version: 66.06
glider: 108
mission: 14
dive: 116
start: 6 28 110 21 35 46
data:
$ID,108
$MISSION,14
$DIVE,116
$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,29
$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
$GPS1,202716,6645.524,-6011.691,0,7101.4,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,1.6
$GPS2,202716,6645.524,-6011.691,0,7101.4,0,-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,115.8,150614,-18.1,-10.000
$D_GRID,571
$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,-146.1,0.0,0.0,0,134,0.00,0.00,-114.38,0.000,2,0.000,0.000,3401,2201,3277,0,0,0,0,0,0
$GC,139,-0.78,-146.1,3.3,-5.7,23,161,1.42,2.33,-14.85,0.000,4,0.130,0.094,2932,3606,3656,0,0,0,0,0,0
$GC,196,-0.78,-146.1,11.1,-16.2,33,202,0.00,2.22,0.00,0.000,6,0.000,0.058,2934,2245,3660,0,0,0,0,0,0
$GC,540,-0.78,-146.1,60.1,-11.4,94,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2243,3663,0,0,0,0,0,0
$GC,883,-0.78,-146.1,91.1,-9.5,155,888,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2244,3663,0,0,0,0,0,0
$GC,1213,-0.78,-146.1,123.0,-9.7,194,1217,0.00,2.25,0.00,0.000,4,0.000,0.071,2934,838,3663,0,0,0,0,0,0
$GC,1324,-0.78,-146.1,134.1,-10.4,203,1330,0.00,2.38,0.00,0.000,6,0.000,0.074,2927,2262,3663,0,0,0,0,0,0
$GC,1649,-0.78,-146.1,167.1,-10.0,234,1651,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2262,3663,0,0,0,0,0,0
$GC,1971,-0.78,-146.1,195.7,-8.7,264,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2262,3662,0,0,0,0,0,0
$GC,2289,-0.78,-146.1,223.2,-8.3,294,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2261,3662,0,0,0,0,0,0
$GC,2607,-0.78,-146.1,248.2,-7.6,324,2611,0.00,2.15,0.00,0.000,4,0.000,0.085,2917,3597,3661,0,0,0,0,0,0
$GC,2651,-0.78,-146.1,252.2,-9.0,327,2657,0.10,2.17,0.00,0.000,6,0.164,0.061,2944,2243,3661,0,0,0,0,0,0
$GC,2976,-0.78,-146.1,274.7,-7.0,358,2980,0.00,2.25,0.00,0.000,4,0.000,0.071,2943,838,3661,0,0,0,0,0,0
$GC,3016,-0.78,-146.1,277.6,-7.2,361,3021,0.00,2.35,0.00,0.000,6,0.000,0.074,2936,2257,3660,0,0,0,0,0,0
$GC,3343,-0.78,-146.1,300.3,-7.3,391,3344,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2257,3660,0,0,0,0,0,0
$GC,3663,-0.78,-146.1,322.0,-6.9,421,3668,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2257,3660,0,0,0,0,0,0
$GC,3991,-0.78,-146.1,343.7,-6.3,452,3995,0.00,2.17,0.00,0.000,4,0.000,0.084,2926,3597,3660,0,0,0,0,0,0
$GC,4008,-0.78,-146.1,345.0,-6.8,453,4012,0.00,2.15,0.00,0.000,6,0.000,0.058,2926,2246,3660,0,0,0,0,0,0
$GC,4333,-0.78,-146.1,366.1,-6.0,483,4335,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2245,3661,0,0,0,0,0,0
$GC,4654,-0.78,-146.1,386.0,-6.2,513,4658,0.00,2.25,0.00,0.000,4,0.000,0.070,2926,831,3661,0,0,0,0,0,0
$GC,4694,-0.78,-146.1,388.8,-6.9,516,4699,0.10,2.35,0.00,0.000,6,0.158,0.071,2945,2265,3661,0,0,0,0,0,0
$GC,5019,-0.78,-146.1,406.9,-5.6,546,5020,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2266,3662,0,0,0,0,0,0
$GC,5340,-0.78,-146.1,425.7,-6.2,576,5344,0.00,2.12,0.00,0.000,4,0.000,0.082,2937,3597,3662,0,0,0,0,0,0
$GC,5357,-0.78,-146.1,427.0,-6.5,577,5363,0.00,2.15,0.00,0.000,6,0.000,0.057,2937,2233,3662,0,0,0,0,0,0
