version: 66.06
glider: 108
mission: 14
dive: 74
start: 6 19 110 14 3 22
data:
$ID,108
$MISSION,14
$DIVE,74
$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,-180038.58
$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,35
$R_STBD_OVSHOOT,25
$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
$GPS1,135657,6701.968,-5651.965,28,2.2,47,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.55
$_SM_ANGLEo,-76.2
$GPS2,140302,6701.967,-5651.827,12,1.0,12,-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,295.5,160175,-18.1,-10.000
$D_GRID,608
$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,-146.1,0.0,0.0,0,58,0.00,0.00,-39.72,0.000,2,0.000,0.000,337,2256,2739,0,0,0,0,0,0
$GC,62,-0.78,-146.1,3.0,-2.2,8,124,10.23,2.38,-42.20,0.000,4,0.242,0.076,2936,836,3656,0,0,0,0,0,0
$GC,282,-0.78,-146.1,21.6,-11.0,48,288,0.00,2.35,0.00,0.000,6,0.000,0.066,2929,2260,3660,0,0,0,0,0,0
$GC,626,-0.78,-146.1,55.9,-9.2,109,631,0.00,2.30,0.00,0.000,4,0.000,0.062,2929,835,3660,0,0,0,0,0,0
$GC,724,-0.78,-146.1,64.8,-9.1,126,730,0.10,2.33,0.00,0.000,6,0.166,0.066,2945,2255,3660,0,0,0,0,0,0
$GC,1069,-0.78,-146.1,91.7,-7.8,187,1075,0.00,2.17,0.00,0.000,4,0.000,0.077,2937,3607,3661,0,0,0,0,0,0
$GC,1155,-0.78,-146.1,99.0,-8.9,202,1160,0.00,2.15,0.00,0.000,6,0.000,0.053,2936,2242,3661,0,0,0,0,0,0
$GC,1486,-0.78,-146.1,126.5,-8.6,234,1490,0.00,2.20,0.00,0.000,4,0.000,0.064,2937,834,3661,0,0,0,0,0,0
$GC,1542,-0.78,-146.1,131.9,-9.6,238,1547,0.00,2.30,0.00,0.000,6,0.000,0.067,2928,2249,3661,0,0,0,0,0,0
$GC,1867,-0.78,-146.1,162.7,-9.0,269,1870,0.00,2.17,0.00,0.000,4,0.000,0.077,2917,3607,3660,0,0,0,0,0,0
$GC,1912,-0.78,-146.1,167.4,-10.7,273,1917,0.10,2.15,0.00,0.000,6,0.165,0.054,2943,2238,3660,0,0,0,0,0,0
$GC,2238,-0.78,-146.1,193.1,-7.4,303,2242,0.00,2.17,0.00,0.000,4,0.000,0.065,2943,842,3660,0,0,0,0,0,0
$GC,2327,-0.78,-146.1,200.1,-7.4,310,2333,0.00,2.28,0.00,0.000,6,0.000,0.067,2936,2251,3660,0,0,0,0,0,0
$GC,2652,-0.78,-146.1,226.3,-8.5,341,2656,0.00,2.15,0.00,0.000,4,0.000,0.077,2926,3598,3660,0,0,0,0,0,0
$GC,2736,-0.78,-146.1,234.0,-9.8,348,2742,0.00,2.12,0.00,0.000,6,0.000,0.054,2926,2239,3660,0,0,0,0,0,0
$GC,3061,-0.78,-146.1,263.1,-9.1,379,3065,0.00,2.17,0.00,0.000,4,0.000,0.065,2926,839,3660,0,0,0,0,0,0
$GC,3135,-0.78,-146.1,269.8,-9.7,385,3140,0.10,2.28,0.00,0.000,6,0.165,0.067,2943,2253,3660,0,0,0,0,0,0
$GC,3466,-0.78,-146.1,293.9,-6.9,416,3470,0.00,2.15,0.00,0.000,4,0.000,0.077,2935,3607,3660,0,0,0,0,0,0
