version: 66.06
glider: 108
mission: 14
dive: 111
start: 6 28 110 3 34 33
data:
$ID,108
$MISSION,14
$DIVE,111
$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,-2
$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,-180265.31
$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,28
$R_STBD_OVSHOOT,21
$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
$GPS1,002707,6648.512,-6012.332,0,7093.3,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-0.5
$GPS2,002707,6648.512,-6012.332,0,7093.3,0,-38.2
$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,268.3,13031,-18.1,-10.000
$D_GRID,569
$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,17,-0.78,-146.1,0.0,0.0,0,146,0.00,0.00,-123.35,0.000,6,0.000,0.000,3356,2210,3655,0,0,0,0,0,0
$GC,149,-0.78,-146.1,2.1,-0.3,25,155,1.30,2.30,0.00,0.000,4,0.139,0.083,2941,3602,3657,0,0,0,0,0,0
$GC,224,-0.78,-146.1,13.0,-17.2,38,230,0.00,2.20,0.00,0.000,6,0.000,0.061,2941,2248,3658,0,0,0,0,0,0
$GC,568,-0.78,-146.1,53.8,-12.1,99,573,0.00,2.30,0.00,0.000,4,0.000,0.073,2941,837,3660,0,0,0,0,0,0
$GC,619,-0.78,-146.1,59.9,-11.7,108,625,0.00,2.38,0.00,0.000,6,0.000,0.075,2931,2248,3660,0,0,0,0,0,0
$GC,964,-0.78,-146.1,96.1,-9.4,169,969,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2249,3660,0,0,0,0,0,0
$GC,1297,-0.78,-146.1,126.5,-9.9,204,1301,0.00,2.22,0.00,0.000,4,0.000,0.087,2921,3599,3660,0,0,0,0,0,0
$GC,1325,-0.78,-146.1,129.7,-10.4,206,1329,0.00,2.20,0.00,0.000,6,0.000,0.061,2921,2236,3660,0,0,0,0,0,0
$GC,1650,-0.78,-146.1,163.7,-9.8,236,1654,0.00,2.25,0.00,0.000,4,0.000,0.074,2921,842,3660,0,0,0,0,0,0
$GC,1729,-0.78,-146.1,172.0,-10.0,242,1735,0.12,2.35,0.00,0.000,6,0.156,0.076,2946,2251,3660,0,0,0,0,0,0
$GC,2054,-0.78,-146.1,198.1,-7.8,273,2058,0.00,2.22,0.00,0.000,4,0.000,0.087,2938,3606,3660,0,0,0,0,0,0
$GC,2087,-0.78,-146.1,200.9,-8.5,275,2093,0.00,2.20,0.00,0.000,6,0.000,0.061,2938,2237,3660,0,0,0,0,0,0
$GC,2412,-0.78,-146.1,227.3,-8.3,306,2414,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2237,3659,0,0,0,0,0,0
$GC,2731,-0.78,-146.1,253.0,-8.0,336,2735,0.00,2.25,0.00,0.000,4,0.000,0.074,2938,840,3658,0,0,0,0,0,0
$GC,2809,-0.78,-146.1,259.8,-8.4,342,2815,0.00,2.35,0.00,0.000,6,0.000,0.077,2929,2260,3659,0,0,0,0,0,0
$GC,3134,-0.78,-146.1,287.2,-8.3,373,3138,0.00,2.17,0.00,0.000,4,0.000,0.086,2918,3595,3658,0,0,0,0,0,0
$GC,3168,-0.78,-146.1,290.2,-9.0,375,3174,0.10,2.17,0.00,0.000,6,0.164,0.061,2945,2236,3658,0,0,0,0,0,0
