version: 66.06
glider: 108
mission: 14
dive: 41
start: 6 14 110 3 8 11
data:
$ID,108
$MISSION,14
$DIVE,41
$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,0
$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,-179564.53
$T_RSLEEP,3
$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,37
$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,1.8
$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
$GPS1,025925,6704.160,-5653.796,37,1.8,37,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.28
$_SM_ANGLEo,-72.6
$GPS2,030749,6704.198,-5654.015,13,0.9,13,-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,154.7,4878,-18.1,-10.000
$D_GRID,515
$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,-146.1,0.0,0.0,0,129,0.00,0.00,-109.93,0.000,2,0.000,0.000,333,2252,3195,0,0,0,0,0,0
$GC,135,-0.78,-146.1,3.0,-1.0,22,166,10.32,2.22,-14.65,0.000,4,0.242,0.085,2928,3604,3657,0,0,0,0,0,0
$GC,174,-0.78,-146.1,7.3,-9.5,29,179,0.00,2.15,0.00,0.000,6,0.000,0.047,2928,2247,3659,0,0,0,0,0,0
$GC,517,-0.78,-146.1,45.9,-11.6,90,523,0.00,2.22,0.00,0.000,4,0.000,0.058,2929,840,3665,0,0,0,0,0,0
$GC,776,-0.78,-146.1,74.1,-10.2,136,782,0.00,2.30,0.00,0.000,6,0.000,0.060,2921,2265,3667,0,0,0,0,0,0
$GC,1116,-0.78,-146.1,107.9,-10.3,190,1117,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2265,3667,0,0,0,0,0,0
$GC,1437,-0.78,-146.1,140.7,-10.0,220,1442,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2265,3666,0,0,0,0,0,0
$GC,1766,-0.78,-146.1,172.9,-9.4,251,1771,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2265,3667,0,0,0,0,0,0
$GC,2094,-0.78,-146.1,203.5,-8.3,282,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2265,3667,0,0,0,0,0,0
$GC,2421,-0.78,-146.1,229.3,-8.0,313,2422,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2265,3666,0,0,0,0,0,0
$GC,2740,-0.78,-146.1,258.0,-9.8,343,2744,0.00,2.08,0.00,0.000,4,0.000,0.071,2911,3595,3667,0,0,0,0,0,0
$GC,2752,-0.78,-146.1,259.5,-9.9,344,2756,0.12,2.08,0.00,0.000,6,0.163,0.048,2945,2245,3667,0,0,0,0,0,0
$GC,3082,-0.78,-146.1,287.6,-8.2,375,3083,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2244,3667,0,0,0,0,0,0
$GC,3401,-0.78,-146.1,312.5,-7.3,405,3404,0.00,2.15,0.00,0.000,4,0.000,0.070,2937,3606,3667,0,0,0,0,0,0
$GC,3412,-0.78,-146.1,313.3,-7.2,405,3417,0.00,2.08,0.00,0.000,6,0.000,0.048,2937,2248,3666,0,0,0,0,0,0
$GC,3737,-0.78,-146.1,337.2,-7.1,436,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2248,3667,0,0,0,0,0,0
$GC,4056,-0.78,-146.1,360.3,-7.4,466,4057,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2248,3666,0,0,0,0,0,0
$GC,4377,-0.78,-146.1,383.6,-7.4,496,4381,0.00,2.15,0.00,0.000,4,0.000,0.058,2937,848,3666,0,0,0,0,0,0
$GC,4388,-0.78,-146.1,384.6,-7.2,496,4393,0.00,2.22,0.00,0.000,6,0.000,0.059,2928,2260,3666,0,0,0,0,0,0
$GC,4713,-0.78,-146.1,409.6,-7.7,527,4714,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2260,3666,0,0,0,0,0,0
