version: 66.06
glider: 108
mission: 14
dive: 114
start: 6 28 110 14 21 19
data:
$ID,108
$MISSION,14
$DIVE,114
$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,29
$R_STBD_OVSHOOT,21
$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
$GPS1,122410,6644.932,-6018.297,0,6108.2,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,2.2
$GPS2,122410,6644.932,-6018.297,0,6108.2,0,-38.2
$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,115.8,155508,-18.1,-10.000
$D_GRID,536
$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,-146.1,0.0,0.0,0,133,0.00,0.00,-113.90,0.000,2,0.000,0.000,3412,3596,3165,0,0,0,0,0,0
$GC,138,-0.78,-146.1,3.3,-5.0,23,164,1.52,0.00,-19.42,0.000,4,0.143,0.000,2939,3596,3655,0,0,0,0,0,0
$GC,172,-0.78,-146.1,6.4,-7.5,29,177,0.00,2.22,0.00,0.000,6,0.000,0.061,2939,2249,3657,0,0,0,0,0,0
$GC,515,-0.78,-146.1,55.0,-13.4,90,521,0.00,2.30,0.00,0.000,4,0.000,0.073,2939,836,3662,0,0,0,0,0,0
$GC,595,-0.78,-146.1,65.5,-12.9,104,600,0.00,2.40,0.00,0.000,6,0.000,0.075,2930,2256,3662,0,0,0,0,0,0
$GC,937,-0.78,-146.1,103.2,-9.8,162,941,0.00,2.35,0.00,0.000,4,0.000,0.071,2930,838,3662,0,0,0,0,0,0
$GC,988,-0.78,-146.1,108.0,-9.0,166,992,0.10,2.38,0.00,0.000,6,0.167,0.076,2946,2254,3662,0,0,0,0,0,0
$GC,1318,-0.78,-146.1,130.6,-6.9,197,1322,0.00,2.22,0.00,0.000,4,0.000,0.088,2938,3602,3662,0,0,0,0,0,0
$GC,1363,-0.78,-146.1,134.0,-7.6,201,1367,0.00,2.20,0.00,0.000,6,0.000,0.061,2938,2243,3662,0,0,0,0,0,0
$GC,1688,-0.78,-146.1,161.2,-8.6,231,1692,0.00,2.28,0.00,0.000,4,0.000,0.072,2938,829,3663,0,0,0,0,0,0
$GC,1716,-0.78,-146.1,163.7,-9.2,233,1722,0.00,2.38,0.00,0.000,6,0.000,0.074,2928,2253,3662,0,0,0,0,0,0
$GC,2041,-0.78,-146.1,193.8,-9.4,264,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2252,3662,0,0,0,0,0,0
$GC,2362,-0.78,-146.1,224.0,-10.0,294,2363,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2252,3661,0,0,0,0,0,0
$GC,2680,-0.78,-146.1,254.4,-9.5,324,2684,0.00,2.33,0.00,0.000,4,0.000,0.072,2929,834,3660,0,0,0,0,0,0
$GC,2691,-0.78,-146.1,255.8,-9.4,324,2697,0.10,2.35,0.00,0.000,6,0.165,0.077,2946,2249,3660,0,0,0,0,0,0
$GC,3016,-0.78,-146.1,280.5,-7.1,355,3020,0.00,2.22,0.00,0.000,4,0.000,0.087,2938,3607,3660,0,0,0,0,0,0
$GC,3039,-0.78,-146.1,282.1,-7.0,356,3044,0.00,2.17,0.00,0.000,6,0.000,0.061,2938,2242,3660,0,0,0,0,0,0
$GC,3364,-0.78,-146.1,305.4,-7.3,387,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2241,3660,0,0,0,0,0,0
$GC,3684,-0.78,-146.1,328.8,-7.7,417,3686,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2241,3660,0,0,0,0,0,0
$GC,4003,-0.78,-146.1,355.1,-8.4,447,4007,0.00,2.22,0.00,0.000,4,0.000,0.072,2938,839,3660,0,0,0,0,0,0
$GC,4036,-0.78,-146.1,358.1,-8.4,449,4041,0.00,2.33,0.00,0.000,6,0.000,0.075,2928,2249,3660,0,0,0,0,0,0
$GC,4361,-0.78,-146.1,385.7,-8.0,480,4365,0.00,2.22,0.00,0.000,4,0.000,0.085,2918,3607,3660,0,0,0,0,0,0
$GC,4384,-0.78,-146.1,387.6,-8.4,481,4391,0.10,2.17,0.00,0.000,6,0.162,0.058,2946,2237,3660,0,0,0,0,0,0
$GC,4710,-0.78,-146.1,409.9,-6.7,512,4714,0.00,2.22,0.00,0.000,4,0.000,0.071,2946,832,3661,0,0,0,0,0,0
