,92.7,-9.4,172,990,0.00,2.25,0.00,0.000,4,0.000,0.066,2923,834,3661,0,0,0,0,0,0
$GC,1121,-0.78,-146.1,106.1,-9.3,191,1126,0.10,2.30,0.00,0.000,6,0.166,0.068,2939,2252,3662,0,0,0,0,0,0
$GC,1446,-0.78,-146.1,133.3,-8.3,221,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2252,3662,0,0,0,0,0,0
$GC,1767,-0.78,-146.1,160.3,-8.5,251,1770,0.00,2.17,0.00,0.000,4,0.000,0.080,2931,3604,3662,0,0,0,0,0,0
$GC,1851,-0.78,-146.1,168.2,-9.0,258,1857,0.00,2.12,0.00,0.000,6,0.000,0.056,2931,2251,3662,0,0,0,0,0,0
$GC,2176,-0.78,-146.1,196.7,-8.5,289,2180,0.00,2.25,0.00,0.000,4,0.000,0.067,2931,844,3662,0,0,0,0,0,0
$GC,2262,-0.78,-146.1,204.3,-9.0,296,2266,0.00,2.30,0.00,0.000,6,0.000,0.070,2922,2254,3661,0,0,0,0,0,0
$GC,2587,-0.78,-146.1,232.4,-8.6,326,2591,0.00,2.15,0.00,0.000,4,0.000,0.081,2912,3595,3661,0,0,0,0,0,0
$GC,2638,-0.78,-146.1,237.3,-9.2,330,2644,0.12,2.12,0.00,0.000,6,0.159,0.058,2946,2246,3661,0,0,0,0,0,0
$GC,2963,-0.78,-146.1,260.8,-7.3,361,2967,0.00,2.20,0.00,0.000,4,0.000,0.069,2946,842,3660,0,0,0,0,0,0
$GC,3026,-0.78,-146.1,265.3,-7.1,366,3030,0.00,2.28,0.00,0.000,6,0.000,0.070,2938,2249,3660,0,0,0,0,0,0
$GC,3357,-0.78,-146.1,288.8,-7.5,397,3361,0.00,2.15,0.00,0.000,4,0.000,0.080,2928,3606,3660,0,0,0,0,0,0
$GC,3416,-0.78,-146.1,293.3,-7.8,402,3419,0.00,2.15,0.00,0.000,6,0.000,0.056,2928,2237,3659,0,0,0,0,0,0
$GC,3746,-0.78,-146.1,318.8,-7.5,433,3748,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2237,3659,0,0,0,0,0,0
$GC,4067,-0.78,-146.1,342.7,-7.3,463,4072,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2237,3659,0,0,0,0,0,0
$GC,4395,-0.78,-146.1,368.3,-8.2,494,4399,0.00,2.17,0.00,0.000,4,0.000,0.066,2928,838,3659,0,0,0,0,0,0
$GC,4451,-0.78,-146.1,373.5,-9.0,498,4457,0.10,2.30,0.00,0.000,6,0.161,0.068,2946,2261,3659,0,0,0,0,0,0
$GC,4776,-0.78,-146.1,399.0,-7.5,529,4780,0.00,2.12,0.00,0.000,4,0.000,0.077,2938,3598,3660,0,0,0,0,0,0
$GC,4856,-0.78,-146.1,405.7,-8.2,536,4860,0.00,2.10,0.00,0.000,6,0.000,0.054,2938,2248,3660,0,0,0,0,0,0
$GC,5187,-0.78,-146.1,430.5,-7.2,567,5190,0.00,2.20,0.00,0.000,4,0.000,0.064,2938,841,3661,0,0,0,0,0,0
$GC,5265,-0.78,-146.1,436.4,-7.1,573,5271,0.00,2.28,0.00,0.000,6,0.000,0.066,2929,2261,3661,0,0,0,0,0,0
$GC,5590,-0.78,-146.1,458.1,-6.7,604,5594,0.00,2.12,0.00,0.000,4,0.000,0.077,2918,3604,3661,0,0,0,0,0,0
$GC,5647,-0.78,-146.1,462.4,-8.2,608,5653,0.10,2.10,0.00,0.000,6,0.161,0.052,2945,2244,3661,0,0,0,0,0,0
$GC,5972,-0.78,-146.1,481.8,-5.8,639,5976,0.00,2.17,0.00,0.000,4,0.000,0.064,2946,835,3662,0,0,0,0,0,0
$GC,6028,-0.78,-146.1,485.5,-6.6,643,6033,0.00,2.28,0.00,0.000,6,0.000,0.064,2938,2253,3662,0,0,0,0,0,0
$GC,6353,-0.78,-146.1,505.8,-7.0,674,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2253,3662,0,0,0,0,0,0
$GC,6674,-0.78,-146.1,527.3,-7.0,704,6677,0.00,2.10,0.00,0.000,4,0.000,0.074,2928,3600,3663,0,0,0,0,0,0
