version: 66.06
glider: 108
mission: 14
dive: 247
start: 7 27 110 2 0 36
data:
$ID,108
$MISSION,14
$DIVE,247
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,0
$D_SAFE,500
$D_CALL,0
$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,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,-181473.36
$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,36
$R_STBD_OVSHOOT,54
$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,5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,015331,6702.743,-5648.710,40,1.0,40,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-73.2
$GPS2,020014,6702.788,-5648.809,12,1.3,12,-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,295.1,162654,-18.1,-10.000
$D_GRID,547
$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,-146.1,0.0,0.0,0,79,0.00,0.00,-60.12,0.000,2,0.000,0.000,340,2288,2126,0,0,0,0,0,0
$GC,82,-0.78,-146.1,3.0,-0.4,12,176,9.95,2.10,-73.90,0.000,4,0.223,0.081,2931,3562,3656,0,0,0,0,0,0
$GC,228,-0.78,-146.1,10.4,-13.7,39,234,0.00,2.08,0.00,0.000,6,0.000,0.045,2931,2239,3659,0,0,0,0,0,0
$GC,572,-0.78,-146.1,51.7,-10.6,100,577,0.00,2.20,0.00,0.000,4,0.000,0.054,2931,837,3662,0,0,0,0,0,0
$GC,775,-0.78,-146.1,73.0,-9.8,136,781,0.00,2.25,0.00,0.000,6,0.000,0.057,2922,2234,3663,0,0,0,0,0,0
$GC,1122,-0.78,-146.1,106.8,-9.9,192,1125,0.00,2.20,0.00,0.000,4,0.000,0.054,2922,848,3664,0,0,0,0,0,0
$GC,1161,-0.78,-146.1,111.0,-10.5,195,1167,0.12,2.28,0.00,0.000,6,0.141,0.058,2949,2257,3664,0,0,0,0,0,0
$GC,1486,-0.78,-146.1,138.6,-8.4,226,1488,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2257,3664,0,0,0,0,0,0
$GC,1807,-0.78,-146.1,165.1,-8.6,256,1811,0.00,2.12,0.00,0.000,4,0.000,0.070,2941,3605,3663,0,0,0,0,0,0
$GC,1875,-0.78,-146.1,171.4,-9.0,262,1879,0.00,2.10,0.00,0.000,6,0.000,0.046,2941,2245,3662,0,0,0,0,0,0
$GC,2206,-0.78,-146.1,199.2,-7.8,293,2210,0.00,2.17,0.00,0.000,4,0.000,0.056,2941,847,3662,0,0,0,0,0,0
$GC,2246,-0.78,-146.1,202.6,-8.2,296,2251,0.00,2.28,0.00,0.000,6,0.000,0.059,2931,2261,3662,0,0,0,0,0,0
$GC,2571,-0.78,-146.1,229.2,-7.9,327,2574,0.00,2.12,0.00,0.000,4,0.000,0.071,2921,3604,3662,0,0,0,0,0,0
$GC,2662,-0.78,-146.1,237.5,-9.4,335,2665,0.00,2.10,0.00,0.000,6,0.000,0.046,2921,2241,3662,0,0,0,0,0,0
$GC,2992,-0.78,-146.1,268.5,-9.6,366,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2240,3662,0,0,0,0,0,0
