version: 66.06
glider: 108
mission: 14
dive: 73
start: 6 19 110 10 29 23
data:
$ID,108
$MISSION,14
$DIVE,73
$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,-180023.69
$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,31
$R_STBD_OVSHOOT,42
$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
$GPS1,102237,6702.555,-5650.496,31,1.3,31,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-76.5
$GPS2,102902,6702.582,-5650.489,11,1.4,11,-37.5
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,295.2,161372,-18.1,-10.000
$D_GRID,579
$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,16,-0.78,-146.1,0.0,0.0,0,57,0.00,0.00,-39.42,0.000,2,0.000,0.000,341,2270,2726,0,0,0,0,0,0
$GC,61,-0.78,-146.1,3.1,-2.1,8,123,10.20,2.38,-42.55,0.000,4,0.242,0.078,2937,844,3657,0,0,0,0,0,0
$GC,377,-0.78,-146.1,31.9,-10.7,65,383,0.00,2.30,0.00,0.000,6,0.000,0.066,2930,2240,3660,0,0,0,0,0,0
$GC,721,-0.78,-146.1,63.7,-9.7,126,727,0.00,2.28,0.00,0.000,4,0.000,0.064,2930,832,3660,0,0,0,0,0,0
$GC,767,-0.78,-146.1,68.3,-10.4,134,773,0.10,2.33,0.00,0.000,6,0.163,0.067,2946,2251,3660,0,0,0,0,0,0
$GC,1112,-0.78,-146.1,95.3,-7.6,195,1117,0.00,2.17,0.00,0.000,4,0.000,0.077,2938,3607,3661,0,0,0,0,0,0
$GC,1158,-0.78,-146.1,99.1,-8.7,203,1163,0.00,2.15,0.00,0.000,6,0.000,0.054,2938,2243,3662,0,0,0,0,0,0
$GC,1489,-0.78,-146.1,125.9,-8.0,235,1493,0.00,2.22,0.00,0.000,4,0.000,0.065,2938,837,3662,0,0,0,0,0,0
$GC,1632,-0.78,-146.1,138.3,-9.4,247,1636,0.00,2.30,0.00,0.000,6,0.000,0.067,2929,2248,3661,0,0,0,0,0,0
$GC,1956,-0.78,-146.1,172.0,-10.8,277,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2247,3661,0,0,0,0,0,0
$GC,2277,-0.78,-146.1,207.3,-10.9,307,2281,0.00,2.15,0.00,0.000,4,0.000,0.080,2918,3599,3661,0,0,0,0,0,0
$GC,2346,-0.78,-146.1,215.1,-11.0,313,2350,0.10,2.12,0.00,0.000,6,0.166,0.056,2944,2249,3660,0,0,0,0,0,0
$GC,2671,-0.78,-146.1,244.2,-8.3,343,2675,0.00,2.22,0.00,0.000,4,0.000,0.066,2944,837,3659,0,0,0,0,0,0
$GC,2733,-0.78,-146.1,249.3,-8.2,348,2737,0.00,2.30,0.00,0.000,6,0.000,0.069,2937,2257,3660,0,0,0,0,0,0
$GC,3064,-0.78,-146.1,275.7,-7.9,379,3068,0.00,2.15,0.00,0.000,4,0.000,0.079,2927,3599,3659,0,0,0,0,0,0
$GC,3144,-0.78,-146.1,282.6,-8.6,386,3148,0.00,2.12,0.00,0.000,6,0.000,0.055,2927,2243,3659,0,0,0,0,0,0
$GC,3475,-0.78,-146.1,309.8,-7.8,417,3479,0.00,2.17,0.00,0.000,4,0.000,0.065,2927,842,3659,0,0,0,0,0,0
$GC,3576,-0.78,-146.1,318.1,-7.5,425,3582,0.10,2.28,0.00,0.000,6,0.163,0.067,2945,2249,3659,0,0,0,0,0,0
$GC,3901,-0.78,-146.1,341.2,-7.3,456,3905,0.00,2.15,0.00,0.000,4,0.000,0.077,2937,3602,3659,0,0,0,0,0,0
$GC,3947,-0.78,-146.1,345.0,-8.7,460,3951,0.00,2.12,0.00,0.000,6,0.000,0.054,2936,2239,3659,0,0,0,0,0,0
$GC,4277,-0.78,-146.1,372.1,-8.2,491,4281,0.00,2.20,0.00,0.000,4,0.000,0.064,2936,832,3659,0,0,0,0,0,0
$GC,4351,-0.78,-146.1,378.6,-8.2,497,4355,0.00,2.30,0.00,0.000,6,0.000,0.067,2927,2258,3659,0,0,0,0,0,0
$GC,4676,-0.78,-146.1,404.1,-7.5,527,4680,0.00,2.10,0.00,0.000,4,0.000,0.076,2917,3596,3660,0,0,0,0,0,0
$GC,4761,-0.78,-146.1,411.2,-8.5,534,4767,0.10,2.10,0.00,0.000,6,0.162,0.053,2944,2241,3660,0,0,0,0,0,0