$GC,6707,-0.78,-146.1,530.0,-7.8,706,6712,0.00,2.10,0.00,0.000,6,0.000,0.051,2928,2237,3663,0,0,0,0,0,0
$GC,7032,-0.78,-146.1,552.5,-6.6,737,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2237,3663,0,0,0,0,0,0
$GC,7353,-0.78,-146.1,574.9,-6.7,767,7357,0.00,2.15,0.00,0.000,4,0.000,0.062,2928,837,3664,0,0,0,0,0,0
$GC,7409,-0.78,-146.1,579.4,-7.4,771,7415,0.10,2.28,0.00,0.000,6,0.160,0.064,2947,2263,3664,0,0,0,0,0,0
$STATE,7509,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7509,begin apogee
$GC,7516,-0.17,0.0,585.8,6.3,781,7642,0.38,0.00,121.07,1.194,6,0.124,0.000,3076,2195,3058,0,0,0,0,0,0
$STATE,7643,end apogee,CONTROL_FINISHED_OK
$STATE,7643,begin climb
$GC,7646,0.78,146.1,588.3,0.0,794,7771,0.60,0.00,121.82,1.137,6,0.080,0.000,3285,2195,2462,0,0,0,0,0,0
$GC,8086,0.80,157.1,549.9,9.5,836,8098,0.00,0.00,10.02,0.985,6,0.000,0.000,3285,2194,2417,0,0,0,0,0,0
$GC,8415,0.80,157.1,515.6,11.0,867,8419,0.00,2.33,0.00,0.000,4,0.000,0.072,3285,3594,2414,0,0,0,0,0,0
$GC,8454,0.80,157.1,510.9,12.5,870,8458,0.00,2.22,0.00,0.000,6,0.000,0.050,3295,2200,2414,0,0,0,0,0,0
$GC,8779,0.80,157.1,474.2,11.8,900,8783,0.00,2.25,0.00,0.000,4,0.000,0.061,3305,788,2414,0,0,0,0,0,0
$GC,8830,0.80,157.1,468.2,11.7,904,8834,0.00,2.33,0.00,0.000,6,0.000,0.061,3305,2210,2414,0,0,0,0,0,0
$GC,9155,0.80,157.1,428.8,11.9,934,9159,0.00,2.22,0.00,0.000,4,0.000,0.071,3305,3600,2413,0,0,0,0,0,0
$GC,9178,0.80,157.1,426.0,13.2,935,9184,0.12,2.20,0.00,0.000,6,0.175,0.049,3283,2191,2412,0,0,0,0,0,0
$GC,9503,0.80,157.1,391.7,10.5,966,9507,0.00,2.17,0.00,0.000,4,0.000,0.059,3291,797,2412,0,0,0,0,0,0
$GC,9525,0.80,157.1,389.4,10.5,968,9530,0.00,2.25,0.00,0.000,6,0.000,0.060,3291,2203,2413,0,0,0,0,0,0
$GC,9850,0.80,157.1,355.0,10.9,998,9854,0.00,2.20,0.00,0.000,4,0.000,0.071,3291,3601,2413,0,0,0,0,0,0
$GC,9901,0.80,157.1,348.6,12.5,1002,9905,0.00,2.15,0.00,0.000,6,0.000,0.050,3301,2201,2413,0,0,0,0,0,0
$GC,10226,0.80,157.1,312.1,11.5,1032,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2201,2413,0,0,0,0,0,0
$GC,10547,0.80,157.1,276.5,11.0,1062,10551,0.00,2.20,0.00,0.000,4,0.000,0.060,3312,786,2413,0,0,0,0,0,0
$GC,10570,0.80,157.1,273.6,11.2,1064,10575,0.12,2.25,0.00,0.000,6,0.165,0.060,3278,2206,2414,0,0,0,0,0,0
$GC,10895,0.81,168.5,242.2,9.5,1094,10908,0.00,0.00,10.23,0.896,6,0.000,0.000,3278,2205,2371,0,0,0,0,0,0
$GC,11224,0.84,191.1,211.1,9.0,1125,11248,0.00,2.28,18.90,0.933,4,0.000,0.072,3278,3588,2279,0,0,0,0,0,0
$GC,11261,0.85,204.6,207.6,9.4,1128,11281,0.00,2.17,12.62,0.874,6,0.000,0.049,3285,2196,2223,0,0,0,0,0,0
$GC,11607,0.86,206.1,173.1,9.9,1161,11611,0.00,2.20,0.00,0.000,4,0.000,0.060,3295,793,2219,0,0,0,0,0,0
$GC,11641,0.87,215.8,169.7,9.6,1163,11658,0.00,2.28,9.80,0.834,6,0.000,0.061,3295,2204,2178,0,0,0,0,0,0
$GC,11976,0.87,215.8,135.0,10.3,1195,11980,0.00,2.22,0.00,0.000,4,0.000,0.073,3295,3604,2176,0,0,0,0,0,0
$GC,12005,0.87,215.8,131.9,11.9,1197,12009,0.00,2.20,0.00,0.000,6,0.000,0.051,3305,2201,2175,0,0,0,0,0,0
