version: 66.06
glider: 108
mission: 14
dive: 112
start: 6 28 110 7 13 33
data:
$ID,108
$MISSION,14
$DIVE,112
$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,-2
$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,605.89099
$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,-180265.31
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,042453,6648.756,-6017.155,0,6101.8,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,2.5
$GPS2,042453,6648.756,-6017.155,0,6101.8,0,-38.2
$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,254.5,10930,-18.1,-10.000
$D_GRID,556
$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,17,-0.78,-146.1,0.0,0.0,0,124,0.00,0.00,-104.55,0.000,2,0.000,0.000,3377,2205,3309,0,0,0,0,0,0
$GC,129,-0.78,-146.1,3.2,-5.3,21,150,1.25,0.00,-14.50,0.000,6,0.086,0.000,2934,2205,3656,0,0,0,0,0,0
$GC,488,-0.78,-146.1,52.7,-13.7,85,494,0.00,2.30,0.00,0.000,4,0.000,0.085,2924,3595,3662,0,0,0,0,0,0
$GC,641,-0.78,-146.1,73.6,-13.5,112,647,0.00,2.17,0.00,0.000,6,0.000,0.061,2924,2251,3662,0,0,0,0,0,0
$GC,978,-0.78,-146.1,112.8,-9.2,162,982,0.00,2.30,0.00,0.000,4,0.000,0.072,2924,830,3662,0,0,0,0,0,0
$GC,1034,-0.78,-146.1,117.8,-8.6,166,1040,0.10,2.38,0.00,0.000,6,0.163,0.076,2941,2248,3662,0,0,0,0,0,0
$GC,1359,-0.78,-146.1,144.5,-8.4,197,1360,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2247,3662,0,0,0,0,0,0
$GC,1679,-0.78,-146.1,173.1,-8.7,227,1680,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2247,3662,0,0,0,0,0,0
$GC,1998,-0.78,-146.1,198.6,-8.1,257,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2247,3661,0,0,0,0,0,0
$GC,2316,-0.78,-146.1,223.6,-7.3,287,2320,0.00,2.22,0.00,0.000,4,0.000,0.088,2933,3604,3660,0,0,0,0,0,0
$GC,2338,-0.78,-146.1,225.6,-8.1,288,2344,0.00,2.17,0.00,0.000,6,0.000,0.061,2933,2246,3660,0,0,0,0,0,0
$GC,2664,-0.78,-146.1,253.1,-8.7,319,2668,0.00,2.25,0.00,0.000,4,0.000,0.073,2933,839,3660,0,0,0,0,0,0
$GC,2687,-0.78,-146.1,255.3,-9.6,321,2691,0.00,2.35,0.00,0.000,6,0.000,0.077,2924,2251,3660,0,0,0,0,0,0
$GC,3012,-0.78,-146.1,283.4,-8.1,351,3016,0.00,2.17,0.00,0.000,4,0.000,0.087,2914,3598,3659,0,0,0,0,0,0
$GC,3045,-0.78,-146.1,286.4,-8.8,353,3051,0.10,2.17,0.00,0.000,6,0.165,0.061,2940,2240,3659,0,0,0,0,0,0
$GC,3370,-0.78,-146.1,308.3,-6.2,384,3374,0.00,2.25,0.00,0.000,4,0.000,0.072,2940,835,3659,0,0,0,0,0,0
$GC,3399,-0.78,-146.1,310.2,-6.5,386,3403,0.00,2.35,0.00,0.000,6,0.000,0.075,2932,2252,3659,0,0,0,0,0,0
$GC,3724,-0.78,-146.1,333.1,-7.6,416,3728,0.00,2.17,0.00,0.000,4,0.000,0.086,2922,3603,3659,0,0,0,0,0,0
$GC,3757,-0.78,-146.1,336.0,-8.9,418,3763,0.00,2.17,0.00,0.000,6,0.000,0.059,2922,2236,3659,0,0,0,0,0,0
$GC,4083,-0.78,-146.1,362.0,-7.9,449,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2235,3660,0,0,0,0,0,0
$GC,4401,-0.78,-146.1,388.9,-8.3,479,4405,0.00,2.22,0.00,0.000,4,0.000,0.071,2922,840,3660,0,0,0,0,0,0
$GC,4464,-0.78,-146.1,394.1,-7.9,484,4469,0.10,2.33,0.00,0.000,6,0.160,0.075,2941,2261,3660,0,0,0,0,0,0
$GC,4789,-0.78,-146.1,416.4,-6.7,514,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2262,3660,0,0,0,0,0,0