$GC,4744,-0.78,-146.1,412.3,-7.0,515,4748,0.00,2.35,0.00,0.000,6,0.000,0.074,2938,2259,3661,0,0,0,0,0,0
$GC,5069,-0.78,-146.1,433.6,-6.7,545,5073,0.00,2.17,0.00,0.000,4,0.000,0.084,2928,3599,3661,0,0,0,0,0,0
$GC,5080,-0.78,-146.1,434.4,-6.4,545,5086,0.00,2.15,0.00,0.000,6,0.000,0.058,2927,2243,3661,0,0,0,0,0,0
$GC,5405,-0.78,-146.1,456.7,-7.1,576,5410,0.00,2.22,0.00,0.000,4,0.000,0.070,2928,836,3661,0,0,0,0,0,0
$GC,5434,-0.78,-146.1,458.8,-7.7,578,5440,0.10,2.33,0.00,0.000,6,0.161,0.072,2947,2251,3661,0,0,0,0,0,0
$GC,5759,-0.78,-146.1,480.4,-6.8,609,5760,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2250,3662,0,0,0,0,0,0
$GC,6080,-0.78,-146.1,498.7,-4.8,639,6084,0.00,2.20,0.00,0.000,4,0.000,0.083,2938,3599,3662,0,0,0,0,0,0
$GC,6097,-0.78,-146.1,499.7,-5.0,640,6101,0.00,2.12,0.00,0.000,6,0.000,0.057,2938,2250,3661,0,0,0,0,0,0
$GC,6427,-0.78,-146.1,519.5,-5.9,671,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2250,3662,0,0,0,0,0,0
$STATE,6700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6700,begin apogee
$GC,6707,-0.17,0.0,536.6,6.6,697,6834,0.40,0.00,122.00,1.216,6,0.123,0.000,3073,2193,3058,0,0,0,0,0,0
$STATE,6834,end apogee,CONTROL_FINISHED_OK
$STATE,6834,begin climb
$GC,6838,0.78,146.1,539.6,0.0,710,6971,0.60,2.65,122.05,1.151,4,0.081,0.076,3282,3602,2461,0,0,0,0,0,0
$GC,7017,0.78,146.1,526.6,11.3,727,7022,0.00,2.42,0.00,0.000,6,0.000,0.054,3291,2195,2458,0,0,0,0,0,0
$GC,7343,0.78,146.1,493.2,10.5,757,7347,0.00,2.33,0.00,0.000,4,0.000,0.067,3301,789,2456,0,0,0,0,0,0
$GC,7398,0.78,146.1,487.5,10.4,761,7404,0.00,2.42,0.00,0.000,6,0.000,0.067,3301,2203,2457,0,0,0,0,0,0
$GC,7723,0.78,146.1,452.6,10.5,792,7727,0.00,2.28,0.00,0.000,4,0.000,0.077,3301,3595,2455,0,0,0,0,0,0
$GC,7763,0.78,146.1,447.8,12.8,795,7768,0.12,2.28,0.00,0.000,6,0.173,0.051,3279,2186,2455,0,0,0,0,0,0
$GC,8088,0.81,170.7,417.4,8.9,825,8113,0.00,2.28,20.73,1.092,4,0.000,0.062,3287,795,2361,0,0,0,0,0,0
$GC,8184,0.83,184.5,408.8,9.4,833,8205,0.00,2.38,12.45,1.020,6,0.000,0.066,3287,2212,2306,0,0,0,0,0,0
$GC,8525,0.84,191.9,375.0,9.7,865,8539,0.00,2.35,7.53,0.917,4,0.000,0.078,3287,3592,2275,0,0,0,0,0,0
$GC,8593,0.84,191.9,367.4,11.8,871,8597,0.00,2.25,0.00,0.000,6,0.000,0.052,3296,2199,2274,0,0,0,0,0,0
$GC,8917,0.84,191.9,332.2,10.6,901,8921,0.00,2.28,0.00,0.000,4,0.000,0.063,3307,784,2273,0,0,0,0,0,0
$GC,8962,0.84,191.9,327.2,10.9,904,8967,0.00,2.35,0.00,0.000,6,0.000,0.066,3306,2200,2273,0,0,0,0,0,0
$GC,9286,0.84,191.9,292.4,10.4,935,9290,0.00,2.28,0.00,0.000,4,0.000,0.077,3307,3596,2273,0,0,0,0,0,0
$GC,9338,0.84,191.9,286.5,12.7,939,9342,0.00,2.22,0.00,0.000,6,0.000,0.053,3317,2200,2272,0,0,0,0,0,0
$GC,9663,0.84,195.3,253.0,9.8,969,9674,0.00,2.30,4.18,0.704,4,0.000,0.064,3328,786,2261,0,0,0,0,0,0
$GC,9735,0.84,195.3,245.8,10.5,975,9741,0.12,2.33,0.00,0.000,6,0.163,0.066,3293,2200,2261,0,0,0,0,0,0
$GC,10060,0.90,239.9,220.0,8.0,1006,10101,0.00,0.00,37.97,1.013,6,0.000,0.000,3294,2200,2079,0,0,0,0,0,0
$GC,10421,0.92,254.0,186.6,9.4,1040,10441,0.00,2.38,12.12,0.910,4,0.000,0.078,3293,3593,2021,0,0,0,0,0,0
