version: 66.06
glider: 108
mission: 14
dive: 117
start: 6 29 110 1 26 32
data:
$ID,108
$MISSION,14
$DIVE,117
$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,28
$R_STBD_OVSHOOT,23
$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
$GPS1,002952,6646.287,-6008.194,0,6089.5,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,2.0
$GPS2,002952,6646.287,-6008.194,0,6089.5,0,-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,116.1,147845,-18.1,-10.000
$D_GRID,597
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.78,-146.1,0.0,0.0,0,130,0.00,0.00,-109.68,0.000,2,0.000,0.000,3401,3592,3169,0,0,0,0,0,0
$GC,136,-0.78,-146.1,3.3,-6.0,22,167,1.48,4.57,-18.58,0.000,4,0.140,0.069,2938,842,3657,0,0,0,0,0,0
$GC,314,-0.78,-146.1,27.4,-12.5,54,319,0.00,2.38,0.00,0.000,6,0.000,0.072,2929,2245,3660,0,0,0,0,0,0
$GC,659,-0.78,-146.1,71.1,-13.3,115,664,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2245,3662,0,0,0,0,0,0
$GC,1001,-0.78,-146.1,111.2,-9.5,167,1005,0.00,2.22,0.00,0.000,4,0.000,0.084,2919,3598,3662,0,0,0,0,0,0
$GC,1024,-0.78,-146.1,113.5,-9.7,168,1030,0.10,2.17,0.00,0.000,6,0.170,0.059,2944,2250,3662,0,0,0,0,0,0
$GC,1349,-0.78,-146.1,140.1,-8.0,199,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2250,3662,0,0,0,0,0,0
$GC,1670,-0.78,-146.1,164.7,-7.4,229,1674,0.00,2.30,0.00,0.000,4,0.000,0.071,2944,837,3662,0,0,0,0,0,0
$GC,1760,-0.78,-146.1,172.2,-8.2,236,1765,0.00,2.38,0.00,0.000,6,0.000,0.074,2937,2263,3662,0,0,0,0,0,0
$GC,2085,-0.78,-146.1,199.7,-8.2,267,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2264,3662,0,0,0,0,0,0
$GC,2406,-0.78,-146.1,227.9,-8.9,297,2411,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2264,3661,0,0,0,0,0,0
$GC,2733,-0.78,-146.1,253.9,-7.6,328,2737,0.00,2.33,0.00,0.000,4,0.000,0.070,2936,838,3660,0,0,0,0,0,0
$GC,2778,-0.78,-146.1,257.7,-8.1,331,2783,0.00,2.35,0.00,0.000,6,0.000,0.074,2927,2252,3660,0,0,0,0,0,0
$GC,3103,-0.78,-146.1,283.8,-8.0,362,3106,0.00,2.17,0.00,0.000,4,0.000,0.085,2917,3602,3660,0,0,0,0,0,0
$GC,3131,-0.78,-146.1,286.3,-8.7,364,3137,0.10,2.17,0.00,0.000,6,0.162,0.059,2944,2239,3660,0,0,0,0,0,0
$GC,3456,-0.78,-146.1,309.8,-7.5,395,3460,0.00,2.25,0.00,0.000,4,0.000,0.071,2944,834,3660,0,0,0,0,0,0
$GC,3490,-0.78,-146.1,312.5,-8.0,397,3496,0.00,2.35,0.00,0.000,6,0.000,0.073,2937,2257,3660,0,0,0,0,0,0
$GC,3815,-0.78,-146.1,338.9,-8.5,428,3819,0.00,2.17,0.00,0.000,4,0.000,0.084,2926,3597,3660,0,0,0,0,0,0
