version: 66.06
glider: 108
mission: 14
dive: 113
start: 6 28 110 10 46 40
data:
$ID,108
$MISSION,14
$DIVE,113
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,082707,6646.460,-6020.147,0,7093.1,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,0.1
$GPS2,082707,6646.460,-6020.147,0,7093.1,0,-38.2
$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,116.9,156234,-18.1,-10.000
$D_GRID,538
$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,-146.1,0.0,0.0,0,160,0.00,0.00,-135.45,0.000,6,0.000,0.000,3361,2201,3655,0,0,0,0,0,0
$GC,164,-0.78,-146.1,2.9,-8.2,28,171,1.20,2.33,0.00,0.000,4,0.091,0.082,2940,3604,3656,0,0,0,0,0,0
$GC,233,-0.78,-146.1,12.5,-16.2,40,239,0.00,2.22,0.00,0.000,6,0.000,0.060,2940,2241,3657,0,0,0,0,0,0
$GC,577,-0.78,-146.1,52.6,-11.2,101,582,0.00,2.30,0.00,0.000,4,0.000,0.072,2940,831,3660,0,0,0,0,0,0
$GC,622,-0.78,-146.1,58.2,-11.7,109,628,0.00,2.38,0.00,0.000,6,0.000,0.075,2931,2248,3659,0,0,0,0,0,0
$GC,966,-0.78,-146.1,96.5,-10.4,170,972,0.00,2.22,0.00,0.000,4,0.000,0.086,2921,3598,3659,0,0,0,0,0,0
$GC,984,-0.78,-146.1,98.6,-11.5,173,989,0.00,2.17,0.00,0.000,6,0.000,0.061,2921,2242,3659,0,0,0,0,0,0
$GC,1310,-0.78,-146.1,135.4,-10.7,205,1314,0.10,2.30,0.00,0.000,4,0.168,0.074,2947,834,3659,0,0,0,0,0,0
$GC,1338,-0.78,-146.1,138.2,-10.1,207,1342,0.00,2.38,0.00,0.000,6,0.000,0.075,2939,2256,3659,0,0,0,0,0,0
$GC,1663,-0.78,-146.1,167.5,-8.5,237,1667,0.00,2.33,0.00,0.000,4,0.000,0.071,2939,840,3659,0,0,0,0,0,0
$GC,1703,-0.78,-146.1,171.3,-8.9,240,1707,0.00,2.38,0.00,0.000,6,0.000,0.075,2930,2262,3659,0,0,0,0,0,0
$GC,2028,-0.78,-146.1,198.3,-7.8,270,2032,0.00,2.33,0.00,0.000,4,0.000,0.071,2930,830,3659,0,0,0,0,0,0
$GC,2083,-0.78,-146.1,202.9,-8.3,274,2089,0.10,2.38,0.00,0.000,6,0.164,0.076,2948,2256,3659,0,0,0,0,0,0
$GC,2408,-0.78,-146.1,223.6,-6.2,305,2412,0.00,2.17,0.00,0.000,4,0.000,0.088,2940,3595,3659,0,0,0,0,0,0
$GC,2431,-0.78,-146.1,225.2,-6.6,306,2436,0.00,2.17,0.00,0.000,6,0.000,0.062,2939,2246,3658,0,0,0,0,0,0
$GC,2756,-0.78,-146.1,248.7,-7.4,337,2760,0.00,2.28,0.00,0.000,4,0.000,0.074,2940,834,3658,0,0,0,0,0,0
$GC,2779,-0.78,-146.1,250.5,-7.7,338,2784,0.00,2.35,0.00,0.000,6,0.000,0.075,2930,2248,3658,0,0,0,0,0,0
$GC,3104,-0.78,-146.1,277.1,-8.3,369,3105,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2249,3658,0,0,0,0,0,0
$GC,3425,-0.78,-146.1,304.7,-8.5,399,3429,0.00,2.20,0.00,0.000,4,0.000,0.087,2920,3598,3657,0,0,0,0,0,0
$GC,3453,-0.78,-146.1,307.4,-8.9,401,3458,0.10,2.17,0.00,0.000,6,0.163,0.061,2947,2238,3657,0,0,0,0,0,0
$GC,3778,-0.78,-146.1,330.7,-6.9,431,3782,0.00,2.22,0.00,0.000,4,0.000,0.074,2947,838,3658,0,0,0,0,0,0
$GC,3802,-0.78,-146.1,332.3,-7.1,432,3808,0.00,2.35,0.00,0.000,6,0.000,0.076,2939,2257,3657,0,0,0,0,0,0
$GC,4127,-0.78,-146.1,355.9,-7.8,463,4129,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2257,3657,0,0,0,0,0,0
$GC,4448,-0.78,-146.1,379.4,-7.0,493,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2257,3658,0,0,0,0,0,0
$GC,4764,-0.78,-146.1,401.4,-6.6,523,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2257,3658,0,0,0,0,0,0
