version: 66.06
glider: 108
mission: 14
dive: 149
start: 7 6 110 20 59 52
data:
$ID,108
$MISSION,14
$DIVE,149
$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,-180516.73
$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,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
$GPS1,204237,6701.144,-5706.863,25,1.7,25,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.92
$_SM_ANGLEo,-76.3
$GPS2,205934,6701.187,-5706.984,13,2.1,32,-37.6
$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,113.8,14115,-18.1,-10.000
$D_GRID,728
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-0.78,-146.1,0.0,0.0,0,40,0.00,0.00,-19.60,0.000,2,0.000,0.000,339,2253,2298,0,0,0,0,0,0
$GC,44,-0.78,-146.1,3.0,-0.6,4,136,10.18,2.35,-72.57,0.000,4,0.235,0.074,2942,848,3657,0,0,0,0,0,0
$GC,145,-0.78,-146.1,1.9,0.5,23,151,0.00,2.35,0.00,0.000,6,0.000,0.063,2942,2258,3658,0,0,0,0,0,0
$GC,489,-0.78,-146.1,34.0,-9.9,84,494,0.00,2.28,0.00,0.000,4,0.000,0.059,2942,841,3660,0,0,0,0,0,0
$GC,507,-0.78,-146.1,35.8,-10.4,87,512,0.00,2.33,0.00,0.000,6,0.000,0.064,2933,2248,3660,0,0,0,0,0,0
$GC,852,-0.78,-146.1,70.0,-9.7,148,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2248,3662,0,0,0,0,0,0
$GC,1198,-0.78,-146.1,104.6,-10.5,206,1202,0.00,2.17,0.00,0.000,4,0.000,0.075,2923,3598,3663,0,0,0,0,0,0
$GC,1220,-0.78,-146.1,107.1,-10.9,207,1226,0.00,2.15,0.00,0.000,6,0.000,0.051,2923,2239,3662,0,0,0,0,0,0
$GC,1545,-0.78,-146.1,141.4,-10.4,238,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2238,3663,0,0,0,0,0,0
$GC,1866,-0.78,-146.1,172.9,-9.5,268,1870,0.00,2.20,0.00,0.000,4,0.000,0.064,2924,837,3663,0,0,0,0,0,0
$GC,1906,-0.78,-146.1,177.0,-9.6,271,1911,0.10,2.33,0.00,0.000,6,0.162,0.067,2941,2256,3663,0,0,0,0,0,0
$GC,2232,-0.78,-146.1,203.7,-7.7,301,2236,0.00,2.17,0.00,0.000,4,0.000,0.079,2932,3604,3662,0,0,0,0,0,0
$GC,2265,-0.78,-146.1,206.5,-8.7,303,2271,0.00,2.12,0.00,0.000,6,0.000,0.052,2932,2250,3662,0,0,0,0,0,0
$GC,2590,-0.78,-146.1,231.5,-7.7,334,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2249,3661,0,0,0,0,0,0
$GC,2911,-0.78,-146.1,256.6,-7.9,364,2912,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2249,3661,0,0,0,0,0,0
$GC,3230,-0.78,-146.1,282.0,-7.7,394,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2249,3661,0,0,0,0,0,0
$GC,3557,-0.78,-146.1,306.9,-7.8,425,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2249,3660,0,0,0,0,0,0
$GC,3876,-0.78,-146.1,329.9,-6.9,455,3880,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2250,3660,0,0,0,0,0,0
$GC,4203,-0.78,-146.1,352.3,-7.1,486,4208,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2249,3660,0,0,0,0,0,0