$GC,5086,-0.78,-146.1,431.5,-5.6,565,5090,0.00,2.17,0.00,0.000,4,0.000,0.063,2944,844,3661,0,0,0,0,0,0
$GC,5154,-0.78,-146.1,435.8,-5.9,570,5159,0.00,2.28,0.00,0.000,6,0.000,0.065,2937,2263,3661,0,0,0,0,0,0
$GC,5479,-0.78,-146.1,455.7,-6.5,601,5483,0.00,2.12,0.00,0.000,4,0.000,0.075,2927,3608,3661,0,0,0,0,0,0
$GC,5524,-0.78,-146.1,458.9,-7.1,605,5528,0.00,2.10,0.00,0.000,6,0.000,0.051,2927,2250,3661,0,0,0,0,0,0
$GC,5850,-0.78,-146.1,481.8,-7.4,635,5854,0.00,2.17,0.00,0.000,4,0.000,0.061,2927,834,3661,0,0,0,0,0,0
$GC,5894,-0.78,-146.1,485.3,-8.4,638,5900,0.10,2.28,0.00,0.000,6,0.162,0.064,2945,2257,3662,0,0,0,0,0,0
$GC,6220,-0.78,-146.1,504.9,-6.4,669,6223,0.00,2.10,0.00,0.000,4,0.000,0.074,2937,3602,3662,0,0,0,0,0,0
$GC,6321,-0.78,-146.1,511.8,-7.0,677,6326,0.00,2.10,0.00,0.000,6,0.000,0.051,2938,2237,3662,0,0,0,0,0,0
$GC,6646,-0.78,-146.1,531.6,-6.1,708,6650,0.00,2.17,0.00,0.000,4,0.000,0.061,2937,834,3663,0,0,0,0,0,0
$GC,6769,-0.78,-146.1,539.7,-6.5,718,6775,0.00,2.28,0.00,0.000,6,0.000,0.064,2928,2260,3662,0,0,0,0,0,0
$STATE,6847,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6847,begin apogee
$GC,6855,-0.17,0.0,544.8,6.3,726,6981,0.43,0.00,120.28,1.158,6,0.123,0.000,3072,2193,3058,0,0,0,0,0,0
$STATE,6982,end apogee,CONTROL_FINISHED_OK
$STATE,6982,begin climb
$GC,6985,0.78,146.1,546.9,0.0,739,7119,0.60,2.45,120.45,1.103,4,0.077,0.060,3294,797,2461,0,0,0,0,0,0
$GC,7165,0.78,146.1,532.6,10.9,756,7169,0.00,2.40,0.00,0.000,6,0.000,0.061,3294,2202,2460,0,0,0,0,0,0
$GC,7495,0.78,146.1,493.7,11.7,787,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,2201,2457,0,0,0,0,0,0
$GC,7814,0.78,146.1,457.1,11.2,817,7818,0.00,2.25,0.00,0.000,4,0.000,0.069,3294,3601,2457,0,0,0,0,0,0
$GC,7865,0.78,146.1,450.6,13.6,821,7870,0.10,2.20,0.00,0.000,6,0.183,0.048,3280,2205,2456,0,0,0,0,0,0
$GC,8190,0.78,146.1,415.9,10.8,851,8194,0.00,2.22,0.00,0.000,4,0.000,0.058,3288,789,2456,0,0,0,0,0,0
$GC,8218,0.79,148.9,413.1,9.9,853,8224,0.00,2.28,0.00,0.000,6,0.000,0.058,3288,2210,2457,0,0,0,0,0,0
$GC,8542,0.79,148.9,379.6,10.1,884,8546,0.00,2.20,0.00,0.000,4,0.000,0.070,3288,3606,2456,0,0,0,0,0,0
$GC,8571,0.79,148.9,376.3,11.6,886,8575,0.00,2.20,0.00,0.000,6,0.000,0.048,3298,2191,2456,0,0,0,0,0,0
$GC,8896,0.79,148.9,341.4,10.3,916,8897,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2190,2457,0,0,0,0,0,0
$GC,9217,0.79,148.9,307.7,10.5,946,9218,0.00,0.00,0.00,0.000,6,0.000,0.000,3297,2190,2457,0,0,0,0,0,0
$GC,9535,0.79,148.9,274.0,10.5,976,9536,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2190,2457,0,0,0,0,0,0
$GC,9853,0.79,148.9,240.8,10.2,1006,9854,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2189,2456,0,0,0,0,0,0
$GC,10171,0.79,150.2,207.5,9.9,1036,10182,0.00,2.22,4.20,0.653,4,0.000,0.060,3308,792,2445,0,0,0,0,0,0
$GC,10188,0.79,150.2,205.5,10.3,1037,10195,0.10,2.28,0.00,0.000,6,0.172,0.060,3282,2214,2445,0,0,0,0,0,0
$GC,10514,0.81,165.9,175.2,9.3,1068,10535,0.00,2.25,13.90,0.895,4,0.000,0.073,3282,3590,2381,0,0,0,0,0,0
$GC,10552,0.81,165.9,171.3,10.3,1071,10558,0.00,2.17,0.00,0.000,6,0.000,0.049,3290,2199,2380,0,0,0,0,0,0
$GC,10877,0.82,177.6,139.3,9.5,1102,10893,0.00,2.20,10.75,0.844,4,0.000,0.059,3296,797,2333,0,0,0,0,0,0