$GC,5682,-0.78,-146.1,449.2,-6.9,608,5686,0.00,2.20,0.00,0.000,4,0.000,0.068,2937,844,3662,0,0,0,0,0,0
$GC,5702,-0.78,-146.1,450.3,-6.7,609,5706,0.00,2.30,0.00,0.000,6,0.000,0.071,2927,2249,3663,0,0,0,0,0,0
$GC,6027,-0.78,-146.1,473.8,-7.1,639,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2248,3663,0,0,0,0,0,0
$GC,6347,-0.78,-146.1,496.3,-6.7,669,6351,0.00,2.17,0.00,0.000,4,0.000,0.081,2917,3602,3663,0,0,0,0,0,0
$GC,6388,-0.78,-146.1,499.5,-8.3,672,6393,0.10,2.12,0.00,0.000,6,0.157,0.055,2945,2250,3663,0,0,0,0,0,0
$GC,6713,-0.78,-146.1,520.2,-6.2,702,6717,0.00,2.22,0.00,0.000,4,0.000,0.067,2945,843,3663,0,0,0,0,0,0
$GC,6742,-0.78,-146.1,522.1,-7.2,704,6746,0.00,2.30,0.00,0.000,6,0.000,0.069,2938,2250,3663,0,0,0,0,0,0
$GC,7067,-0.78,-146.1,543.3,-6.5,734,7068,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2250,3663,0,0,0,0,0,0
$GC,7386,-0.78,-146.1,564.9,-6.8,764,7390,0.00,2.17,0.00,0.000,4,0.000,0.079,2928,3597,3663,0,0,0,0,0,0
$GC,7408,-0.78,-146.1,566.5,-6.9,765,7413,0.00,2.10,0.00,0.000,6,0.000,0.054,2928,2249,3663,0,0,0,0,0,0
$STATE,7475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7475,begin apogee
$GC,7482,-0.17,0.0,571.4,7.3,772,7609,0.43,0.00,122.65,1.228,6,0.123,0.000,3071,2193,3058,0,0,0,0,0,0
$STATE,7610,end apogee,CONTROL_FINISHED_OK
$STATE,7610,begin climb
$GC,7613,0.78,146.1,574.3,0.0,785,7740,0.60,0.00,123.53,1.164,6,0.081,0.000,3282,2193,2462,0,0,0,0,0,0
$GC,8058,0.80,158.2,536.0,9.4,828,8071,0.00,0.00,10.73,1.025,6,0.000,0.000,3282,2193,2413,0,0,0,0,0,0
$GC,8387,0.81,169.0,504.6,9.5,859,8402,0.00,2.33,10.75,1.031,4,0.000,0.067,3293,795,2368,0,0,0,0,0,0
$GC,8464,0.81,169.0,496.8,10.2,865,8470,0.00,2.40,0.00,0.000,6,0.000,0.067,3293,2202,2368,0,0,0,0,0,0
$GC,8789,0.82,175.8,464.9,9.7,896,8803,0.00,2.38,7.07,0.940,4,0.000,0.076,3293,3602,2341,0,0,0,0,0,0
$GC,8882,0.82,175.8,454.4,11.9,904,8887,0.00,2.28,0.00,0.000,6,0.000,0.051,3303,2185,2339,0,0,0,0,0,0
$GC,9210,0.82,175.8,421.4,10.0,935,9214,0.00,2.25,0.00,0.000,4,0.000,0.064,3313,788,2339,0,0,0,0,0,0
$GC,9272,0.82,175.8,414.3,10.9,940,9277,0.10,2.33,0.00,0.000,6,0.170,0.064,3288,2205,2339,0,0,0,0,0,0
$GC,9597,0.82,178.6,382.4,9.9,970,9608,0.00,2.30,3.97,0.712,4,0.000,0.075,3289,3597,2329,0,0,0,0,0,0
$GC,9688,0.82,178.6,372.0,12.2,978,9692,0.00,2.22,0.00,0.000,6,0.000,0.051,3296,2196,2328,0,0,0,0,0,0
$GC,10013,0.82,178.6,338.0,10.3,1008,10017,0.00,2.22,0.00,0.000,4,0.000,0.062,3306,797,2328,0,0,0,0,0,0
$GC,10074,0.82,178.6,331.3,11.4,1013,10079,0.00,2.30,0.00,0.000,6,0.000,0.064,3306,2200,2329,0,0,0,0,0,0
$GC,10399,0.82,178.6,295.7,11.0,1044,10403,0.00,2.28,0.00,0.000,4,0.000,0.075,3306,3599,2329,0,0,0,0,0,0
$GC,10495,0.82,178.6,283.2,13.7,1052,10499,0.10,2.20,0.00,0.000,6,0.180,0.051,3291,2200,2328,0,0,0,0,0,0
$GC,10820,0.84,193.1,250.0,9.3,1082,10841,0.00,2.30,13.23,0.971,4,0.000,0.063,3298,790,2270,0,0,0,0,0,0
$GC,10903,0.87,218.1,242.1,8.9,1089,10931,0.00,2.33,21.75,0.988,6,0.000,0.064,3299,2199,2169,0,0,0,0,0,0
$GC,11258,0.87,218.1,206.8,10.1,1123,11262,0.00,2.25,0.00,0.000,4,0.000,0.076,3299,3591,2164,0,0,0,0,0,0
$GC,11303,0.87,218.1,201.7,12.4,1127,11308,0.00,2.22,0.00,0.000,6,0.000,0.052,3308,2200,2162,0,0,0,0,0,0