$GC,4531,-0.78,-146.1,375.0,-6.9,517,4535,0.00,2.22,0.00,0.000,4,0.000,0.065,2932,837,3659,0,0,0,0,0,0
$GC,4553,-0.78,-146.1,376.9,-7.1,518,4559,0.00,2.28,0.00,0.000,6,0.000,0.067,2923,2249,3659,0,0,0,0,0,0
$GC,4878,-0.78,-146.1,400.9,-7.6,549,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2249,3659,0,0,0,0,0,0
$GC,5200,-0.78,-146.1,425.0,-7.5,579,5203,0.00,2.15,0.00,0.000,4,0.000,0.078,2913,3607,3659,0,0,0,0,0,0
$GC,5246,-0.78,-146.1,428.9,-8.4,583,5250,0.10,2.10,0.00,0.000,6,0.162,0.052,2940,2249,3659,0,0,0,0,0,0
$GC,5571,-0.78,-146.1,450.7,-6.4,613,5573,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2248,3659,0,0,0,0,0,0
$GC,5892,-0.78,-146.1,471.5,-6.2,643,5896,0.00,2.20,0.00,0.000,4,0.000,0.064,2940,844,3659,0,0,0,0,0,0
$GC,5914,-0.78,-146.1,473.2,-6.7,644,5919,0.00,2.30,0.00,0.000,6,0.000,0.067,2933,2261,3659,0,0,0,0,0,0
$GC,6239,-0.78,-146.1,495.4,-6.7,675,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2261,3659,0,0,0,0,0,0
$GC,6560,-0.78,-146.1,517.3,-7.0,705,6565,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2261,3659,0,0,0,0,0,0
$GC,6888,-0.78,-146.1,540.3,-7.0,736,6892,0.00,2.12,0.00,0.000,4,0.000,0.077,2923,3596,3658,0,0,0,0,0,0
$GC,6917,-0.78,-146.1,542.5,-7.8,738,6921,0.00,2.10,0.00,0.000,6,0.000,0.052,2923,2249,3659,0,0,0,0,0,0
$GC,7242,-0.78,-146.1,566.9,-7.3,768,7243,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2249,3659,0,0,0,0,0,0
$GC,7563,-0.78,-146.1,590.7,-7.6,798,7567,0.00,2.20,0.00,0.000,4,0.000,0.064,2923,832,3659,0,0,0,0,0,0
$GC,7580,-0.78,-146.1,592.3,-7.8,799,7585,0.10,2.30,0.00,0.000,6,0.161,0.066,2942,2250,3659,0,0,0,0,0,0
$GC,7920,-0.78,-146.1,613.8,-6.4,817,7921,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2250,3659,0,0,0,0,0,0
$GC,8225,-0.78,-146.1,633.1,-6.3,827,8229,0.00,2.15,0.00,0.000,4,0.000,0.077,2934,3597,3658,0,0,0,0,0,0
$GC,8247,-0.78,-146.1,634.7,-6.8,827,8251,0.00,2.10,0.00,0.000,6,0.000,0.051,2934,2248,3658,0,0,0,0,0,0
$GC,8559,-0.78,-146.1,656.2,-6.9,837,8561,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2248,3658,0,0,0,0,0,0
$GC,8866,-0.78,-146.1,677.2,-6.9,847,8867,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2248,3658,0,0,0,0,0,0
$GC,9172,-0.78,-146.1,698.0,-6.6,857,9176,0.00,2.17,0.00,0.000,4,0.000,0.064,2934,844,3658,0,0,0,0,0,0
$GC,9182,-0.78,-146.1,698.7,-6.6,857,9186,0.00,2.28,0.00,0.000,6,0.000,0.066,2925,2252,3658,0,0,0,0,0,0
$STATE,9500,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,9500,begin apogee
$GC,9507,-0.17,0.0,720.6,6.9,868,9633,0.47,0.00,122.97,1.324,6,0.124,0.000,3079,2181,3058,0,0,0,0,0,0