$GC,10921,0.84,191.3,135.2,9.4,1105,10940,0.00,2.25,12.12,0.844,6,0.000,0.061,3296,2198,2278,0,0,0,0,0,0
$GC,11266,0.86,209.9,103.3,9.1,1138,11288,0.00,2.25,16.20,0.860,4,0.000,0.072,3296,3590,2201,0,0,0,0,0,0
$GC,11301,0.88,229.5,100.1,9.1,1141,11326,0.00,2.22,17.15,0.843,6,0.000,0.051,3306,2189,2122,0,0,0,0,0,0
$GC,11664,0.90,244.8,63.9,9.3,1205,11685,0.00,2.28,13.38,0.821,4,0.000,0.062,3315,801,2059,0,0,0,0,0,0
$GC,11692,0.91,247.5,61.1,9.9,1210,11703,0.00,2.33,4.05,0.570,6,0.000,0.063,3315,2207,2047,0,0,0,0,0,0
$GC,12043,0.91,247.5,23.6,10.1,1272,12049,0.00,2.30,0.00,0.000,4,0.000,0.061,3323,785,2042,0,0,0,0,0,0
$GC,12118,0.94,278.4,16.1,8.6,1285,12149,0.00,2.33,25.98,0.841,6,0.000,0.064,3323,2205,1923,0,0,0,0,0,0
$FREEZE,8.58,3.179,-1.824,0,1,0
$FREEZE,7.86,3.185,-1.824,0,1,0
$FREEZE,7.38,3.189,-1.824,0,1,0
$FREEZE,6.87,3.198,-1.823,0,1,0
$FREEZE,6.31,3.214,-1.823,0,1,0
$FREEZE,5.67,3.220,-1.822,0,1,0
$FREEZE,5.25,3.224,-1.822,0,1,0
$FREEZE,4.68,3.229,-1.821,0,1,0
$FREEZE,4.19,3.220,-1.821,0,1,0
$FREEZE,3.66,3.204,-1.820,0,1,0
$FREEZE,3.08,3.177,-1.819,0,1,0
$FREEZE,2.61,3.087,-1.817,0,1,0
$STATE,12261,end climb,SURFACE_DEPTH_REACHED
$STATE,12261,begin surface coast
$FREEZE,2.04,2.740,-1.816,0,1,0
$FREEZE,1.74,2.718,-0.837,0,1,0
$FREEZE,1.71,2.692,-0.855,0,1,0
$FREEZE,1.77,2.789,-0.287,0,1,0
$FREEZE,1.77,2.735,-0.837,0,1,0
$FREEZE,1.68,2.757,-0.213,0,1,0
$FINISH,1.7,1.003063
$STATE,12295,end surface coast,CONTROL_FINISHED_OK
$STATE,12296,begin surface
$SM_CCo,12321,16.30,0.805,0,0,1835,300.00
$SM_GC,2.55,0.00,0.00,16.30,0.000,0.000,0.805,337,2255,1835,-12.77,0.14,300.00
$RAFOS_CLK,464
$RAFOS,6,1276951743,12.833333,12.817500,82,79,48,45,43,40,846,844,1934,1087,553,1445
$RAFOS,5,1276951264,12.700000,12.684444,120,112,45,43,42,41,659,660,669,1110,1699,154
$RAFOS,4,1276950783,12.566667,12.550834,78,77,52,45,44,42,888,889,1595,1296,1295,61
$RAFOS,3,1276950302,12.433333,12.417222,48,46,41,41,40,40,1131,529,1,1353,1615,1592
$RAFOS,2,1276949825,12.300000,12.284722,60,44,44,43,43,42,1072,807,1677,1062,1071,491
$RAFOS,1,1276949346,12.166667,12.151667,66,58,45,43,39,39,1050,1051,1698,737,726,1626
$RAFOS,0,1276948862,12.033333,12.017222,44,43,42,41,40,39,1107,305,1747,61,1329,1145
$RAFOS_FIX,6704.971191,-5653.470703,190610,121204,5,81,0.66
$IRIDIUM_FIX,6631.12,-5656.72,130999,060649
$TT8_MAMPS,0.026845
$HUMID,39.60
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.50
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,450.3,109.5
$24V_AH,23.6,12.288
$10V_AH,10.4,6.626
$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,20.000,115.850,358.450,16.300,0.000,31.246,35.675,170.588,1.750,0.000,15.019,2185.981,7377.366,470.746,2121.642,572.661,0.000,1587.180,0.000,2098.522,2520.000,14.543,0.000
$DEVICE_MAMPS,242.372,134.992,1158.170,804.583,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,970.439,907.711,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135840
$DATA_FILE_SIZE,53572,1317
$CAP_FILE_SIZE,146113,0
$CFSIZE,260165632,243449856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.9
$GPS,190610,135657,6701.968,-5651.965,28,2.2,47,-37.5