$GC,10481,0.92,254.0,180.0,11.8,1045,10486,0.00,2.28,0.00,0.000,6,0.000,0.054,3300,2192,2019,0,0,0,0,0,0
$GC,10806,0.93,268.0,148.0,9.4,1076,10827,0.00,2.33,12.77,0.906,4,0.000,0.065,3310,797,1965,0,0,0,0,0,0
$GC,10890,0.96,288.9,140.4,9.0,1083,10916,0.00,2.38,19.60,0.926,6,0.000,0.067,3310,2208,1879,0,0,0,0,0,0
$GC,11235,0.98,310.1,108.8,9.0,1116,11259,0.00,2.38,18.25,0.910,4,0.000,0.082,3310,3593,1793,0,0,0,0,0,0
$GC,11294,0.98,310.1,103.1,10.7,1121,11300,0.00,2.30,0.00,0.000,6,0.000,0.056,3319,2191,1789,0,0,0,0,0,0
$GC,11635,1.00,322.2,70.2,9.4,1179,11651,0.00,2.30,10.88,0.858,4,0.000,0.067,3329,783,1743,0,0,0,0,0,0
$GC,11715,1.05,364.8,63.4,8.1,1193,11761,0.00,2.38,38.42,0.911,6,0.000,0.070,3329,2201,1569,0,0,0,0,0,0
$GC,12099,1.07,380.1,33.5,9.3,1262,12115,0.00,0.00,12.65,0.848,6,0.000,0.000,3329,2201,1507,0,0,0,0,0,0
$FREEZE,8.77,-0.026,-1.675,2,25,1
$FREEZE,8.22,-0.020,-1.674,2,25,1
$FREEZE,7.64,-0.001,-1.673,2,25,1
$FREEZE,7.05,0.027,-1.672,2,25,1
$FREEZE,6.51,0.038,-1.671,2,25,1
$GC,12455,1.13,432.3,11.0,7.6,1325,12507,0.10,2.42,44.42,0.886,4,0.141,0.068,3359,796,1294,0,0,0,0,0,0
$FREEZE,5.13,0.055,-1.669,2,25,1
$FREEZE,4.38,0.074,-1.668,2,25,1
$FREEZE,3.78,0.086,-1.667,2,25,1
$FREEZE,3.22,0.096,-1.666,2,25,1
$FREEZE,2.59,0.117,-1.665,2,25,1
$STATE,12535,end climb,SURFACE_DEPTH_REACHED
$STATE,12535,begin surface coast
$FREEZE,2.12,0.183,-1.662,2,25,1
$FREEZE,1.98,0.238,-0.879,2,25,1
$FREEZE,1.97,0.348,-0.947,2,25,1
$FREEZE,1.91,0.460,-1.469,2,25,1
$FREEZE,2.03,0.495,-1.130,2,25,1
$FINISH,2.0,1.016676
$STATE,12564,end surface coast,CONTROL_FINISHED_OK
$STATE,12564,begin surface
$RAFOS_CLK,558
$RAFOS,6,1277743751,16.833334,16.819723,127,102,46,42,42,41,782,783,1375,1782,228,256
$RAFOS,5,1277743263,16.700001,16.684166,72,71,47,44,43,43,961,962,828,1538,1102,739
$RAFOS,4,1277742783,16.566668,16.550833,104,93,44,43,43,41,726,725,932,1472,1932,1
$RAFOS,3,1277742302,16.433332,16.417223,140,135,52,43,43,40,805,806,1619,1862,1590,1
$RAFOS,2,1277741821,16.299999,16.283611,140,117,47,45,42,40,668,668,1308,374,1885,210
$RAFOS,1,1277741346,16.166666,16.151667,98,97,47,47,41,40,542,543,674,673,1350,1865
$RAFOS,0,1277740869,16.033333,16.019167,82,70,44,43,42,41,584,585,1029,1840,516,1305
$RAFOS_FIX,6645.585938,-6015.407227,280610,161607,7,109,0.17
$IRIDIUM_FIX,6620.33,-6010.56,210999,232355
$TT8_MAMPS,0.026845
$HUMID,40.51
$INTERNAL_PRESSURE,10.1176
$TCM_TEMP,15.30
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.8,18.1
$24V_AH,23.1,18.804
$10V_AH,10.2,10.492
$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,3.275,115.100,496.025,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2176.837,7626.685,576.800,2111.721,276.150,0.000,1732.816,0.000,2099.549,2520.000,11.430,0.000
$DEVICE_MAMPS,172.575,130.390,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,972.286,955.775,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135876
$DATA_FILE_SIZE,53626,1344
$CAP_FILE_SIZE,141362,0
$CFSIZE,260165632,239628288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.3
$GPS,280610,162707,6645.586,-6015.407,0,7109.0,0,-38.2