$GC,3493,-0.78,-146.1,314.2,-7.0,406,3497,0.00,2.25,0.00,0.000,4,0.000,0.072,2945,832,3658,0,0,0,0,0,0
$GC,3549,-0.78,-146.1,318.4,-7.3,410,3554,0.00,2.35,0.00,0.000,6,0.000,0.074,2938,2252,3658,0,0,0,0,0,0
$GC,3874,-0.78,-146.1,342.5,-7.5,441,3875,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2253,3658,0,0,0,0,0,0
$GC,4193,-0.78,-146.1,366.8,-7.9,471,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2252,3658,0,0,0,0,0,0
$GC,4511,-0.78,-146.1,392.0,-7.9,501,4515,0.00,2.17,0.00,0.000,4,0.000,0.085,2928,3605,3659,0,0,0,0,0,0
$GC,4552,-0.78,-146.1,395.6,-9.3,504,4556,0.00,2.17,0.00,0.000,6,0.000,0.058,2927,2237,3659,0,0,0,0,0,0
$GC,4877,-0.78,-146.1,422.4,-8.2,534,4881,0.00,2.22,0.00,0.000,4,0.000,0.071,2927,839,3659,0,0,0,0,0,0
$GC,4906,-0.78,-146.1,424.6,-7.8,536,4911,0.10,2.33,0.00,0.000,6,0.160,0.074,2946,2250,3659,0,0,0,0,0,0
$GC,5231,-0.78,-146.1,446.2,-6.5,566,5235,0.00,2.20,0.00,0.000,4,0.000,0.084,2938,3598,3660,0,0,0,0,0,0
$GC,5277,-0.78,-146.1,449.2,-7.2,570,5281,0.00,2.15,0.00,0.000,6,0.000,0.058,2938,2240,3659,0,0,0,0,0,0
$GC,5608,-0.78,-146.1,471.0,-6.1,601,5612,0.00,2.22,0.00,0.000,4,0.000,0.070,2938,839,3660,0,0,0,0,0,0
$GC,5659,-0.78,-146.1,474.6,-7.1,605,5664,0.00,2.33,0.00,0.000,6,0.000,0.072,2929,2257,3660,0,0,0,0,0,0
$GC,5990,-0.78,-146.1,497.8,-7.5,636,5994,0.00,2.17,0.00,0.000,4,0.000,0.083,2919,3604,3660,0,0,0,0,0,0
$GC,6030,-0.78,-146.1,500.9,-7.9,639,6037,0.10,2.15,0.00,0.000,6,0.160,0.057,2946,2240,3660,0,0,0,0,0,0
$GC,6355,-0.78,-146.1,522.1,-6.3,670,6360,0.00,2.20,0.00,0.000,4,0.000,0.069,2946,844,3661,0,0,0,0,0,0
$GC,6390,-0.78,-146.1,524.3,-7.0,673,6395,0.00,2.33,0.00,0.000,6,0.000,0.072,2939,2265,3660,0,0,0,0,0,0
$GC,6721,-0.78,-146.1,546.1,-6.6,704,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2266,3661,0,0,0,0,0,0
$GC,7040,-0.78,-146.1,566.0,-6.3,734,7044,0.00,2.15,0.00,0.000,4,0.000,0.082,2929,3601,3661,0,0,0,0,0,0
$GC,7063,-0.78,-146.1,567.6,-6.9,736,7067,0.00,2.12,0.00,0.000,6,0.000,0.055,2929,2251,3661,0,0,0,0,0,0
$STATE,7085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7085,begin apogee
$GC,7092,-0.17,0.0,569.3,7.4,738,7218,0.43,0.00,122.28,1.235,6,0.127,0.000,3071,2195,3058,0,0,0,0,0,0
$STATE,7219,end apogee,CONTROL_FINISHED_OK
$STATE,7219,begin climb
$GC,7222,0.78,146.1,572.5,0.0,751,7349,0.62,0.00,123.55,1.171,6,0.081,0.000,3288,2196,2463,0,0,0,0,0,0
$GC,7667,0.78,146.1,532.9,10.1,794,7672,0.00,2.38,0.00,0.000,4,0.000,0.068,3299,785,2457,0,0,0,0,0,0