$GC,3828,-0.78,-146.1,339.9,-8.2,429,3831,0.00,2.15,0.00,0.000,6,0.000,0.058,2926,2248,3660,0,0,0,0,0,0
$GC,4158,-0.78,-146.1,367.4,-7.7,460,4160,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2248,3660,0,0,0,0,0,0
$GC,4481,-0.78,-146.1,390.9,-7.1,490,4485,0.00,2.25,0.00,0.000,4,0.000,0.071,2927,839,3660,0,0,0,0,0,0
$GC,4515,-0.78,-146.1,393.8,-7.4,492,4522,0.10,2.33,0.00,0.000,6,0.158,0.072,2946,2259,3660,0,0,0,0,0,0
$GC,4841,-0.78,-146.1,414.2,-6.0,523,4842,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2259,3661,0,0,0,0,0,0
$GC,5161,-0.78,-146.1,433.9,-6.1,553,5162,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2259,3661,0,0,0,0,0,0
$GC,5480,-0.78,-146.1,453.2,-5.8,583,5483,0.00,2.15,0.00,0.000,4,0.000,0.082,2937,3594,3662,0,0,0,0,0,0
$GC,5514,-0.78,-146.1,455.6,-6.7,586,5518,0.00,2.12,0.00,0.000,6,0.000,0.056,2937,2247,3662,0,0,0,0,0,0
$GC,5845,-0.78,-146.1,477.1,-6.7,617,5849,0.00,2.22,0.00,0.000,4,0.000,0.069,2937,843,3662,0,0,0,0,0,0
$GC,5874,-0.78,-146.1,479.2,-7.6,619,5879,0.00,2.30,0.00,0.000,6,0.000,0.070,2928,2248,3662,0,0,0,0,0,0
$GC,6200,-0.78,-146.1,501.6,-7.0,649,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2248,3662,0,0,0,0,0,0
$GC,6520,-0.78,-146.1,524.1,-7.6,679,6524,0.00,2.17,0.00,0.000,4,0.000,0.081,2918,3604,3662,0,0,0,0,0,0
$GC,6555,-0.78,-146.1,527.0,-8.4,682,6560,0.10,2.15,0.00,0.000,6,0.156,0.054,2946,2236,3662,0,0,0,0,0,0
$GC,6880,-0.78,-146.1,547.4,-5.9,712,6881,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2235,3663,0,0,0,0,0,0
$GC,7203,-0.78,-146.1,566.3,-6.0,742,7207,0.00,2.20,0.00,0.000,4,0.000,0.067,2945,843,3663,0,0,0,0,0,0
$GC,7231,-0.78,-146.1,568.4,-6.7,744,7236,0.00,2.30,0.00,0.000,6,0.000,0.070,2938,2252,3663,0,0,0,0,0,0
$GC,7556,-0.78,-146.1,588.5,-6.4,775,7560,0.00,2.15,0.00,0.000,4,0.000,0.079,2928,3598,3663,0,0,0,0,0,0
$GC,7579,-0.78,-146.1,590.0,-6.6,777,7583,0.00,2.12,0.00,0.000,6,0.000,0.055,2928,2244,3663,0,0,0,0,0,0
$STATE,7684,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7684,begin apogee
$GC,7691,-0.17,0.0,597.4,6.7,787,7818,0.43,0.00,122.82,1.245,6,0.123,0.000,3071,2202,3058,0,0,0,0,0,0
$STATE,7819,end apogee,CONTROL_FINISHED_OK
$STATE,7819,begin climb
$GC,7822,0.78,146.1,599.7,0.0,800,7955,0.62,2.55,123.45,1.176,4,0.079,0.074,3288,3594,2461,0,0,0,0,0,0
$GC,7978,0.78,146.1,588.0,11.1,815,7983,0.00,2.42,0.00,0.000,6,0.000,0.051,3298,2196,2458,0,0,0,0,0,0
$GC,8302,0.78,146.1,552.7,11.1,846,8307,0.00,2.35,0.00,0.000,4,0.000,0.064,3308,785,2456,0,0,0,0,0,0