$STATE,9634,end apogee,CONTROL_FINISHED_OK
$STATE,9634,begin climb
$GC,9637,0.78,146.1,723.3,0.0,872,9767,0.60,0.00,126.07,1.248,6,0.078,0.000,3288,2180,2462,0,0,0,0,0,0
$GC,10067,0.78,146.1,684.1,10.4,886,10071,0.00,2.28,0.00,0.000,4,0.000,0.064,3299,814,2457,0,0,0,0,0,0
$GC,10117,0.78,146.1,678.5,10.7,887,10121,0.00,2.38,0.00,0.000,6,0.000,0.064,3298,2212,2457,0,0,0,0,0,0
$GC,10441,0.78,146.1,643.1,11.0,898,10445,0.00,2.25,0.00,0.000,4,0.000,0.074,3298,3595,2456,0,0,0,0,0,0
$GC,10474,0.78,146.1,638.8,12.9,899,10479,0.10,2.22,0.00,0.000,6,0.184,0.050,3284,2209,2455,0,0,0,0,0,0
$GC,10803,0.78,146.1,605.5,10.0,910,10807,0.00,2.25,0.00,0.000,4,0.000,0.061,3293,790,2455,0,0,0,0,0,0
$GC,10898,0.78,146.1,596.0,10.2,915,10903,0.00,2.33,0.00,0.000,6,0.000,0.061,3293,2205,2455,0,0,0,0,0,0
$GC,11224,0.79,148.4,563.1,9.9,945,11225,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2205,2455,0,0,0,0,0,0
$GC,11542,0.79,152.5,530.9,9.8,975,11551,0.00,0.00,5.43,0.918,6,0.000,0.000,3293,2205,2436,0,0,0,0,0,0
$GC,11871,0.79,152.5,496.5,10.4,1006,11872,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2205,2436,0,0,0,0,0,0
$GC,12191,0.79,152.5,463.6,10.4,1036,12192,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2205,2436,0,0,0,0,0,0
$GC,12507,0.79,152.5,430.6,10.0,1066,12511,0.00,2.28,0.00,0.000,4,0.000,0.060,3302,787,2436,0,0,0,0,0,0
$GC,12552,0.80,161.9,426.0,9.6,1069,12568,0.00,2.30,9.27,1.024,6,0.000,0.062,3302,2201,2398,0,0,0,0,0,0
$GC,12887,0.80,161.9,391.2,10.3,1101,12888,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2201,2398,0,0,0,0,0,0
$GC,13206,0.80,161.9,357.8,10.5,1131,13207,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2201,2397,0,0,0,0,0,0
$GC,13527,0.80,161.9,323.2,10.5,1161,13528,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2201,2397,0,0,0,0,0,0
$GC,13843,0.80,161.9,289.9,11.2,1191,13847,0.00,2.25,0.00,0.000,4,0.000,0.059,3312,794,2396,0,0,0,0,0,0
$GC,13893,0.80,161.9,284.6,10.9,1195,13898,0.10,2.30,0.00,0.000,6,0.173,0.061,3286,2215,2396,0,0,0,0,0,0
$GC,14219,0.81,165.3,253.1,9.8,1225,14230,0.00,2.22,4.22,0.703,4,0.000,0.073,3286,3585,2384,0,0,0,0,0,0
$GC,14269,0.81,165.3,247.5,11.6,1229,14275,0.00,2.17,0.00,0.000,6,0.000,0.050,3293,2196,2384,0,0,0,0,0,0
$GC,14595,0.81,168.1,214.8,9.9,1260,14606,0.00,2.22,4.45,0.706,4,0.000,0.061,3304,789,2372,0,0,0,0,0,0
$GC,14652,0.83,187.4,209.0,9.1,1265,14676,0.00,2.28,17.12,0.956,6,0.000,0.061,3304,2201,2293,0,0,0,0,0,0
$GC,15002,0.84,190.0,172.4,9.9,1298,15003,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2201,2291,0,0,0,0,0,0