$GC,12331,0.87,215.8,97.0,10.6,1229,12337,0.00,2.22,0.00,0.000,4,0.000,0.061,3314,787,2176,0,0,0,0,0,0
$GC,12378,0.87,218.1,92.3,9.9,1237,12383,0.00,2.30,0.00,0.000,6,0.000,0.062,3314,2206,2176,0,0,0,0,0,0
$GC,12721,0.94,270.4,61.7,7.6,1298,12773,0.00,2.28,45.40,0.883,4,0.000,0.074,3314,3591,1953,0,0,0,0,0,0
$GC,12802,0.94,270.4,54.2,11.3,1313,12808,0.00,2.25,0.00,0.000,6,0.000,0.054,3322,2202,1949,0,0,0,0,0,0
$GC,13148,0.95,282.9,18.4,9.4,1374,13163,0.00,0.00,10.00,0.776,6,0.000,0.000,3321,2202,1904,0,0,0,0,0,0
$FREEZE,8.90,2.636,-1.823,0,1,0
$FREEZE,8.37,2.616,-1.822,0,1,0
$FREEZE,7.84,2.582,-1.821,0,1,0
$FREEZE,7.26,2.546,-1.819,0,1,0
$FREEZE,6.71,2.525,-1.820,0,1,0
$FREEZE,6.15,2.535,-1.819,0,1,0
$FREEZE,5.70,2.524,-1.819,0,1,0
$FREEZE,5.12,2.513,-1.817,0,1,0
$FREEZE,4.54,2.503,-1.816,0,1,0
$FREEZE,3.89,2.498,-1.816,0,1,0
$FREEZE,3.41,2.502,-1.815,0,1,0
$FREEZE,2.77,2.501,-1.814,0,1,0
$STATE,13298,end climb,SURFACE_DEPTH_REACHED
$STATE,13298,begin surface coast
$FREEZE,2.29,2.508,-1.814,0,1,0
$FREEZE,1.75,2.511,-1.813,0,1,0
$FREEZE,1.75,2.523,-1.783,0,1,0
$FREEZE,1.75,2.516,-1.812,0,1,0
$FREEZE,1.71,2.501,-1.807,0,1,0
$FREEZE,1.72,2.516,-1.813,0,1,0
$FINISH,1.7,1.026378
$STATE,13333,end surface coast,CONTROL_FINISHED_OK
$STATE,13333,begin surface
$SM_CCo,13352,12.98,0.798,0,0,1835,300.00
$SM_GC,2.34,0.00,0.00,12.98,0.000,0.000,0.798,341,2268,1835,-12.74,0.48,300.00
$RAFOS_CLK,512
$RAFOS,6,1276937341,8.833333,8.816944,136,116,50,43,42,40,857,858,1237,1373,1881,1459
$RAFOS,5,1276936865,8.700000,8.684722,67,64,62,55,53,48,660,659,364,1671,363,1452
$RAFOS,4,1276936383,8.566667,8.550834,96,83,44,44,42,42,895,894,214,1028,378,1864
$RAFOS,3,1276935905,8.433333,8.418056,48,45,43,43,43,42,764,723,716,1526,1781,1267
$RAFOS,2,1276935429,8.300000,8.285833,48,45,44,42,41,41,1065,771,1175,61,154,1059
$RAFOS,1,1276934951,8.166667,8.153055,47,44,43,42,42,39,720,1551,1821,1016,1336,1464
$RAFOS,0,1276934462,8.033334,8.017222,47,43,43,43,41,40,1657,1547,1053,1475,210,782
$RAFOS_FIX,6704.911133,-5652.772461,190610,080840,3,100,0.98
$IRIDIUM_FIX,6631.12,-5652.12,130999,020213
$TT8_MAMPS,0.027612
$HUMID,40.15
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,500.0,100.2
$24V_AH,23.6,12.165
$10V_AH,10.3,6.551
$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,19.925,115.325,359.875,12.975,0.000,27.863,32.185,228.754,1.750,0.000,12.523,2323.069,8145.691,484.212,2205.899,640.672,0.000,1625.582,0.000,2187.618,2520.000,14.373,0.000
$DEVICE_MAMPS,239.304,99.710,1194.219,797.680,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1028.128,991.828,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135812
$DATA_FILE_SIZE,56740,1407
$CAP_FILE_SIZE,151069,0
$CFSIZE,260165632,243523584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,190610,102237,6702.555,-5650.496,31,1.3,31,-37.5