$GC,8358,0.78,146.1,546.4,10.4,850,8364,0.12,2.42,0.00,0.000,6,0.164,0.065,3277,2205,2456,0,0,0,0,0,0
$GC,8683,0.79,154.7,516.3,9.6,881,8697,0.00,2.38,7.62,0.973,4,0.000,0.074,3277,3602,2427,0,0,0,0,0,0
$GC,8773,0.79,154.7,506.6,12.0,889,8777,0.00,2.28,0.00,0.000,6,0.000,0.051,3285,2193,2427,0,0,0,0,0,0
$GC,9098,0.79,154.7,474.2,10.1,919,9102,0.00,2.28,0.00,0.000,4,0.000,0.062,3295,783,2426,0,0,0,0,0,0
$GC,9173,0.79,154.7,466.8,10.3,925,9177,0.00,2.35,0.00,0.000,6,0.000,0.064,3296,2213,2426,0,0,0,0,0,0
$GC,9497,0.79,154.7,432.5,10.4,955,9501,0.00,2.22,0.00,0.000,4,0.000,0.074,3296,3598,2426,0,0,0,0,0,0
$GC,9560,0.79,154.7,425.2,12.0,960,9564,0.00,2.22,0.00,0.000,6,0.000,0.051,3305,2197,2426,0,0,0,0,0,0
$GC,9884,0.79,154.7,389.6,11.1,990,9888,0.00,2.25,0.00,0.000,4,0.000,0.062,3316,784,2426,0,0,0,0,0,0
$GC,9969,0.79,154.7,380.5,10.9,997,9974,0.12,2.30,0.00,0.000,6,0.163,0.064,3283,2200,2426,0,0,0,0,0,0
$GC,10294,0.81,166.9,350.4,9.4,1027,10314,0.00,2.33,11.55,1.009,4,0.000,0.074,3283,3594,2376,0,0,0,0,0,0
$GC,10376,0.81,166.9,341.5,11.2,1034,10382,0.00,2.22,0.00,0.000,6,0.000,0.051,3290,2195,2375,0,0,0,0,0,0
$GC,10701,0.82,178.1,310.6,9.5,1065,10716,0.00,2.25,10.57,0.973,4,0.000,0.064,3299,791,2331,0,0,0,0,0,0
$GC,10757,0.83,181.7,305.3,9.8,1070,10769,0.00,2.33,4.50,0.739,6,0.000,0.064,3299,2199,2317,0,0,0,0,0,0
$GC,11089,0.83,181.7,271.2,10.7,1101,11090,0.00,0.00,0.00,0.000,6,0.000,0.000,3299,2199,2316,0,0,0,0,0,0
$GC,11408,0.83,181.7,237.7,10.7,1131,11412,0.00,2.25,0.00,0.000,4,0.000,0.077,3299,3597,2315,0,0,0,0,0,0
$GC,11442,0.83,181.7,233.4,11.7,1134,11446,0.00,2.20,0.00,0.000,6,0.000,0.052,3309,2198,2314,0,0,0,0,0,0
$GC,11773,0.84,190.9,197.9,9.6,1165,11787,0.00,2.28,8.82,0.897,4,0.000,0.064,3320,798,2279,0,0,0,0,0,0
$GC,11887,0.86,205.7,187.2,9.3,1175,11909,0.10,2.30,13.75,0.937,6,0.166,0.066,3294,2200,2218,0,0,0,0,0,0
$GC,12227,0.91,247.5,157.5,8.1,1207,12268,0.00,2.33,35.40,0.959,4,0.000,0.076,3294,3596,2048,0,0,0,0,0,0
$GC,12339,0.91,247.5,147.0,10.2,1217,12343,0.00,2.28,0.00,0.000,6,0.000,0.053,3299,2200,2042,0,0,0,0,0,0
$GC,12665,0.95,281.0,117.2,8.5,1247,12699,0.00,2.38,28.20,0.925,4,0.000,0.064,3308,788,1912,0,0,0,0,0,0
$GC,12765,1.02,335.9,109.4,7.5,1256,12820,0.10,2.40,47.90,0.912,6,0.107,0.065,3358,2206,1687,0,0,0,0,0,0
$GC,13156,1.02,335.9,65.0,11.6,1318,13162,0.10,2.35,0.00,0.000,4,0.170,0.064,3341,795,1673,0,0,0,0,0,0