$GC,3545,-0.78,-146.1,299.8,-7.7,423,3552,0.00,2.12,0.00,0.000,6,0.000,0.053,2935,2241,3660,0,0,0,0,0,0
$GC,3878,-0.78,-146.1,324.5,-7.3,454,3882,0.00,2.20,0.00,0.000,4,0.000,0.064,2935,836,3660,0,0,0,0,0,0
$GC,3951,-0.78,-146.1,330.3,-7.7,460,3956,0.00,2.28,0.00,0.000,6,0.000,0.065,2925,2249,3660,0,0,0,0,0,0
$GC,4276,-0.78,-146.1,353.8,-7.1,491,4279,0.00,2.15,0.00,0.000,4,0.000,0.076,2915,3605,3660,0,0,0,0,0,0
$GC,4355,-0.78,-146.1,360.0,-7.7,498,4360,0.10,2.10,0.00,0.000,6,0.165,0.052,2942,2239,3660,0,0,0,0,0,0
$GC,4681,-0.78,-146.1,380.5,-6.6,528,4685,0.00,2.17,0.00,0.000,4,0.000,0.063,2942,843,3661,0,0,0,0,0,0
$GC,4804,-0.78,-146.1,388.9,-6.3,538,4810,0.00,2.28,0.00,0.000,6,0.000,0.065,2935,2262,3661,0,0,0,0,0,0
$GC,5129,-0.78,-146.1,411.7,-7.0,569,5133,0.00,2.12,0.00,0.000,4,0.000,0.076,2924,3605,3661,0,0,0,0,0,0
$GC,5191,-0.78,-146.1,416.7,-7.7,574,5196,0.00,2.10,0.00,0.000,6,0.000,0.051,2924,2247,3661,0,0,0,0,0,0
$GC,5516,-0.78,-146.1,441.2,-7.7,605,5520,0.00,2.20,0.00,0.000,4,0.000,0.063,2924,835,3661,0,0,0,0,0,0
$GC,5634,-0.78,-146.1,450.1,-7.9,614,5640,0.10,2.28,0.00,0.000,6,0.163,0.064,2942,2253,3661,0,0,0,0,0,0
$GC,5959,-0.78,-146.1,470.3,-5.8,645,5963,0.00,2.12,0.00,0.000,4,0.000,0.074,2934,3600,3661,0,0,0,0,0,0
$GC,6028,-0.78,-146.1,474.6,-6.4,651,6032,0.00,2.10,0.00,0.000,6,0.000,0.051,2934,2239,3661,0,0,0,0,0,0
$GC,6359,-0.78,-146.1,494.7,-6.1,682,6363,0.00,2.17,0.00,0.000,4,0.000,0.061,2934,837,3661,0,0,0,0,0,0
$GC,6471,-0.78,-146.1,501.9,-6.7,691,6476,0.00,2.28,0.00,0.000,6,0.000,0.064,2925,2262,3661,0,0,0,0,0,0
$GC,6796,-0.78,-146.1,523.0,-6.4,722,6800,0.00,2.10,0.00,0.000,4,0.000,0.073,2914,3596,3662,0,0,0,0,0,0
$GC,6853,-0.78,-146.1,527.0,-7.4,727,6857,0.10,2.08,0.00,0.000,6,0.162,0.051,2942,2239,3661,0,0,0,0,0,0
$GC,7183,-0.78,-146.1,544.0,-4.7,758,7187,0.00,2.17,0.00,0.000,4,0.000,0.061,2942,832,3663,0,0,0,0,0,0
$GC,7234,-0.78,-146.1,547.0,-6.0,762,7238,0.00,2.25,0.00,0.000,6,0.000,0.063,2935,2253,3663,0,0,0,0,0,0
$GC,7564,-0.78,-146.1,566.2,-6.2,793,7568,0.00,2.10,0.00,0.000,4,0.000,0.072,2925,3604,3663,0,0,0,0,0,0
$GC,7660,-0.78,-146.1,572.9,-7.6,801,7664,0.00,2.08,0.00,0.000,6,0.000,0.050,2925,2250,3663,0,0,0,0,0,0
$STATE,7855,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7855,begin apogee
$GC,7862,-0.17,0.0,586.9,7.2,819,7988,0.45,0.00,120.90,1.189,6,0.125,0.000,3076,2197,3058,0,0,0,0,0,0
$STATE,7992,end apogee,CONTROL_FINISHED_OK
