version: 66.06
glider: 108
mission: 14
dive: 248
start: 7 27 110 5 32 24
data:
$ID,108
$MISSION,14
$DIVE,248
$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,-181488.17
$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,24
$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
$GPS1,052531,6703.486,-5652.772,36,1.5,36,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-74.0
$GPS2,053202,6703.466,-5652.677,12,1.5,12,-37.6
$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,294.6,160168,-18.1,-10.000
$D_GRID,553
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,83,0.00,0.00,-64.55,0.000,2,0.000,0.000,336,2253,2232,0,0,0,0,0,0
$GC,87,-0.78,-146.1,3.1,-0.8,13,169,10.18,2.28,-64.88,0.000,4,0.232,0.065,2934,834,3655,0,0,0,0,0,0
$GC,178,-0.78,-146.1,5.6,-9.2,30,183,0.00,2.33,0.00,0.000,6,0.000,0.057,2927,2251,3657,0,0,0,0,0,0
$GC,521,-0.78,-146.1,46.2,-10.1,91,527,0.00,2.15,0.00,0.000,4,0.000,0.067,2916,3602,3661,0,0,0,0,0,0
$GC,764,-0.78,-146.1,75.3,-13.0,134,770,0.10,2.10,0.00,0.000,6,0.160,0.044,2944,2247,3662,0,0,0,0,0,0
$GC,1104,-0.78,-146.1,108.7,-8.3,186,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2245,3663,0,0,0,0,0,0
$GC,1424,-0.78,-146.1,135.3,-8.7,216,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2245,3663,0,0,0,0,0,0
$GC,1742,-0.78,-146.1,161.2,-8.5,246,1746,0.00,2.20,0.00,0.000,4,0.000,0.056,2944,836,3663,0,0,0,0,0,0
$GC,1770,-0.78,-146.1,163.7,-8.6,248,1776,0.00,2.30,0.00,0.000,6,0.000,0.058,2936,2264,3662,0,0,0,0,0,0
$GC,2096,-0.78,-146.1,193.6,-9.7,279,2100,0.00,2.10,0.00,0.000,4,0.000,0.069,2926,3593,3662,0,0,0,0,0,0
$GC,2153,-0.78,-146.1,199.4,-10.1,284,2157,0.00,2.10,0.00,0.000,6,0.000,0.047,2926,2234,3662,0,0,0,0,0,0
$GC,2484,-0.78,-146.1,230.9,-8.9,315,2488,0.00,2.17,0.00,0.000,4,0.000,0.057,2926,834,3661,0,0,0,0,0,0
$GC,2518,-0.78,-146.1,234.1,-9.5,318,2523,0.10,2.30,0.00,0.000,6,0.150,0.059,2946,2263,3661,0,0,0,0,0,0
$GC,2843,-0.78,-146.1,258.4,-7.2,348,2847,0.00,2.10,0.00,0.000,4,0.000,0.070,2938,3593,3661,0,0,0,0,0,0
$GC,2894,-0.78,-146.1,262.5,-8.2,352,2899,0.00,2.08,0.00,0.000,6,0.000,0.046,2938,2247,3661,0,0,0,0,0,0
$GC,3219,-0.78,-146.1,288.0,-8.0,383,3222,0.00,2.17,0.00,0.000,4,0.000,0.056,2938,847,3661,0,0,0,0,0,0
$GC,3258,-0.78,-146.1,291.5,-8.6,386,3264,0.00,2.25,0.00,0.000,6,0.000,0.058,2928,2248,3661,0,0,0,0,0,0
$GC,3584,-0.78,-146.1,320.2,-8.7,417,3587,0.00,2.12,0.00,0.000,4,0.000,0.069,2918,3597,3661,0,0,0,0,0,0
$GC,3630,-0.78,-146.1,324.5,-8.9,421,3635,0.10,2.08,0.00,0.000,6,0.151,0.046,2946,2248,3661,0,0,0,0,0,0
$GC,3962,-0.78,-146.1,350.2,-7.5,452,3965,0.00,2.17,0.00,0.000,4,0.000,0.056,2946,849,3660,0,0,0,0,0,0
$GC,3997,-0.78,-146.1,353.0,-8.2,455,4001,0.00,2.25,0.00,0.000,6,0.000,0.058,2939,2251,3661,0,0,0,0,0,0
$GC,4322,-0.78,-146.1,377.6,-7.3,485,4326,0.00,2.12,0.00,0.000,4,0.000,0.069,2929,3599,3661,0,0,0,0,0,0
$GC,4392,-0.78,-146.1,383.1,-7.8,491,4396,0.00,2.08,0.00,0.000,6,0.000,0.046,2929,2251,3660,0,0,0,0,0,0
$GC,4722,-0.78,-146.1,409.3,-7.7,522,4726,0.00,2.22,0.00,0.000,4,0.000,0.056,2929,835,3660,0,0,0,0,0,0