$GC,13191,1.02,335.9,61.0,11.2,1324,13197,0.00,2.38,0.00,0.000,6,0.000,0.068,3341,2201,1673,0,0,0,0,0,0
$GC,13535,1.05,364.7,27.3,8.7,1385,13567,0.00,2.38,22.73,0.881,4,0.000,0.082,3341,3588,1570,0,0,0,0,0,0
$GC,13585,1.08,387.7,22.8,8.9,1394,13611,0.00,2.28,20.95,0.856,6,0.000,0.054,3350,2197,1477,0,0,0,0,0,0
$FREEZE,8.52,-0.163,-1.678,2,28,0
$FREEZE,8.22,-0.147,-1.677,2,28,0
$FREEZE,7.71,-0.162,-1.678,2,28,0
$FREEZE,7.37,-0.128,-1.676,2,28,0
$FREEZE,7.02,-0.116,-1.675,2,28,0
$FREEZE,6.58,-0.095,-1.674,2,28,0
$FREEZE,6.32,-0.088,-1.674,2,28,0
$FREEZE,5.97,-0.089,-1.673,2,28,0
$FREEZE,5.35,-0.094,-1.673,2,28,0
$FREEZE,4.85,-0.097,-1.673,2,28,0
$FREEZE,4.59,-0.118,-1.674,2,28,0
$FREEZE,4.05,-0.164,-1.677,2,28,0
$FREEZE,3.56,-0.181,-1.676,2,28,0
$FREEZE,3.01,-0.223,-1.677,2,28,0
$FREEZE,2.60,-0.224,-1.676,2,28,0
$STATE,13853,end climb,SURFACE_DEPTH_REACHED
$STATE,13853,begin surface coast
$FREEZE,2.24,-0.234,-1.676,2,28,0
$FREEZE,1.93,-0.338,-0.131,2,28,0
$FINISH,1.9,1.001726
$STATE,13865,end surface coast,FINISH_DEPTH_REACHED
$STATE,13865,begin surface
$RAFOS_CLK,612
$RAFOS,6,1277786942,4.833333,4.817222,114,109,46,46,44,42,804,805,1696,88,1716,592
$RAFOS,5,1277786467,4.700000,4.685278,65,62,45,44,43,43,909,906,1501,379,611,1747
$RAFOS,4,1277785983,4.566667,4.550833,100,99,46,42,39,39,692,693,181,379,104,1367
$RAFOS,3,1277785502,4.433333,4.417222,63,48,45,44,43,42,793,794,1798,1056,289,656
$RAFOS,2,1277785030,4.300000,4.286111,77,77,46,45,42,40,637,633,987,646,258,1845
$RAFOS,1,1277784546,4.166667,4.151667,107,103,48,46,46,43,515,516,640,307,1636,1445
$RAFOS,0,1277784064,4.033333,4.017778,115,114,53,50,46,43,648,647,1106,1251,924,1614
$RAFOS_FIX,6648.031250,-6005.142578,290610,040452,6,89,0.27
$IRIDIUM_FIX,6620.33,-6010.56,210999,232355
$TT8_MAMPS,0.026845
$HUMID,40.78
$INTERNAL_PRESSURE,10.1371
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$24V_AH,23.0,19.265
$10V_AH,10.2,10.721
$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,3.475,125.425,458.275,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2408.575,8512.868,547.990,2295.104,300.783,0.000,1784.704,0.000,2281.675,2520.000,13.197,0.000
$DEVICE_MAMPS,170.274,159.536,1244.841,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.212,1041.385,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135908
$DATA_FILE_SIZE,56729,1444
$CAP_FILE_SIZE,152535,0
$CFSIZE,260165632,239386624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,290610,042952,6648.031,-6005.143,0,6089.0,0,-38.2