$GC,7696,0.79,149.1,530.1,9.9,796,7701,0.00,2.45,0.00,0.000,6,0.000,0.069,3299,2200,2457,0,0,0,0,0,0
$GC,8021,0.79,155.0,497.4,9.7,826,8036,0.00,2.38,8.00,0.985,4,0.000,0.077,3299,3591,2426,0,0,0,0,0,0
$GC,8065,0.79,155.0,492.6,11.8,830,8070,0.10,2.28,0.00,0.000,6,0.182,0.052,3285,2197,2425,0,0,0,0,0,0
$GC,8390,0.83,181.5,462.8,8.8,860,8421,0.00,2.38,23.23,1.115,4,0.000,0.064,3293,793,2318,0,0,0,0,0,0
$GC,8450,0.85,198.8,457.2,9.2,865,8471,0.00,2.40,16.20,1.060,6,0.000,0.066,3293,2204,2247,0,0,0,0,0,0
$GC,8790,0.85,198.8,420.3,11.1,897,8794,0.00,2.30,0.00,0.000,4,0.000,0.077,3293,3596,2242,0,0,0,0,0,0
$GC,8852,0.85,198.8,412.1,13.7,902,8856,0.00,2.25,0.00,0.000,6,0.000,0.051,3303,2189,2241,0,0,0,0,0,0
$GC,9182,0.85,198.8,372.3,11.5,933,9186,0.00,2.25,0.00,0.000,4,0.000,0.063,3314,790,2241,0,0,0,0,0,0
$GC,9221,0.85,198.8,367.7,11.7,936,9226,0.00,2.35,0.00,0.000,6,0.000,0.066,3313,2203,2241,0,0,0,0,0,0
$GC,9546,0.85,198.8,328.8,11.9,966,9550,0.00,2.28,0.00,0.000,4,0.000,0.077,3314,3600,2241,0,0,0,0,0,0
$GC,9620,0.85,198.8,318.1,15.3,972,9625,0.12,2.22,0.00,0.000,6,0.173,0.053,3290,2200,2239,0,0,0,0,0,0
$GC,9945,0.85,198.8,283.2,10.1,1002,9949,0.00,2.25,0.00,0.000,4,0.000,0.064,3297,796,2240,0,0,0,0,0,0
$GC,9995,0.85,203.2,278.3,9.8,1006,10005,0.00,2.33,4.20,0.716,6,0.000,0.067,3297,2205,2229,0,0,0,0,0,0
$GC,10331,0.93,264.6,250.3,7.2,1038,10392,0.00,2.42,52.40,1.022,4,0.000,0.077,3297,3603,1977,0,0,0,0,0,0
$GC,10427,0.93,264.6,241.7,11.1,1047,10431,0.00,2.30,0.00,0.000,6,0.000,0.053,3306,2203,1973,0,0,0,0,0,0
$GC,10752,0.93,264.6,206.2,11.0,1077,10756,0.00,2.30,0.00,0.000,4,0.000,0.064,3316,783,1969,0,0,0,0,0,0
$GC,10818,0.93,264.6,198.5,11.2,1082,10824,0.00,2.38,0.00,0.000,6,0.000,0.066,3317,2205,1969,0,0,0,0,0,0
$GC,11143,0.93,264.6,164.9,10.1,1113,11147,0.00,2.28,0.00,0.000,4,0.000,0.079,3317,3598,1968,0,0,0,0,0,0
$GC,11171,0.93,264.6,161.8,10.8,1115,11175,0.00,2.25,0.00,0.000,6,0.000,0.055,3326,2190,1966,0,0,0,0,0,0
$GC,11496,0.93,264.6,126.9,10.3,1145,11500,0.00,2.25,0.00,0.000,4,0.000,0.067,3337,791,1966,0,0,0,0,0,0
$GC,11585,0.93,266.8,117.8,9.9,1152,11591,0.10,2.35,0.00,0.000,6,0.167,0.070,3311,2209,1966,0,0,0,0,0,0
$GC,11916,0.96,293.5,89.7,8.8,1193,11947,0.00,2.35,23.83,0.940,4,0.000,0.083,3310,3595,1860,0,0,0,0,0,0
$GC,11971,0.96,293.5,84.1,10.5,1203,11977,0.00,2.28,0.00,0.000,6,0.000,0.057,3317,2196,1857,0,0,0,0,0,0
$GC,12315,1.02,343.2,52.6,7.7,1264,12366,0.00,2.40,42.72,0.921,4,0.000,0.069,3327,786,1657,0,0,0,0,0,0