$GC,3314,-0.78,-146.1,299.1,-9.6,396,3317,0.00,2.17,0.00,0.000,4,0.000,0.067,2912,3597,3661,0,0,0,0,0,0
$GC,3337,-0.78,-146.1,301.5,-9.5,398,3341,0.12,2.05,0.00,0.000,6,0.142,0.046,2948,2250,3661,0,0,0,0,0,0
$GC,3668,-0.78,-146.1,325.9,-7.0,429,3671,0.00,2.17,0.00,0.000,4,0.000,0.055,2948,849,3661,0,0,0,0,0,0
$GC,3714,-0.78,-146.1,329.4,-7.5,433,3718,0.00,2.25,0.00,0.000,6,0.000,0.058,2941,2249,3661,0,0,0,0,0,0
$GC,4039,-0.78,-146.1,353.6,-7.4,463,4043,0.00,2.12,0.00,0.000,4,0.000,0.070,2931,3596,3661,0,0,0,0,0,0
$GC,4098,-0.78,-146.1,358.4,-8.2,468,4102,0.00,2.08,0.00,0.000,6,0.000,0.046,2930,2248,3661,0,0,0,0,0,0
$GC,4429,-0.78,-146.1,385.4,-8.3,499,4434,0.00,2.17,0.00,0.000,4,0.000,0.056,2930,836,3661,0,0,0,0,0,0
$GC,4480,-0.78,-146.1,389.9,-8.2,503,4486,0.00,2.28,0.00,0.000,6,0.000,0.058,2922,2256,3661,0,0,0,0,0,0
$GC,4805,-0.78,-146.1,416.7,-8.1,534,4809,0.00,2.12,0.00,0.000,4,0.000,0.070,2911,3604,3661,0,0,0,0,0,0
$GC,4852,-0.78,-146.1,420.8,-8.7,538,4856,0.12,2.08,0.00,0.000,6,0.140,0.044,2948,2249,3661,0,0,0,0,0,0
$GC,5182,-0.78,-146.1,442.8,-6.7,569,5186,0.00,2.17,0.00,0.000,4,0.000,0.055,2948,846,3661,0,0,0,0,0,0
$GC,5240,-0.78,-146.1,446.8,-7.1,574,5244,0.00,2.25,0.00,0.000,6,0.000,0.058,2941,2248,3661,0,0,0,0,0,0
$GC,5565,-0.78,-146.1,470.1,-7.3,604,5569,0.00,2.12,0.00,0.000,4,0.000,0.070,2931,3595,3661,0,0,0,0,0,0
$GC,5624,-0.78,-146.1,474.5,-7.5,609,5627,0.00,2.08,0.00,0.000,6,0.000,0.046,2931,2246,3661,0,0,0,0,0,0
$GC,5959,-0.78,-146.1,500.3,-8.1,640,5962,0.00,2.17,0.00,0.000,4,0.000,0.056,2931,846,3661,0,0,0,0,0,0
$GC,6005,-0.78,-146.1,504.3,-8.4,644,6009,0.00,2.28,0.00,0.000,6,0.000,0.060,2922,2259,3661,0,0,0,0,0,0
$GC,6330,-0.78,-146.1,526.1,-0.1,674,6334,0.00,2.10,0.00,0.000,4,0.000,0.071,2917,3602,3661,0,0,0,0,0,0
$STATE,6441,end dive,NO_VERTICAL_VELOCITY
$STATE,6441,begin apogee
$GC,6450,-0.17,0.0,526.1,0.0,684,6571,0.43,0.00,117.82,1.159,6,0.084,0.000,3077,2194,3058,0,0,0,0,0,0
$STATE,6572,end apogee,CONTROL_FINISHED_OK
$STATE,6572,begin climb
$GC,6575,0.78,146.1,526.1,0.0,696,6705,0.60,2.58,120.68,1.093,4,0.080,0.065,3288,3601,2462,0,0,0,0,0,0
$GC,6745,0.79,155.6,517.5,9.6,712,6761,0.00,2.35,9.15,0.907,6,0.000,0.045,3298,2201,2423,0,0,0,0,0,0
$GC,7080,0.81,164.7,484.7,9.6,744,7095,0.00,2.33,8.65,0.927,4,0.000,0.056,3308,797,2387,0,0,0,0,0,0
$GC,7174,0.81,165.3,475.6,10.0,752,7181,0.10,2.35,0.00,0.000,6,0.165,0.058,3283,2213,2388,0,0,0,0,0,0