$GC,5083,-0.78,-146.1,422.5,-6.4,553,5087,0.00,2.17,0.00,0.000,4,0.000,0.086,2929,3598,3658,0,0,0,0,0,0
$GC,5122,-0.78,-146.1,425.2,-7.4,556,5127,0.00,2.15,0.00,0.000,6,0.000,0.058,2929,2239,3658,0,0,0,0,0,0
$GC,5448,-0.78,-146.1,448.0,-7.1,586,5452,0.00,2.22,0.00,0.000,4,0.000,0.071,2929,842,3659,0,0,0,0,0,0
$GC,5459,-0.78,-146.1,448.8,-7.1,586,5465,0.10,2.33,0.00,0.000,6,0.160,0.073,2948,2260,3659,0,0,0,0,0,0
$GC,5784,-0.78,-146.1,468.9,-6.3,617,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2260,3659,0,0,0,0,0,0
$GC,6102,-0.78,-146.1,488.2,-5.9,647,6106,0.00,2.15,0.00,0.000,4,0.000,0.083,2940,3608,3659,0,0,0,0,0,0
$GC,6120,-0.78,-146.1,489.3,-6.2,648,6124,0.00,2.15,0.00,0.000,6,0.000,0.057,2940,2247,3659,0,0,0,0,0,0
$GC,6445,-0.78,-146.1,508.3,-6.7,678,6449,0.00,2.22,0.00,0.000,4,0.000,0.070,2940,837,3660,0,0,0,0,0,0
$GC,6462,-0.78,-146.1,509.6,-7.1,679,6467,0.00,2.33,0.00,0.000,6,0.000,0.072,2931,2253,3659,0,0,0,0,0,0
$GC,6787,-0.78,-146.1,533.6,-7.3,710,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2253,3660,0,0,0,0,0,0
$STATE,6858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6858,begin apogee
$GC,6865,-0.17,0.0,538.6,6.8,717,6992,0.43,0.00,121.65,1.215,6,0.122,0.000,3074,2190,3058,0,0,0,0,0,0
$STATE,6993,end apogee,CONTROL_FINISHED_OK
$STATE,6993,begin climb
$GC,6996,0.78,146.1,541.3,0.0,730,7130,0.60,2.53,122.32,1.150,4,0.078,0.068,3294,804,2462,0,0,0,0,0,0
$GC,7170,0.80,160.2,529.7,9.4,746,7190,0.00,2.53,13.65,1.031,6,0.000,0.069,3293,2206,2403,0,0,0,0,0,0
$GC,7516,0.80,160.4,494.3,10.0,779,7520,0.00,2.35,0.00,0.000,4,0.000,0.079,3293,3605,2399,0,0,0,0,0,0
$GC,7579,0.80,160.4,487.0,12.8,784,7583,0.00,2.30,0.00,0.000,6,0.000,0.054,3303,2205,2398,0,0,0,0,0,0
$GC,7910,0.80,161.0,451.4,10.0,815,7914,0.00,2.33,0.00,0.000,4,0.000,0.064,3314,781,2398,0,0,0,0,0,0
$GC,7976,0.80,161.0,444.2,10.8,820,7983,0.12,2.38,0.00,0.000,6,0.163,0.067,3282,2205,2398,0,0,0,0,0,0
$GC,8302,0.82,174.1,414.0,9.4,851,8322,0.00,2.38,12.00,1.039,4,0.000,0.077,3282,3602,2347,0,0,0,0,0,0
$GC,8391,0.82,174.1,404.1,11.9,859,8395,0.00,2.28,0.00,0.000,6,0.000,0.052,3289,2194,2346,0,0,0,0,0,0
$GC,8716,0.83,181.5,371.6,9.7,889,8730,0.00,2.35,7.35,0.930,4,0.000,0.064,3299,782,2318,0,0,0,0,0,0
$GC,8787,0.84,192.9,364.7,9.5,895,8804,0.00,2.35,11.23,1.002,6,0.000,0.065,3299,2204,2271,0,0,0,0,0,0
$GC,9122,0.84,192.9,330.8,10.6,927,9126,0.00,2.28,0.00,0.000,4,0.000,0.077,3299,3594,2269,0,0,0,0,0,0
$GC,9206,0.84,192.9,320.3,12.6,934,9210,0.00,2.22,0.00,0.000,6,0.000,0.053,3309,2199,2267,0,0,0,0,0,0
$GC,9531,0.84,192.9,282.7,10.9,964,9535,0.00,2.28,0.00,0.000,4,0.000,0.064,3319,792,2267,0,0,0,0,0,0
$GC,9571,0.84,192.9,278.2,11.4,967,9576,0.10,2.35,0.00,0.000,6,0.173,0.067,3294,2212,2268,0,0,0,0,0,0
$GC,9896,0.84,193.8,245.3,10.0,997,9900,0.00,2.25,0.00,0.000,4,0.000,0.080,3294,3595,2268,0,0,0,0,0,0
$GC,9940,0.84,193.8,240.2,12.3,1000,9946,0.00,2.22,0.00,0.000,6,0.000,0.053,3301,2191,2267,0,0,0,0,0,0
$GC,10265,0.84,193.8,206.9,10.2,1031,10269,0.00,2.22,0.00,0.000,4,0.000,0.064,3312,793,2268,0,0,0,0,0,0