$GC,5031,-0.78,-146.1,432.4,-7.2,557,5035,0.00,2.08,0.00,0.000,4,0.000,0.070,2918,3605,3666,0,0,0,0,0,0
$GC,5044,-0.78,-146.1,433.2,-7.1,558,5048,0.10,2.08,0.00,0.000,6,0.163,0.047,2944,2242,3666,0,0,0,0,0,0
$GC,5374,-0.78,-146.1,454.2,-6.3,589,5375,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2241,3667,0,0,0,0,0,0
$GC,5692,-0.78,-146.1,474.1,-6.2,619,5694,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2241,3667,0,0,0,0,0,0
$GC,6011,-0.78,-146.1,494.9,-6.7,649,6015,0.00,2.15,0.00,0.000,4,0.000,0.067,2937,3601,3666,0,0,0,0,0,0
$GC,6023,-0.78,-146.1,495.7,-6.4,650,6027,0.00,2.05,0.00,0.000,6,0.000,0.046,2937,2248,3667,0,0,0,0,0,0
$STATE,6085,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6085,begin apogee
$GC,6092,-0.17,0.0,500.4,7.3,656,6218,0.40,0.00,119.50,1.115,6,0.120,0.000,3073,2247,3061,0,0,0,0,0,0
$STATE,6219,end apogee,CONTROL_FINISHED_OK
$STATE,6219,begin climb
$GC,6222,0.78,146.1,502.7,0.0,669,6348,0.60,0.00,121.18,1.078,6,0.076,0.000,3285,2245,2463,0,0,0,0,0,0
$GC,6667,0.78,146.1,460.8,10.3,712,6671,0.00,2.22,0.00,0.000,4,0.000,0.065,3285,3600,2468,0,0,0,0,0,0
$GC,6741,0.78,146.1,452.0,12.5,718,6745,0.00,2.22,0.00,0.000,6,0.000,0.046,3293,2190,2468,0,0,0,0,0,0
$GC,7066,0.78,146.1,416.4,10.1,748,7070,0.00,2.20,0.00,0.000,4,0.000,0.055,3304,786,2468,0,0,0,0,0,0
$GC,7116,0.79,154.0,411.4,9.6,752,7133,0.00,2.28,8.32,0.897,6,0.000,0.056,3304,2202,2430,0,0,0,0,0,0
$GC,7451,0.79,154.0,373.7,10.8,784,7455,0.00,2.20,0.00,0.000,4,0.000,0.066,3304,3592,2434,0,0,0,0,0,0
$GC,7552,0.79,154.0,360.5,13.6,792,7558,0.12,2.15,0.00,0.000,6,0.174,0.045,3281,2198,2434,0,0,0,0,0,0
$GC,7877,0.80,158.7,328.1,9.8,823,7886,0.00,0.00,5.35,0.764,6,0.000,0.000,3282,2197,2411,0,0,0,0,0,0
$GC,8206,0.80,159.8,295.9,10.0,854,8210,0.00,2.22,0.00,0.000,4,0.000,0.064,3281,3603,2414,0,0,0,0,0,0
$GC,8250,0.80,159.8,290.8,11.4,857,8259,0.00,2.17,2.75,0.426,6,0.000,0.046,3289,2186,2406,0,0,0,0,0,0
$GC,8585,0.81,167.1,256.5,9.7,889,8600,0.00,2.22,7.78,0.844,4,0.000,0.056,3299,796,2376,0,0,0,0,0,0
$GC,8645,0.82,173.0,250.6,9.7,894,8660,0.00,2.25,6.72,0.804,6,0.000,0.056,3299,2207,2352,0,0,0,0,0,0
$GC,8979,0.83,181.7,218.0,9.6,926,8993,0.00,2.25,8.15,0.841,4,0.000,0.067,3299,3597,2317,0,0,0,0,0,0
$GC,9073,0.83,181.7,207.4,11.9,934,9078,0.00,2.15,0.00,0.000,6,0.000,0.047,3308,2203,2318,0,0,0,0,0,0
$GC,9397,0.83,181.7,171.9,10.7,965,9401,0.00,2.17,0.00,0.000,4,0.000,0.056,3319,789,2318,0,0,0,0,0,0
$GC,9494,0.83,181.7,161.3,11.3,973,9499,0.12,2.25,0.00,0.000,6,0.160,0.057,3285,2201,2319,0,0,0,0,0,0
$GC,9819,0.88,227.3,133.4,7.9,1003,9861,0.00,2.33,36.75,0.923,4,0.000,0.068,3285,3599,2132,0,0,0,0,0,0
$GC,9925,0.88,227.3,124.1,10.1,1012,9930,0.00,2.20,0.00,0.000,6,0.000,0.048,3292,2204,2128,0,0,0,0,0,0
$GC,10253,0.88,229.2,92.5,9.9,1049,10259,0.00,2.22,0.00,0.000,4,0.000,0.058,3300,786,2127,0,0,0,0,0,0