$GC,5110,-0.78,-146.1,439.0,-7.0,544,5114,0.00,2.15,0.00,0.000,4,0.000,0.084,2932,3605,3661,0,0,0,0,0,0
$GC,5139,-0.78,-146.1,441.3,-7.5,546,5143,0.00,2.15,0.00,0.000,6,0.000,0.058,2932,2246,3661,0,0,0,0,0,0
$GC,5469,-0.78,-146.1,466.8,-7.4,577,5473,0.00,2.20,0.00,0.000,4,0.000,0.070,2932,843,3661,0,0,0,0,0,0
$GC,5504,-0.78,-146.1,469.4,-8.0,580,5508,0.00,2.30,0.00,0.000,6,0.000,0.073,2923,2250,3661,0,0,0,0,0,0
$GC,5834,-0.78,-146.1,492.5,-6.6,611,5835,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2250,3661,0,0,0,0,0,0
$GC,6153,-0.78,-146.1,514.5,-6.9,641,6157,0.00,2.17,0.00,0.000,4,0.000,0.083,2913,3599,3661,0,0,0,0,0,0
$GC,6188,-0.78,-146.1,517.2,-8.6,644,6192,0.10,2.15,0.00,0.000,6,0.158,0.057,2941,2239,3661,0,0,0,0,0,0
$GC,6513,-0.78,-146.1,538.8,-7.7,674,6517,0.00,2.22,0.00,0.000,4,0.000,0.069,2941,835,3662,0,0,0,0,0,0
$GC,6536,-0.78,-146.1,540.9,-9.4,676,6540,0.00,2.33,0.00,0.000,6,0.000,0.072,2934,2253,3662,0,0,0,0,0,0
$STATE,6659,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6659,begin apogee
$GC,6667,-0.17,0.0,550.0,7.2,687,6793,0.43,0.00,122.35,1.220,6,0.127,0.000,3076,2187,3058,0,0,0,0,0,0
$STATE,6794,end apogee,CONTROL_FINISHED_OK
$STATE,6794,begin climb
$GC,6797,0.78,146.1,552.2,0.0,700,6931,0.60,2.60,123.07,1.154,4,0.068,0.076,3290,3597,2460,0,0,0,0,0,0
$GC,6977,0.78,146.1,537.4,13.2,717,6982,0.00,2.40,0.00,0.000,6,0.000,0.054,3300,2208,2457,0,0,0,0,0,0
$GC,7308,0.78,146.1,501.0,11.1,748,7312,0.00,2.38,0.00,0.000,4,0.000,0.065,3310,780,2456,0,0,0,0,0,0
$GC,7359,0.78,146.1,495.7,10.8,752,7364,0.12,2.42,0.00,0.000,6,0.163,0.068,3279,2204,2456,0,0,0,0,0,0
$GC,7685,0.78,146.9,464.1,10.0,782,7689,0.00,2.30,0.00,0.000,4,0.000,0.077,3279,3595,2455,0,0,0,0,0,0
$GC,7740,0.78,146.9,457.8,11.7,786,7747,0.00,2.28,0.00,0.000,6,0.000,0.051,3287,2181,2455,0,0,0,0,0,0
$GC,8065,0.78,146.9,425.2,10.0,817,8069,0.00,2.25,0.00,0.000,4,0.000,0.063,3296,784,2455,0,0,0,0,0,0
$GC,8105,0.78,146.9,421.0,10.6,820,8110,0.00,2.38,0.00,0.000,6,0.000,0.066,3296,2212,2455,0,0,0,0,0,0
$GC,8430,0.79,154.6,387.0,9.6,850,8440,0.00,0.00,7.50,0.944,6,0.000,0.000,3296,2212,2427,0,0,0,0,0,0
$GC,8759,0.79,154.6,354.5,10.0,881,8763,0.00,2.25,0.00,0.000,4,0.000,0.078,3296,3592,2426,0,0,0,0,0,0
$GC,8809,0.79,154.6,348.7,11.9,885,8813,0.00,2.22,0.00,0.000,6,0.000,0.053,3306,2193,2426,0,0,0,0,0,0
$GC,9134,0.79,154.6,314.0,10.6,915,9138,0.00,2.25,0.00,0.000,4,0.000,0.064,3317,783,2426,0,0,0,0,0,0
$GC,9167,0.79,154.6,310.5,11.0,917,9173,0.12,2.33,0.00,0.000,6,0.162,0.067,3283,2200,2426,0,0,0,0,0,0
$GC,9492,0.87,220.0,283.9,7.0,948,9553,0.00,2.40,54.00,1.052,4,0.000,0.078,3283,3606,2160,0,0,0,0,0,0
$GC,9590,0.87,220.0,275.8,10.8,957,9594,0.00,2.33,0.00,0.000,6,0.000,0.052,3291,2191,2154,0,0,0,0,0,0
$GC,9915,0.87,220.0,243.6,11.1,987,9919,0.00,2.28,0.00,0.000,4,0.000,0.064,3300,790,2152,0,0,0,0,0,0
$GC,9977,0.87,220.0,236.5,11.4,992,9981,0.00,2.35,0.00,0.000,6,0.000,0.067,3300,2205,2152,0,0,0,0,0,0
$GC,10307,0.90,239.0,201.6,9.1,1023,10326,0.00,0.00,16.10,0.955,6,0.000,0.000,3300,2205,2082,0,0,0,0,0,0