$STATE,7992,begin climb
$GC,7995,0.78,146.1,588.9,0.0,832,8128,0.60,2.50,121.15,1.132,4,0.078,0.067,3287,3591,2461,0,0,0,0,0,0
$GC,8134,0.78,146.1,579.0,10.8,845,8140,0.00,2.33,0.00,0.000,6,0.000,0.048,3297,2203,2460,0,0,0,0,0,0
$GC,8459,0.78,146.1,540.3,12.0,876,8460,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2202,2457,0,0,0,0,0,0
$GC,8780,0.78,146.1,501.9,11.9,906,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2202,2455,0,0,0,0,0,0
$GC,9096,0.78,146.1,463.3,12.1,936,9097,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2202,2454,0,0,0,0,0,0
$GC,9414,0.78,146.1,425.0,12.1,966,9415,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2202,2454,0,0,0,0,0,0
$GC,9735,0.78,146.1,387.8,11.3,996,9739,0.00,2.20,0.00,0.000,4,0.000,0.060,3307,789,2454,0,0,0,0,0,0
$GC,9752,0.78,146.1,385.8,10.6,997,9757,0.10,2.28,0.00,0.000,6,0.176,0.061,3282,2203,2454,0,0,0,0,0,0
$GC,10077,0.78,146.1,353.0,10.1,1027,10078,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2202,2454,0,0,0,0,0,0
$GC,10396,0.78,146.1,317.3,11.5,1057,10397,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,2203,2455,0,0,0,0,0,0
$GC,10716,0.78,146.1,280.2,11.3,1087,10720,0.00,2.20,0.00,0.000,4,0.000,0.071,3282,3596,2455,0,0,0,0,0,0
$GC,10728,0.78,146.1,278.6,11.5,1087,10733,0.00,2.17,0.00,0.000,6,0.000,0.048,3290,2187,2455,0,0,0,0,0,0
$GC,11053,0.79,153.3,245.0,9.7,1118,11062,0.00,0.00,6.25,0.805,6,0.000,0.000,3290,2187,2432,0,0,0,0,0,0
$GC,11382,0.81,168.6,213.6,9.3,1149,11401,0.00,0.00,13.73,0.920,6,0.000,0.000,3290,2186,2369,0,0,0,0,0,0
$GC,11720,0.81,168.6,179.6,10.4,1181,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,2186,2368,0,0,0,0,0,0
$GC,12041,0.83,185.0,147.6,9.2,1211,12062,0.00,2.25,13.77,0.877,4,0.000,0.061,3299,797,2303,0,0,0,0,0,0
$GC,12090,0.84,193.4,142.7,9.6,1215,12107,0.00,2.28,8.48,0.802,6,0.000,0.061,3298,2198,2268,0,0,0,0,0,0
$GC,12426,0.87,218.4,111.2,8.9,1247,12452,0.00,2.30,21.20,0.881,4,0.000,0.071,3298,3604,2166,0,0,0,0,0,0
$GC,12509,0.87,218.4,103.0,10.3,1254,12514,0.00,2.22,0.00,0.000,6,0.000,0.050,3308,2205,2162,0,0,0,0,0,0
$GC,12851,0.92,259.5,72.6,8.1,1311,12892,0.00,2.33,33.70,0.866,4,0.000,0.061,3319,797,1999,0,0,0,0,0,0
$GC,12952,0.94,273.9,63.7,9.3,1329,12973,0.00,2.33,13.20,0.795,6,0.000,0.061,3319,2199,1940,0,0,0,0,0,0
$GC,13312,0.98,303.3,29.0,8.7,1393,13343,0.00,2.33,24.42,0.827,4,0.000,0.074,3318,3599,1821,0,0,0,0,0,0
