version: 66.06
glider: 108
mission: 14
dive: 42
start: 6 14 110 6 23 36
data:
$ID,108
$MISSION,14
$DIVE,42
$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,-179578.59
$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,39
$R_STBD_OVSHOOT,41
$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
$GPS1,061707,6704.015,-5652.611,29,0.9,29,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.44
$_SM_ANGLEo,-76.2
$GPS2,062314,6704.066,-5652.628,11,1.2,11,-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,158.2,3881,-18.1,-10.000
$D_GRID,512
$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,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,78,0.00,0.00,-59.58,0.000,2,0.000,0.000,334,2269,3162,0,0,0,0,0,0
$GC,81,-0.78,-146.1,3.2,-1.1,12,112,10.35,0.00,-14.88,0.000,6,0.247,0.000,2935,2269,3656,0,0,0,0,0,0
$GC,453,-0.78,-146.1,44.9,-10.3,78,458,0.00,2.12,0.00,0.000,4,0.000,0.070,2928,3592,3662,0,0,0,0,0,0
$GC,476,-0.78,-146.1,47.9,-11.4,82,482,0.00,2.10,0.00,0.000,6,0.000,0.048,2928,2241,3662,0,0,0,0,0,0
$GC,820,-0.78,-146.1,83.9,-10.3,143,825,0.00,2.15,0.00,0.000,4,0.000,0.069,2918,3586,3662,0,0,0,0,0,0
$GC,838,-0.78,-146.1,85.8,-10.0,146,844,0.10,2.08,0.00,0.000,6,0.166,0.048,2945,2244,3662,0,0,0,0,0,0
$GC,1177,-0.78,-146.1,119.1,-9.7,190,1181,0.00,2.17,0.00,0.000,4,0.000,0.058,2945,847,3662,0,0,0,0,0,0
$GC,1189,-0.78,-146.1,120.3,-9.2,191,1194,0.00,2.22,0.00,0.000,6,0.000,0.060,2937,2236,3662,0,0,0,0,0,0
$GC,1515,-0.78,-146.1,147.8,-6.8,221,1516,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2236,3662,0,0,0,0,0,0
$GC,1835,-0.78,-146.1,168.4,-6.7,251,1836,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2236,3662,0,0,0,0,0,0
$GC,2154,-0.78,-146.1,190.8,-6.9,281,2158,0.00,2.12,0.00,0.000,4,0.000,0.071,2927,3600,3662,0,0,0,0,0,0
$GC,2170,-0.78,-146.1,192.3,-7.4,282,2176,0.00,2.10,0.00,0.000,6,0.000,0.049,2927,2238,3662,0,0,0,0,0,0
$GC,2496,-0.78,-146.1,216.4,-7.3,313,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2238,3661,0,0,0,0,0,0
$GC,2816,-0.78,-146.1,237.3,-6.3,343,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2238,3661,0,0,0,0,0,0
$GC,3135,-0.78,-146.1,258.6,-6.8,373,3138,0.00,2.15,0.00,0.000,4,0.000,0.058,2927,844,3661,0,0,0,0,0,0
$GC,3147,-0.78,-146.1,259.6,-7.0,374,3151,0.10,2.25,0.00,0.000,6,0.160,0.061,2945,2260,3661,0,0,0,0,0,0
$GC,3477,-0.78,-146.1,282.3,-7.1,405,3478,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2260,3661,0,0,0,0,0,0
$GC,3797,-0.78,-146.1,305.9,-8.1,435,3801,0.00,2.08,0.00,0.000,4,0.000,0.071,2937,3598,3661,0,0,0,0,0,0
$GC,3811,-0.78,-146.1,307.0,-8.1,436,3815,0.00,2.08,0.00,0.000,6,0.000,0.048,2937,2244,3661,0,0,0,0,0,0
$GC,4142,-0.78,-146.1,333.2,-7.3,467,4143,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2242,3661,0,0,0,0,0,0