$GC,10646,0.92,257.6,171.0,9.2,1055,10668,0.00,2.38,16.52,0.940,4,0.000,0.080,3300,3596,2007,0,0,0,0,0,0
$GC,10707,0.92,257.6,164.6,12.2,1060,10713,0.00,2.25,0.00,0.000,6,0.000,0.055,3309,2201,2003,0,0,0,0,0,0
$GC,11032,0.95,283.6,133.9,8.8,1091,11064,0.00,2.38,23.23,0.943,4,0.000,0.067,3320,787,1901,0,0,0,0,0,0
$GC,11099,0.95,285.9,127.6,9.9,1097,11103,0.00,2.40,0.00,0.000,6,0.000,0.067,3320,2204,1899,0,0,0,0,0,0
$GC,11428,0.99,311.1,94.6,8.8,1132,11454,0.00,0.00,23.62,0.925,6,0.000,0.000,3320,2204,1789,0,0,0,0,0,0
$GC,11795,1.01,330.0,63.4,9.1,1197,11816,0.00,2.40,16.73,0.891,4,0.000,0.083,3320,3598,1712,0,0,0,0,0,0
$GC,11840,1.03,351.0,59.2,9.0,1205,11866,0.00,2.30,19.42,0.883,6,0.000,0.058,3329,2198,1627,0,0,0,0,0,0
$GC,12204,1.11,414.7,29.1,7.1,1270,12266,0.10,2.38,55.10,0.898,4,0.104,0.069,3388,794,1366,0,0,0,0,0,0
$GC,12357,1.16,455.4,13.3,8.1,1298,12399,0.10,2.42,34.12,0.860,6,0.146,0.071,3361,2200,1200,0,0,0,0,0,0
$FREEZE,8.85,-0.591,-1.669,2,23,0
$FREEZE,8.36,-0.589,-1.668,2,23,0
$FREEZE,7.91,-0.590,-1.668,2,23,0
$FREEZE,7.40,-0.589,-1.668,2,23,0
$FREEZE,6.99,-0.588,-1.667,2,23,0
$FREEZE,6.53,-0.586,-1.667,2,23,0
$FREEZE,6.04,-0.577,-1.666,2,23,0
$FREEZE,5.48,-0.572,-1.665,2,23,0
$FREEZE,4.92,-0.572,-1.665,2,23,0
$FREEZE,4.51,-0.565,-1.664,2,23,0
$FREEZE,3.94,-0.567,-1.664,2,23,0
$FREEZE,3.32,-0.561,-1.663,2,23,0
$FREEZE,2.77,-0.564,-1.663,2,23,0
$STATE,12494,end climb,SURFACE_DEPTH_REACHED
$STATE,12495,begin surface coast
$FREEZE,2.24,-0.560,-1.662,2,23,0
$FREEZE,2.04,-0.553,-1.615,2,23,0
$FREEZE,1.93,-0.452,-0.133,2,23,0
$FINISH,1.9,1.001748
$STATE,12516,end surface coast,FINISH_DEPTH_REACHED
$STATE,12516,begin surface
$RAFOS_CLK,560
$RAFOS,6,1277714949,8.833333,8.819167,85,80,42,42,40,38,820,819,1179,1637,622,1885
$RAFOS,5,1277714468,8.700000,8.685555,98,98,47,47,45,40,952,951,217,686,1085,1696
$RAFOS,4,1277713989,8.566667,8.552500,73,72,43,42,42,41,718,717,1846,1067,729,1597
$RAFOS,3,1277713505,8.433333,8.418056,108,100,51,50,46,40,790,791,1881,1536,219,1620
$RAFOS,2,1277713027,8.300000,8.285277,84,78,48,44,43,42,644,643,784,765,1252,1790
$RAFOS,1,1277712548,8.166667,8.152223,101,89,48,43,43,42,543,544,1210,196,217,1762
$RAFOS,0,1277712063,8.033334,8.017500,103,99,46,43,42,41,601,600,1809,1808,737,1
$RAFOS_FIX,6646.460449,-6020.147461,280610,080807,7,93,0.33
$IRIDIUM_FIX,6620.33,-6010.56,210999,232355
$TT8_MAMPS,0.026845
$HUMID,40.58
$INTERNAL_PRESSURE,10.1078
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,550.0,8.2
$24V_AH,23.1,18.489
$10V_AH,10.2,10.347
$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,3.125,110.075,511.775,0.000,0.000,0.000,0.000,0.000,2.250,0.000,0.000,2172.271,7635.038,567.949,2074.944,266.878,0.000,1693.144,0.000,2058.334,2520.000,18.062,0.000
$DEVICE_MAMPS,164.905,95.875,1219.530,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,955.286,945.691,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135876
$DATA_FILE_SIZE,50501,1326
$CAP_FILE_SIZE,139501,0
$CFSIZE,260165632,239783936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.6
$GPS,280610,082707,6646.460,-6020.147,0,7093.1,0,-38.2