$GC,13395,0.98,303.3,20.4,12.3,1408,13402,0.00,2.25,0.00,0.000,6,0.000,0.051,3328,2201,1816,0,0,0,0,0,0
$FREEZE,8.55,-1.072,-1.803,0,1,0
$FREEZE,8.03,-0.868,-1.802,0,1,0
$FREEZE,7.57,-0.711,-1.799,0,1,0
$FREEZE,6.97,-0.606,-1.797,0,1,0
$FREEZE,6.50,-0.576,-1.796,0,1,0
$FREEZE,5.85,-0.381,-1.793,0,1,0
$FREEZE,5.34,-0.251,-1.791,0,1,0
$FREEZE,4.97,-0.140,-1.788,0,1,0
$FREEZE,4.45,-0.079,-1.789,0,1,0
$FREEZE,3.93,-0.088,-1.789,0,1,0
$FREEZE,3.32,-0.013,-1.787,0,1,0
$FREEZE,2.91,-0.007,-1.788,0,1,0
$STATE,13570,end climb,SURFACE_DEPTH_REACHED
$STATE,13570,begin surface coast
$FREEZE,2.36,0.002,-1.788,0,1,0
$FREEZE,1.81,0.024,-1.787,0,1,0
$FREEZE,1.69,0.138,-1.761,0,1,0
$FREEZE,1.71,0.412,-0.267,0,1,0
$FREEZE,1.53,0.127,-0.887,0,1,0
$FREEZE,1.68,0.471,-0.417,0,1,0
$FINISH,1.7,1.006068
$STATE,13607,end surface coast,CONTROL_FINISHED_OK
$STATE,13608,begin surface
$SM_CCo,13687,0.00,0.000,0,0,1808,306.62
$SM_GC,2.63,8.02,0.00,0.00,0.047,0.000,0.000,342,2268,1808,-12.66,0.51,306.62
$RAFOS_CLK,517
$RAFOS,6,1276966149,16.833334,16.819166,126,111,44,43,40,40,807,808,1713,200,151,636
$RAFOS,5,1276965667,16.700001,16.685278,103,83,47,43,43,42,639,640,211,564,1379,1745
$RAFOS,4,1276965189,16.566668,16.552500,74,71,45,44,41,40,855,856,1626,844,1229,550
$RAFOS,3,1276964712,16.433332,16.420000,61,53,48,44,44,39,952,1177,951,1850,1610,212
$RAFOS,2,1276964225,16.299999,16.284721,65,51,51,48,46,42,1057,1057,1907,508,1533,508
$RAFOS,1,1276963742,16.166666,16.150555,82,71,43,42,41,41,1061,1062,1837,272,1811,294
$RAFOS,0,1276963265,16.033333,16.018055,45,44,42,42,41,41,203,483,711,757,215,1791
$RAFOS_FIX,6703.674805,-5654.988770,190610,161600,6,85,0.44
$IRIDIUM_FIX,6636.54,-5655.33,130999,101049
$TT8_MAMPS,0.026845
$HUMID,39.72
$INTERNAL_PRESSURE,10.225
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,450.1,151.6
$24V_AH,23.6,12.413
$10V_AH,10.3,6.708
$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,20.000,115.375,376.800,0.000,0.000,28.076,34.506,156.203,1.500,0.000,14.266,2370.806,8326.513,478.534,2310.604,571.095,0.000,1675.290,0.000,2285.219,2520.000,12.772,0.000
$DEVICE_MAMPS,242.372,158.769,1188.850,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.562,1011.245,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135776
$DATA_FILE_SIZE,56729,1445
$CAP_FILE_SIZE,154149,0
$CFSIZE,260165632,243363840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.3
$GPS,190610,175315,6701.912,-5654.333,31,1.4,39,-37.5