$GC,4773,-0.78,-146.1,413.3,-7.3,526,4779,0.10,2.28,0.00,0.000,6,0.150,0.058,2949,2251,3660,0,0,0,0,0,0
$GC,5099,-0.78,-146.1,432.6,-5.6,557,5102,0.00,2.12,0.00,0.000,4,0.000,0.069,2941,3599,3660,0,0,0,0,0,0
$GC,5150,-0.78,-146.1,435.8,-6.4,561,5155,0.00,2.08,0.00,0.000,6,0.000,0.045,2941,2247,3660,0,0,0,0,0,0
$GC,5475,-0.78,-146.1,456.9,-7.2,592,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2247,3661,0,0,0,0,0,0
$GC,5796,-0.78,-146.1,480.4,-7.5,622,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2247,3661,0,0,0,0,0,0
$GC,6121,-0.78,-146.1,504.7,-7.4,653,6123,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2247,3661,0,0,0,0,0,0
$GC,6443,-0.78,-146.1,527.5,-7.0,683,6448,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2246,3660,0,0,0,0,0,0
$STATE,6746,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6746,begin apogee
$GC,6754,-0.17,0.0,549.6,7.1,712,6875,0.40,0.00,118.12,1.177,6,0.111,0.000,3078,2202,3058,0,0,0,0,0,0
$STATE,6876,end apogee,CONTROL_FINISHED_OK
$STATE,6876,begin climb
$GC,6879,0.78,146.1,553.9,0.0,724,7014,0.57,2.55,121.10,1.111,4,0.071,0.064,3285,3592,2461,0,0,0,0,0,0
$GC,7042,0.81,168.9,546.1,9.0,739,7069,0.00,2.35,20.52,1.026,6,0.000,0.044,3295,2197,2369,0,0,0,0,0,0
$GC,7388,0.84,189.3,514.8,9.1,772,7413,0.00,2.38,17.50,1.045,4,0.000,0.056,3305,789,2286,0,0,0,0,0,0
$GC,7476,0.84,189.3,506.5,10.1,780,7481,0.00,2.38,0.00,0.000,6,0.000,0.058,3305,2206,2287,0,0,0,0,0,0
$GC,7801,0.84,189.3,473.1,10.4,810,7802,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2206,2285,0,0,0,0,0,0
$GC,8122,0.84,189.3,439.3,11.1,840,8126,0.00,2.20,0.00,0.000,4,0.000,0.068,3305,3596,2284,0,0,0,0,0,0
$GC,8150,0.84,189.3,435.9,11.9,842,8155,0.00,2.20,0.00,0.000,6,0.000,0.046,3315,2185,2283,0,0,0,0,0,0
$GC,8475,0.84,189.3,396.4,12.1,872,8479,0.00,2.20,0.00,0.000,4,0.000,0.056,3325,786,2282,0,0,0,0,0,0
$GC,8565,0.84,189.3,385.6,12.1,879,8571,0.12,2.30,0.00,0.000,6,0.164,0.058,3292,2206,2283,0,0,0,0,0,0
$GC,8890,0.84,194.6,352.0,9.8,910,8899,0.00,0.00,5.03,0.785,6,0.000,0.000,3292,2205,2264,0,0,0,0,0,0
$GC,9219,0.85,204.3,320.1,9.6,941,9230,0.00,0.00,9.30,0.926,6,0.000,0.000,3292,2205,2225,0,0,0,0,0,0
$GC,9547,0.85,204.3,284.7,11.0,972,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2205,2225,0,0,0,0,0,0
$GC,9866,0.85,204.3,250.4,10.6,1002,9870,0.00,2.25,0.00,0.000,4,0.000,0.054,3296,794,2225,0,0,0,0,0,0
$GC,9905,0.85,204.3,246.3,10.6,1005,9909,0.00,2.28,0.00,0.000,6,0.000,0.058,3296,2201,2225,0,0,0,0,0,0
$GC,10230,0.85,204.3,210.5,10.4,1035,10234,0.00,2.20,0.00,0.000,4,0.000,0.067,3296,3596,2226,0,0,0,0,0,0
$GC,10258,0.85,204.3,207.2,12.1,1037,10262,0.00,2.15,0.00,0.000,6,0.000,0.045,3305,2202,2225,0,0,0,0,0,0
$GC,10588,0.85,204.3,169.2,11.2,1068,10592,0.00,2.17,0.00,0.000,4,0.000,0.055,3316,793,2226,0,0,0,0,0,0
$GC,10665,0.85,204.3,159.8,12.4,1074,10671,0.00,2.28,0.00,0.000,6,0.000,0.057,3316,2208,2226,0,0,0,0,0,0
$GC,10990,0.85,204.3,122.9,10.9,1105,10994,0.00,2.20,0.00,0.000,4,0.000,0.068,3316,3604,2226,0,0,0,0,0,0