$GC,15324,0.85,198.3,141.8,9.6,1328,15340,0.00,0.00,10.12,0.865,6,0.000,0.000,3304,2201,2249,0,0,0,0,0,0
$GC,15660,0.88,228.0,109.5,8.6,1360,15691,0.00,2.33,25.23,0.917,4,0.000,0.058,3312,794,2128,0,0,0,0,0,0
$GC,15720,0.90,241.1,104.0,9.4,1365,15739,0.00,2.35,12.32,0.847,6,0.000,0.062,3312,2205,2075,0,0,0,0,0,0
$GC,16078,0.91,251.3,68.6,9.5,1425,16089,0.00,0.00,9.05,0.811,6,0.000,0.000,3312,2205,2033,0,0,0,0,0,0
$GC,16430,0.93,266.0,34.0,9.3,1487,16451,0.00,2.35,13.07,0.843,4,0.000,0.061,3320,801,1973,0,0,0,0,0,0
$GC,16480,0.98,310.4,29.3,8.0,1496,16526,0.00,2.30,38.65,0.867,6,0.000,0.064,3321,2200,1791,0,0,0,0,0,0
$FREEZE,8.81,5.957,-1.845,0,1,0
$FREEZE,8.22,6.003,-1.844,0,1,0
$FREEZE,7.66,6.036,-1.843,0,1,0
$FREEZE,7.06,6.006,-1.843,0,1,0
$STATE,16700,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,16700,begin subsurface finish
$FINISH1,7.1,1.026384,30
$GC,16709,0.04,30.2,7.1,-10.9,1536,16756,0.60,2.30,-39.25,0.000,4,0.117,0.091,3120,3603,2937,0,0,0,0,0,0
$FINISH2,5.3
$STATE,16756,end subsurface finish,CONTROL_FINISHED_OK
$STATE,16756,begin surface
$RAFOS_CLK,691
$RAFOS,6,1278463747,0.833333,0.818611,89,83,46,42,42,39,801,800,1203,1876,142,515
$RAFOS,5,1278463269,0.700000,0.685833,94,84,43,41,41,38,603,604,1317,1662,188,1533
$RAFOS,4,1278462791,0.566667,0.553056,76,69,44,44,42,42,816,817,233,1519,1387,566
$RAFOS,3,1278462306,0.433333,0.418333,85,65,51,45,44,42,962,963,1239,1656,335,1303
$RAFOS,2,1278461828,0.300000,0.285556,110,89,44,43,43,40,1020,1021,1442,1425,1459,315
$RAFOS,1,1278461351,0.166667,0.153056,60,55,48,44,42,42,985,986,1734,286,312,345
$RAFOS,0,1278460866,0.033333,0.018333,43,43,43,43,42,42,797,932,1138,1481,229,1082
$RAFOS,4,1278448383,20.566668,20.550833,57,45,43,41,41,41,854,514,861,505,1767,1784
$RAFOS_FIX,6701.644043,-5706.761719,070710,000017,6,86,0.07
$IRIDIUM_FIX,6631.12,-5716.55,300999,151559
$TT8_MAMPS,0.026845
$HUMID,42.32
$INTERNAL_PRESSURE,10.3617
$TCM_TEMP,16.70
$XPDR_PINGS,11
$ALTIM_TOP_PING,19.3,16.7
$ALTIM_BOTTOM_PING,652.0,83.4
$24V_AH,22.9,24.858
$10V_AH,10.1,13.947
$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,12.350,96.575,398.000,0.000,0.000,30.326,74.308,601.025,5.250,0.000,34.338,2513.781,11069.472,547.435,2397.678,1233.135,0.000,1770.073,0.000,2353.301,2520.000,19.615,0.000
$DEVICE_MAMPS,234.702,94.341,1323.842,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1113.136,1121.400,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135752
$DATA_FILE_SIZE,59854,1545
$CAP_FILE_SIZE,171852,0
$CFSIZE,260165632,236339200
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.1
$GPS,070710,003117,6701.644,-5706.762,0,6085.7,0,-37.6