$GC,11629,0.90,242.1,169.3,8.9,1157,11654,0.00,2.28,20.83,0.948,4,0.000,0.062,3319,790,2069,0,0,0,0,0,0
$GC,11737,0.92,256.3,159.5,9.4,1166,11758,0.00,2.35,12.95,0.890,6,0.000,0.065,3319,2200,2012,0,0,0,0,0,0
$GC,12077,0.93,267.1,125.8,9.5,1198,12092,0.00,2.30,9.68,0.856,4,0.000,0.077,3319,3596,1969,0,0,0,0,0,0
$GC,12145,0.93,267.1,118.8,11.2,1204,12149,0.00,2.25,0.00,0.000,6,0.000,0.054,3329,2201,1966,0,0,0,0,0,0
$GC,12478,0.93,267.1,87.1,10.1,1246,12483,0.00,2.25,0.00,0.000,4,0.000,0.065,3339,791,1965,0,0,0,0,0,0
$GC,12558,0.93,268.0,79.3,10.0,1260,12564,0.10,2.35,0.00,0.000,6,0.166,0.067,3313,2207,1965,0,0,0,0,0,0
$GC,12904,1.00,323.0,50.5,7.5,1321,12961,0.00,2.40,47.62,0.918,4,0.000,0.081,3313,3597,1740,0,0,0,0,0,0
$GC,12992,1.04,352.1,43.9,8.7,1337,13024,0.00,2.30,25.90,0.866,6,0.000,0.056,3319,2203,1621,0,0,0,0,0,0
$FREEZE,8.96,-0.151,-1.679,2,27,0
$FREEZE,8.39,-0.107,-1.677,2,27,0
$FREEZE,7.72,-0.102,-1.677,2,27,0
$GC,13364,1.22,505.7,16.9,3.0,1403,13497,0.17,2.47,126.00,0.863,4,0.079,0.076,3401,3590,994,0,0,0,0,0,0
$FREEZE,6.47,-0.129,-1.677,2,27,0
$FREEZE,6.00,-0.141,-1.677,2,27,0
$FREEZE,5.48,-0.134,-1.676,2,27,0
$FREEZE,5.02,-0.133,-1.676,2,27,0
$FREEZE,4.43,-0.060,-1.671,2,27,0
$FREEZE,3.83,0.161,-1.658,2,27,0
$FREEZE,3.26,0.251,-1.653,2,27,0
$FREEZE,2.55,0.357,-1.647,2,27,0
$STATE,13544,end climb,SURFACE_DEPTH_REACHED
$STATE,13544,begin surface coast
$FREEZE,2.11,0.223,-1.658,2,27,0
$FREEZE,2.02,0.097,-1.664,2,27,0
$FREEZE,1.90,0.154,-1.661,2,27,0
$FREEZE,2.00,0.172,-1.660,2,27,0
$FREEZE,2.09,0.142,-1.662,2,27,0
$FINISH,2.1,1.024389
$STATE,13572,end surface coast,CONTROL_FINISHED_OK
$STATE,13572,begin surface
$RAFOS_CLK,602
$RAFOS,6,1277772550,0.833333,0.819444,88,87,46,46,44,42,767,771,1397,1431,1810,537
$RAFOS,5,1277772063,0.700000,0.684167,89,76,43,42,39,38,934,939,57,1508,643,1696
$RAFOS,4,1277771582,0.566667,0.550556,92,75,44,43,43,42,712,711,1124,200,1676,1852
$RAFOS,3,1277771108,0.433333,0.418889,91,83,49,47,44,44,761,761,337,148,193,214
$RAFOS,2,1277770626,0.300000,0.285000,88,84,50,47,47,43,642,641,227,657,1731,1842
$RAFOS,1,1277770150,0.166667,0.152778,136,103,56,49,47,43,494,495,1665,1916,1202,1365
$RAFOS,0,1277769669,0.033333,0.019167,89,84,56,46,43,42,608,609,1485,1465,339,406
$RAFOS_FIX,6646.287109,-6008.193848,290610,000052,6,90,0.20
$IRIDIUM_FIX,6620.33,-6010.56,210999,232355
$TT8_MAMPS,0.026845
$HUMID,39.84
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,550.3,52.9
$24V_AH,23.1,19.125
$10V_AH,10.2,10.644
$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,3.225,106.500,556.650,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2311.037,8295.364,624.458,2249.897,292.188,0.000,1834.953,0.000,2240.486,2520.000,18.419,0.000
$DEVICE_MAMPS,180.245,130.390,1227.967,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1039.934,1032.288,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135876
$DATA_FILE_SIZE,56726,1441
$CAP_FILE_SIZE,147806,0
$CFSIZE,260165632,239468544
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.4
$GPS,290610,002952,6646.287,-6008.194,0,6089.5,0,-38.2