$GC,12435,1.10,405.8,43.9,7.1,1286,12497,0.10,2.42,54.58,0.886,6,0.104,0.071,3377,2204,1402,0,0,0,0,0,0
$FREEZE,8.93,-0.490,-1.669,2,22,0
$FREEZE,8.59,-0.490,-1.669,2,22,0
$FREEZE,8.25,-0.491,-1.668,2,22,0
$FREEZE,7.84,-0.490,-1.668,2,22,0
$FREEZE,7.52,-0.491,-1.668,2,22,0
$FREEZE,7.20,-0.491,-1.668,2,22,0
$FREEZE,6.76,-0.495,-1.667,2,22,0
$FREEZE,6.53,-0.494,-1.667,2,22,0
$FREEZE,6.10,-0.492,-1.667,2,22,0
$FREEZE,5.78,-0.492,-1.666,2,22,0
$FREEZE,5.41,-0.493,-1.666,2,22,0
$FREEZE,5.04,-0.495,-1.666,2,22,0
$FREEZE,4.61,-0.496,-1.665,2,22,0
$FREEZE,4.32,-0.496,-1.665,2,22,0
$FREEZE,3.96,-0.497,-1.665,2,22,0
$FREEZE,3.38,-0.497,-1.664,2,22,0
$FREEZE,2.92,-0.498,-1.664,2,22,0
$GC,12838,1.19,481.2,4.0,6.6,1358,12853,0.00,0.00,12.20,0.823,2,0.000,0.000,3376,2205,1337,0,0,0,0,0,0
$STATE,12853,end climb,SURFACE_DEPTH_REACHED
$STATE,12854,begin surface coast
$FREEZE,2.28,-0.498,-1.664,2,22,0
$FREEZE,1.93,-0.499,-1.663,2,22,0
$FREEZE,2.02,-0.420,-0.160,2,22,0
$FINISH,2.0,1.002158
$STATE,12871,end surface coast,FINISH_DEPTH_REACHED
$STATE,12871,begin surface
$RAFOS_CLK,576
$RAFOS,6,1277700550,4.833333,4.819445,110,85,44,44,44,42,792,793,232,885,1904,1595
$RAFOS,5,1277700061,4.700000,4.683611,54,44,43,42,42,40,1758,974,683,346,1584,1738
$RAFOS,4,1277699586,4.566667,4.551667,69,66,43,43,42,40,724,723,1414,1732,264,39
$RAFOS,3,1277699109,4.433333,4.419167,120,91,45,43,43,42,791,792,1052,1856,1855,120
$RAFOS,2,1277698631,4.300000,4.286389,83,80,45,44,37,37,642,645,1476,1358,1,1308
$RAFOS,1,1277698142,4.166667,4.150556,119,116,48,47,46,39,578,577,714,1564,701,230
$RAFOS,0,1277697667,4.033333,4.018611,110,102,39,39,39,38,600,599,240,293,934,1104
$RAFOS_FIX,6648.755859,-6017.154785,280610,040453,6,102,0.25
$IRIDIUM_FIX,6620.33,-6010.56,210999,232355
$TT8_MAMPS,0.026845
$HUMID,40.54
$INTERNAL_PRESSURE,10.1273
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,550.3,34.5
$24V_AH,23.1,18.337
$10V_AH,10.2,10.276
$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,3.200,127.625,483.175,0.000,0.000,0.000,0.000,0.000,2.750,0.000,0.000,2266.286,7788.543,575.161,2157.500,283.572,0.000,1738.798,0.000,2142.056,2520.000,21.862,0.000
$DEVICE_MAMPS,181.779,130.390,1234.870,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.526,975.372,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135932
$DATA_FILE_SIZE,53630,1363
$CAP_FILE_SIZE,147096,0
$CFSIZE,260165632,239853568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,280610,042453,6648.756,-6017.155,0,6101.8,0,-38.2