$GC,4463,-0.78,-146.1,354.0,-6.2,497,4464,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2242,3661,0,0,0,0,0,0
$GC,4782,-0.78,-146.1,376.7,-7.0,527,4787,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2242,3662,0,0,0,0,0,0
$GC,5112,-0.78,-146.1,400.8,-7.5,558,5117,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2241,3661,0,0,0,0,0,0
$GC,5439,-0.78,-146.1,426.3,-7.7,589,5443,0.00,2.12,0.00,0.000,4,0.000,0.057,2937,839,3661,0,0,0,0,0,0
$GC,5451,-0.78,-146.1,427.4,-7.7,590,5455,0.00,2.22,0.00,0.000,6,0.000,0.058,2928,2253,3662,0,0,0,0,0,0
$GC,5777,-0.78,-146.1,453.3,-8.1,620,5778,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2252,3661,0,0,0,0,0,0
$GC,6098,-0.78,-146.1,477.5,-7.6,650,6099,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2252,3662,0,0,0,0,0,0
$STATE,6411,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6411,begin apogee
$GC,6418,-0.17,0.0,502.1,7.4,680,6544,0.43,0.00,118.85,1.137,6,0.120,0.000,3073,2199,3058,0,0,0,0,0,0
$STATE,6544,end apogee,CONTROL_FINISHED_OK
$STATE,6545,begin climb
$GC,6547,0.78,146.1,504.9,0.0,693,6678,0.62,2.40,119.97,1.083,4,0.076,0.064,3288,3592,2461,0,0,0,0,0,0
$GC,6724,0.78,146.1,491.1,12.1,710,6728,0.00,2.28,0.00,0.000,6,0.000,0.045,3298,2195,2459,0,0,0,0,0,0
$GC,7054,0.78,146.1,454.8,11.3,741,7058,0.00,2.22,0.00,0.000,4,0.000,0.055,3308,794,2458,0,0,0,0,0,0
$GC,7190,0.78,146.1,440.6,10.5,752,7196,0.12,2.30,0.00,0.000,6,0.164,0.055,3276,2215,2458,0,0,0,0,0,0
$GC,7515,0.80,158.3,410.0,9.4,783,7530,0.00,2.20,10.50,0.948,4,0.000,0.064,3276,3596,2413,0,0,0,0,0,0
$GC,7614,0.80,158.3,399.3,11.1,791,7620,0.00,2.20,0.00,0.000,6,0.000,0.045,3284,2186,2411,0,0,0,0,0,0
$GC,7939,0.80,158.3,365.7,11.1,822,7943,0.00,2.17,0.00,0.000,4,0.000,0.054,3294,789,2411,0,0,0,0,0,0
$GC,7989,0.80,158.3,360.1,12.0,826,7994,0.00,2.25,0.00,0.000,6,0.000,0.054,3294,2198,2412,0,0,0,0,0,0
$GC,8314,0.80,158.3,320.4,11.8,856,8318,0.00,2.20,0.00,0.000,4,0.000,0.067,3294,3594,2412,0,0,0,0,0,0
$GC,8403,0.80,158.3,308.1,13.7,863,8408,0.00,2.15,0.00,0.000,6,0.000,0.046,3304,2199,2412,0,0,0,0,0,0
$GC,8731,0.80,158.3,271.1,11.0,894,8734,0.00,2.17,0.00,0.000,4,0.000,0.055,3314,791,2412,0,0,0,0,0,0
$GC,8815,0.80,158.3,261.4,12.0,901,8820,0.12,2.22,0.00,0.000,6,0.164,0.057,3281,2204,2412,0,0,0,0,0,0
$GC,9145,0.85,198.8,232.8,8.1,932,9187,0.00,2.28,32.85,0.969,4,0.000,0.067,3280,3591,2246,0,0,0,0,0,0
$GC,9262,0.85,198.8,221.3,11.2,942,9267,0.00,2.17,0.00,0.000,6,0.000,0.046,3288,2197,2243,0,0,0,0,0,0
$GC,9586,0.85,198.8,188.6,10.3,973,9590,0.00,2.17,0.00,0.000,4,0.000,0.056,3296,792,2243,0,0,0,0,0,0
$GC,9648,0.85,198.8,182.0,11.4,978,9652,0.00,2.25,0.00,0.000,6,0.000,0.057,3296,2204,2243,0,0,0,0,0,0
$GC,9979,0.85,198.8,144.1,11.6,1009,9983,0.00,2.17,0.00,0.000,4,0.000,0.067,3296,3596,2243,0,0,0,0,0,0