$GC,7499,0.84,192.7,447.3,8.7,783,7528,0.00,0.00,24.25,1.065,6,0.000,0.000,3283,2213,2271,0,0,0,0,0,0
$GC,7848,0.86,205.9,415.2,9.4,816,7868,0.00,2.38,11.52,0.983,4,0.000,0.055,3291,790,2218,0,0,0,0,0,0
$GC,7908,0.87,219.0,409.5,9.4,821,7927,0.00,2.33,12.30,0.982,6,0.000,0.058,3291,2202,2165,0,0,0,0,0,0
$GC,8253,0.87,219.0,375.2,10.2,854,8257,0.00,2.22,0.00,0.000,4,0.000,0.068,3291,3591,2163,0,0,0,0,0,0
$GC,8281,0.87,219.0,371.9,11.4,856,8285,0.00,2.20,0.00,0.000,6,0.000,0.046,3300,2185,2161,0,0,0,0,0,0
$GC,8606,0.87,219.0,335.8,10.8,886,8610,0.00,2.17,0.00,0.000,4,0.000,0.057,3311,790,2161,0,0,0,0,0,0
$GC,8668,0.87,219.0,328.6,11.4,891,8673,0.00,2.25,0.00,0.000,6,0.000,0.058,3310,2197,2161,0,0,0,0,0,0
$GC,8998,0.87,219.0,289.4,11.5,922,9002,0.00,2.22,0.00,0.000,4,0.000,0.068,3310,3601,2161,0,0,0,0,0,0
$GC,9030,0.87,219.0,285.2,13.0,924,9036,0.00,2.17,0.00,0.000,6,0.000,0.046,3321,2199,2161,0,0,0,0,0,0
$GC,9355,0.87,219.0,246.3,11.3,955,9359,0.00,2.20,0.00,0.000,4,0.000,0.056,3331,787,2161,0,0,0,0,0,0
$GC,9406,0.87,219.0,240.4,11.2,959,9412,0.12,2.30,0.00,0.000,6,0.162,0.058,3297,2216,2161,0,0,0,0,0,0
$GC,9731,0.89,233.7,209.9,9.3,990,9751,0.00,2.25,12.32,0.897,4,0.000,0.069,3297,3594,2105,0,0,0,0,0,0
$GC,9775,0.89,233.7,205.5,10.7,994,9779,0.00,2.17,0.00,0.000,6,0.000,0.046,3304,2198,2104,0,0,0,0,0,0
$GC,10100,0.90,239.4,173.2,9.7,1024,10112,0.00,2.15,6.38,0.760,4,0.000,0.054,3315,797,2082,0,0,0,0,0,0
$GC,10185,0.90,239.4,164.5,10.2,1031,10191,0.00,2.28,0.00,0.000,6,0.000,0.058,3315,2199,2082,0,0,0,0,0,0
$GC,10510,0.90,239.4,132.6,10.3,1062,10514,0.00,2.22,0.00,0.000,4,0.000,0.054,3323,787,2082,0,0,0,0,0,0
$GC,10532,0.92,256.6,130.4,9.2,1063,10553,0.00,2.30,15.43,0.867,6,0.000,0.057,3323,2209,2011,0,0,0,0,0,0
$GC,10876,0.92,256.6,93.3,10.4,1100,10881,0.00,0.00,0.00,0.000,6,0.000,0.000,3323,2209,2010,0,0,0,0,0,0
$GC,11219,0.97,296.0,61.1,8.2,1161,11260,0.00,2.28,32.83,0.860,4,0.000,0.070,3323,3589,1850,0,0,0,0,0,0
$GC,11325,0.97,296.0,51.0,10.6,1180,11331,0.00,2.20,0.00,0.000,6,0.000,0.046,3333,2196,1847,0,0,0,0,0,0
$GC,11674,0.98,306.2,19.7,9.5,1241,11690,0.00,2.25,8.40,0.736,4,0.000,0.057,3342,800,1809,0,0,0,0,0,0
$FREEZE,8.72,6.857,-1.803,0,1,0
$FREEZE,8.30,6.865,-1.803,0,1,0
$FREEZE,7.86,6.892,-1.803,0,1,0
$FREEZE,7.46,6.927,-1.801,0,1,0
$FREEZE,6.93,6.916,-1.802,0,1,0
$FREEZE,6.51,6.909,-1.802,0,1,0
$FREEZE,6.18,6.950,-1.801,0,1,0