$GC,10340,0.84,194.5,199.6,10.0,1037,10344,0.00,2.30,0.00,0.000,6,0.000,0.067,3312,2203,2268,0,0,0,0,0,0
$GC,10665,0.88,225.8,169.3,8.6,1067,10699,0.00,2.35,27.67,0.986,4,0.000,0.080,3311,3592,2136,0,0,0,0,0,0
$GC,10728,0.88,225.8,163.1,10.9,1073,10733,0.00,2.25,0.00,0.000,6,0.000,0.054,3321,2202,2133,0,0,0,0,0,0
$GC,11053,0.92,254.6,133.6,8.7,1103,11085,0.00,2.35,24.75,0.950,4,0.000,0.067,3332,784,2019,0,0,0,0,0,0
$GC,11198,0.93,270.1,119.8,9.3,1116,11220,0.00,2.38,14.05,0.896,6,0.000,0.067,3332,2206,1956,0,0,0,0,0,0
$GC,11546,0.95,282.7,85.4,9.4,1161,11563,0.00,2.38,11.52,0.876,4,0.000,0.083,3332,3594,1904,0,0,0,0,0,0
$GC,11604,0.95,282.7,79.7,10.9,1171,11610,0.10,2.28,0.00,0.000,6,0.175,0.057,3317,2200,1902,0,0,0,0,0,0
$GC,11950,0.99,314.4,50.5,8.6,1232,11986,0.00,2.40,27.33,0.917,4,0.000,0.070,3324,792,1776,0,0,0,0,0,0
$GC,12040,1.05,360.1,42.7,7.9,1248,12086,0.00,2.40,40.47,0.895,6,0.000,0.071,3323,2200,1589,0,0,0,0,0,0
$FREEZE,8.87,-0.080,-1.675,2,24,0
$FREEZE,8.07,-0.087,-1.674,2,24,0
$FREEZE,7.45,-0.084,-1.673,2,24,0
$FREEZE,6.78,-0.096,-1.672,2,24,0
$GC,12426,1.25,529.3,17.8,2.3,1317,12576,0.20,2.53,138.07,0.872,4,0.075,0.083,3411,3596,897,0,0,0,0,0,0
$FREEZE,5.22,-0.097,-1.671,2,24,0
$FREEZE,4.61,-0.100,-1.670,2,24,0
$FREEZE,3.87,-0.098,-1.670,2,24,0
$FREEZE,3.12,-0.095,-1.669,2,24,0
$FREEZE,2.63,-0.060,-1.669,2,24,0
$STATE,12605,end climb,SURFACE_DEPTH_REACHED
$STATE,12605,begin surface coast
$FREEZE,1.92,0.008,-0.996,2,24,0
$FINISH,1.9,1.014710
$STATE,12611,end surface coast,CONTROL_FINISHED_OK
$STATE,12611,begin surface
$RAFOS_CLK,563
$RAFOS,6,1277729343,12.833333,12.817500,138,118,49,47,42,41,836,837,1492,1650,848,1595
$RAFOS,5,1277728869,12.700000,12.685833,44,42,41,41,41,41,200,798,606,150,800,811
$RAFOS,4,1277728381,12.566667,12.550278,86,78,49,45,39,38,751,752,1933,1427,318,1359
$RAFOS,3,1277727908,12.433333,12.418889,76,75,49,46,46,42,769,769,1329,427,1802,1803
$RAFOS,2,1277727423,12.300000,12.284166,138,123,44,44,42,41,657,658,400,1341,1843,337
$RAFOS,1,1277726952,12.166667,12.153334,94,91,44,44,40,39,513,516,363,1000,835,1
$RAFOS,0,1277726464,12.033333,12.017777,117,114,46,43,42,42,605,606,1901,228,1812,339
$RAFOS_FIX,6644.931641,-6018.296875,280610,121210,6,108,0.22
$IRIDIUM_FIX,6620.33,-6010.56,210999,232355
$TT8_MAMPS,0.026845
$HUMID,40.43
$INTERNAL_PRESSURE,10.0883
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.8,17.9
$ALTIM_BOTTOM_PING,450.5,107.4
$24V_AH,23.1,18.656
$10V_AH,10.1,10.420
$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,3.150,126.625,572.075,0.000,0.000,0.000,0.000,0.000,1.750,0.000,0.000,2172.615,7578.101,634.868,2131.765,291.721,0.000,1824.578,0.000,2124.334,2520.000,14.935,0.000
$DEVICE_MAMPS,174.876,95.875,1214.928,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,974.820,964.767,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135908
$DATA_FILE_SIZE,53539,1351
$CAP_FILE_SIZE,145110,0
$CFSIZE,260165632,239702016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.4
$GPS,280610,122410,6644.932,-6018.297,0,6108.2,0,-38.2