$GC,10079,0.85,198.8,130.7,14.0,1017,10084,0.00,2.15,0.00,0.000,6,0.000,0.047,3306,2203,2242,0,0,0,0,0,0
$GC,10407,0.85,198.8,92.3,10.0,1054,10413,0.00,2.17,0.00,0.000,4,0.000,0.057,3316,796,2242,0,0,0,0,0,0
$GC,10515,0.85,200.0,80.9,9.9,1073,10521,0.00,2.25,0.00,0.000,6,0.000,0.058,3316,2210,2242,0,0,0,0,0,0
$GC,10859,0.89,230.3,48.3,8.6,1134,10891,0.00,2.22,24.98,0.868,4,0.000,0.068,3316,3595,2119,0,0,0,0,0,0
$GC,10987,0.89,230.3,34.5,12.1,1157,10992,0.00,2.20,0.00,0.000,6,0.000,0.048,3326,2186,2115,0,0,0,0,0,0
$FREEZE,8.45,3.153,-1.828,0,1,0
$FREEZE,7.92,3.143,-1.826,0,1,0
$FREEZE,7.23,3.112,-1.824,0,1,0
$FREEZE,6.51,3.053,-1.821,0,1,0
$FREEZE,5.98,3.051,-1.820,0,1,0
$FREEZE,5.35,3.043,-1.818,0,1,0
$FREEZE,4.72,3.028,-1.817,0,1,0
$FREEZE,4.20,3.026,-1.816,0,1,0
$FREEZE,3.63,3.038,-1.813,0,1,0
$FREEZE,3.16,3.053,-1.811,0,1,0
$FREEZE,2.50,3.057,-1.810,0,1,0
$STATE,11301,end climb,SURFACE_DEPTH_REACHED
$STATE,11301,begin surface coast
$FREEZE,2.02,3.060,-1.810,0,1,0
$FREEZE,1.58,3.060,-1.730,0,1,0
$FREEZE,1.61,3.067,-1.787,0,1,0
$FREEZE,1.57,3.080,-1.776,0,1,0
$FREEZE,1.49,3.079,-1.776,0,1,0
$FREEZE,1.54,3.073,-0.928,0,1,0
$FINISH,1.5,1.013646
$STATE,11336,end surface coast,CONTROL_FINISHED_OK
$STATE,11336,begin surface
$SM_CCo,11355,55.22,0.836,0,0,1835,300.00
$SM_GC,2.48,0.00,0.00,55.22,0.000,0.000,0.836,335,2268,1835,-12.77,0.51,300.00
$RAFOS_CLK,423
$RAFOS,6,1276505341,8.833333,8.816944,112,98,61,50,47,46,870,871,1311,1302,1526,1312
$RAFOS,5,1276504864,8.700000,8.684444,85,76,46,46,40,39,673,674,683,1696,192,1198
$RAFOS,4,1276504382,8.566667,8.550555,69,50,49,46,41,39,905,905,554,651,102,1795
$RAFOS,3,1276503905,8.433333,8.418056,44,42,41,40,39,38,1276,911,1293,474,142,594
$RAFOS,2,1276503423,8.300000,8.284166,43,42,42,42,41,39,1751,793,1177,1223,489,1853
$RAFOS,1,1276502952,8.166667,8.153334,44,43,43,43,41,40,760,1057,1366,1718,301,1544
$RAFOS,0,1276502464,8.033334,8.017777,49,47,43,42,41,40,301,502,1669,646,1369,454
$RAFOS_FIX,6703.939941,-5650.339355,140610,080840,3,89,0.20
$IRIDIUM_FIX,6636.54,-5647.69,080999,030336
$TT8_MAMPS,0.026845
$HUMID,39.91
$INTERNAL_PRESSURE,10.2641
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,500.5,16.1
$24V_AH,23.7,8.106
$10V_AH,10.4,4.144
$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,19.800,79.000,307.150,55.225,0.000,30.431,31.559,168.324,2.000,0.000,13.441,2013.912,6895.017,442.551,1915.492,515.240,0.000,1427.438,0.000,1886.634,2520.000,21.235,0.000
$DEVICE_MAMPS,246.974,118.118,1137.461,836.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,891.465,837.952,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135696
$DATA_FILE_SIZE,47311,1219
$CAP_FILE_SIZE,124606,0
$CFSIZE,260165632,245886976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.1
$GPS,140610,093524,6702.537,-5648.173,36,1.4,36,-37.5