$FREEZE,5.64,6.960,-1.800,0,1,0
$FREEZE,5.19,6.969,-1.799,0,1,0
$FREEZE,4.67,6.975,-1.799,0,1,0
$FREEZE,4.22,6.964,-1.798,0,1,0
$FREEZE,3.78,6.969,-1.797,0,1,0
$GC,11856,1.03,349.5,5.2,8.0,1273,11876,0.00,2.30,15.23,0.786,2,0.000,0.059,3341,2209,1740,0,0,0,0,0,0
$STATE,11877,end climb,SURFACE_DEPTH_REACHED
$STATE,11877,begin surface coast
$FREEZE,3.01,6.973,-1.797,0,1,0
$FREEZE,2.53,6.974,-1.797,0,1,0
$FREEZE,2.23,6.971,-1.797,0,1,0
$FREEZE,2.01,6.648,-0.908,0,1,0
$FREEZE,1.93,6.511,-0.203,0,1,0
$FREEZE,2.02,6.529,-0.798,0,1,0
$FREEZE,2.07,6.713,-0.850,0,1,0
$FREEZE,1.93,6.866,-0.777,0,1,0
$FREEZE,1.97,6.486,-0.823,0,1,0
$FREEZE,2.02,6.636,-0.090,0,1,0
$FREEZE,1.94,6.442,-0.850,0,1,0
$FINISH,1.9,1.012297
$STATE,11940,end surface coast,CONTROL_FINISHED_OK
$STATE,11940,begin surface
$SM_CCo,11959,223.73,0.775,0,0,587,605.89
$SM_GC,2.89,0.00,0.00,223.73,0.000,0.000,0.775,337,2250,587,-12.77,0.00,605.89
$RAFOS_CLK,455
$RAFOS,6,1280206145,4.833333,4.818056,132,97,43,42,42,41,824,824,878,509,1492,1385
$RAFOS,5,1280205668,4.700000,4.685555,95,77,41,40,40,38,630,631,1760,154,1633,842
$RAFOS,4,1280205187,4.566667,4.551944,102,95,44,43,43,41,864,865,597,287,1709,669
$RAFOS,3,1280204707,4.433333,4.418611,111,86,53,48,41,39,979,980,61,1120,1431,1804
$RAFOS,2,1280204223,4.300000,4.284167,113,97,44,41,39,39,1078,1079,469,609,1484,1573
$RAFOS,1,1280203743,4.166667,4.150833,123,118,48,44,43,41,1055,1054,594,849,333,943
$RAFOS,0,1280203267,4.033333,4.018611,76,72,50,44,43,41,1161,1158,220,501,1485,1674
$RAFOS_FIX,6704.923340,-5654.942871,270710,040411,7,107,0.67
$IRIDIUM_FIX,6631.12,-5653.72,201099,222219
$TT8_MAMPS,0.026845
$HUMID,40.70
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,17.20
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,23.1,40.935
$10V_AH,10.1,22.857
$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,19.600,119.375,394.950,223.725,0.000,23.974,35.174,192.054,6.500,0.000,14.324,2155.874,7041.380,742.472,2082.812,578.688,0.000,1847.055,0.000,2046.067,2520.000,14.034,0.000
$DEVICE_MAMPS,223.197,164.905,1158.937,774.670,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,927.551,903.669,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135656
$DATA_FILE_SIZE,50457,1287
$CAP_FILE_SIZE,143978,0
$CFSIZE,260165632,227921920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,270710,052531,6703.486,-5652.772,36,1.5,36,-37.6