$GC,10356,0.90,245.0,82.7,9.3,1067,10377,0.00,2.28,14.80,0.844,6,0.000,0.058,3301,2201,2059,0,0,0,0,0,0
$GC,10715,0.90,245.0,45.1,10.4,1131,10720,0.00,2.22,0.00,0.000,4,0.000,0.069,3301,3598,2057,0,0,0,0,0,0
$GC,10845,0.90,245.0,30.4,11.3,1154,10850,0.00,2.20,0.00,0.000,6,0.000,0.048,3309,2185,2056,0,0,0,0,0,0
$FREEZE,8.99,2.691,-1.820,0,1,0
$FREEZE,8.56,2.700,-1.817,0,1,0
$FREEZE,8.05,2.680,-1.817,0,1,0
$FREEZE,7.63,2.702,-1.816,0,1,0
$FREEZE,7.10,2.687,-1.816,0,1,0
$FREEZE,6.57,2.687,-1.815,0,1,0
$FREEZE,6.25,2.694,-1.815,0,1,0
$FREEZE,5.79,2.699,-1.814,0,1,0
$FREEZE,5.32,2.681,-1.813,0,1,0
$FREEZE,4.83,2.665,-1.812,0,1,0
$FREEZE,4.44,2.664,-1.811,0,1,0
$FREEZE,3.86,2.655,-1.810,0,1,0
$FREEZE,3.52,2.615,-1.809,0,1,0
$FREEZE,3.08,2.571,-1.809,0,1,0
$FREEZE,2.59,2.564,-1.808,0,1,0
$STATE,11153,end climb,SURFACE_DEPTH_REACHED
$STATE,11153,begin surface coast
$FREEZE,2.17,2.574,-1.807,0,1,0
$FREEZE,1.67,2.557,-1.807,0,1,0
$FREEZE,1.51,2.531,-1.777,0,1,0
$FREEZE,1.56,2.534,-0.088,0,1,0
$FREEZE,1.63,2.532,-1.766,0,1,0
$FREEZE,1.48,2.524,-0.924,0,1,0
$FREEZE,1.48,2.473,-1.770,0,1,0
$FINISH,1.5,1.025789
$STATE,11193,end surface coast,CONTROL_FINISHED_OK
$STATE,11193,begin surface
$SM_CCo,11213,42.50,0.844,0,0,1835,300.00
$SM_GC,2.71,0.00,0.00,42.50,0.000,0.000,0.844,335,2268,1835,-12.77,0.51,300.00
$RAFOS_CLK,412
$RAFOS,6,1276490944,4.833333,4.817778,48,48,46,45,43,43,1094,1582,350,1150,787,1240
$RAFOS,5,1276490464,4.700000,4.684444,113,100,47,46,45,43,662,663,1319,1449,1310,782
$RAFOS,4,1276489986,4.566667,4.551667,58,56,44,43,43,42,877,877,1266,235,459,1378
$RAFOS,3,1276489505,4.433333,4.418056,46,45,42,41,40,39,1388,154,1297,1112,1892,1935
$RAFOS,2,1276489029,4.300000,4.285833,49,46,44,43,41,41,1203,1238,1284,1429,1083,1904
$RAFOS,1,1276488551,4.166667,4.153056,46,45,44,44,44,43,61,151,1258,293,546,693
$RAFOS,0,1276488066,4.033333,4.018333,50,47,45,43,43,43,383,1200,282,278,1174,1720
$RAFOS_FIX,6704.288086,-5657.054688,140610,000056,2,112,0.72
$IRIDIUM_FIX,6636.54,-5707.59,070999,232333
$TT8_MAMPS,0.026078
$HUMID,39.84
$INTERNAL_PRESSURE,10.2641
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.3
$ALTIM_BOTTOM_PING,450.2,65.1
$24V_AH,23.7,7.986
$10V_AH,10.4,4.075
$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,19.725,74.550,331.300,42.500,0.000,31.258,35.611,287.453,1.750,0.000,14.941,1985.483,6741.847,505.306,1865.485,652.065,0.000,1470.917,0.000,1845.837,2520.000,15.474,0.000
$DEVICE_MAMPS,242.372,90.506,1115.218,843.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,899.110,834.956,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135672
$DATA_FILE_SIZE,47286,1216
$CAP_FILE_SIZE,126112,0
$CFSIZE,260165632,245952512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.4
$GPS,140610,061707,6704.015,-5652.611,29,0.9,29,-37.6