$GC,11064,0.85,204.3,113.9,12.5,1111,11068,0.12,2.17,0.00,0.000,6,0.166,0.047,3291,2190,2226,0,0,0,0,0,0
$GC,11398,0.91,249.7,85.0,7.9,1158,11444,0.00,2.28,37.60,0.881,4,0.000,0.056,3293,797,2039,0,0,0,0,0,0
$GC,11481,0.97,299.9,79.1,7.7,1173,11528,0.10,2.30,41.40,0.848,6,0.105,0.057,3345,2203,1835,0,0,0,0,0,0
$GC,11866,0.97,299.9,37.0,11.1,1242,11872,0.10,2.28,0.00,0.000,4,0.173,0.054,3327,795,1825,0,0,0,0,0,0
$GC,11952,1.02,335.6,29.3,8.4,1257,11988,0.00,2.30,28.85,0.817,6,0.000,0.058,3327,2204,1688,0,0,0,0,0,0
$FREEZE,8.61,7.179,-1.806,0,1,0
$FREEZE,8.19,7.181,-1.806,0,1,0
$FREEZE,7.80,7.179,-1.806,0,1,0
$FREEZE,7.40,7.189,-1.805,0,1,0
$FREEZE,6.98,7.195,-1.805,0,1,0
$FREEZE,6.52,7.202,-1.804,0,1,0
$FREEZE,6.18,7.205,-1.803,0,1,0
$FREEZE,5.71,7.206,-1.803,0,1,0
$FREEZE,5.30,7.205,-1.802,0,1,0
$FREEZE,4.93,7.205,-1.802,0,1,0
$FREEZE,4.43,7.203,-1.801,0,1,0
$FREEZE,3.99,7.203,-1.801,0,1,0
$STATE,12269,end climb,SURFACE_DEPTH_REACHED
$STATE,12269,begin surface coast
$FREEZE,3.56,7.206,-1.801,0,1,0
$FREEZE,3.09,7.204,-1.801,0,1,0
$FREEZE,2.72,7.202,-1.800,0,1,0
$FREEZE,2.23,7.202,-1.800,0,1,0
$FREEZE,1.97,7.148,-0.906,0,1,0
$FREEZE,2.03,6.975,-0.748,0,1,0
$FREEZE,1.95,6.798,-0.273,0,1,0
$FREEZE,1.92,6.878,-0.146,0,1,0
$FREEZE,1.93,6.844,-0.118,0,1,0
$FREEZE,1.96,6.875,-1.799,0,1,0
$FREEZE,2.00,6.989,-1.809,0,1,0
$FINISH,2.0,1.025839
$STATE,12333,end surface coast,CONTROL_FINISHED_OK
$STATE,12333,begin surface
$SM_CCo,12352,212.52,0.780,0,0,587,605.89
$SM_GC,2.85,0.00,0.00,212.52,0.000,0.000,0.780,337,2259,587,-12.77,0.25,605.89
$RAFOS_CLK,470
$RAFOS,6,1280220546,8.833333,8.818334,128,124,40,39,38,38,823,824,455,388,101,1330
$RAFOS,5,1280220067,8.700000,8.685278,52,43,42,41,41,40,965,102,836,1467,1903,582
$RAFOS,4,1280219583,8.566667,8.550834,84,74,46,43,41,37,882,883,1008,1349,1733,560
$RAFOS,3,1280219106,8.433333,8.418333,123,102,49,47,38,36,983,982,1106,1422,102,1810
$RAFOS,2,1280218624,8.300000,8.284445,90,81,44,43,42,41,1061,1062,1388,876,1619,1595
$RAFOS,1,1280218151,8.166667,8.153055,99,84,45,43,43,41,1006,1007,187,228,1770,1269
$RAFOS,0,1280217663,8.033334,8.017500,93,92,48,45,42,41,1171,1172,187,286,1828,1574
$RAFOS_FIX,6704.190918,-5656.987305,270710,080853,6,103,0.33
$IRIDIUM_FIX,6631.12,-5650.71,211099,020238
$TT8_MAMPS,0.026845
$HUMID,41.25
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,17.20
$XPDR_PINGS,14
$ALTIM_TOP_PING,19.8,999.0
$ALTIM_BOTTOM_PING,500.8,63.1
$24V_AH,23.1,41.113
$10V_AH,10.1,22.934
$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,19.950,97.650,399.425,212.525,0.000,29.223,31.373,179.534,5.250,0.000,14.195,2172.340,7424.739,716.090,2074.174,581.762,0.000,1810.050,0.000,2051.594,2520.000,14.469,0.000
$DEVICE_MAMPS,232.401,228.566,1176.578,780.039,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.147,935.850,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135708
$DATA_FILE_SIZE,53553,1325
$CAP_FILE_SIZE,140112,0
$CFSIZE,260165632,227844096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.8
$GPS,270710,090337,6702.637,-5654.359,35,0.9,35,-37.6