version: 66.06
glider: 108
mission: 14
dive: 152
start: 7 7 110 10 38 46
data:
$ID,108
$MISSION,14
$DIVE,152
$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,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,-180547.48
$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,28
$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
$GPS1,102636,6702.932,-5651.630,35,1.0,35,-37.5
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,2
$_SM_DEPTHo,2.81
$_SM_ANGLEo,-75.1
$GPS2,103826,6702.978,-5651.764,14,1.1,14,-37.5
$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,126.6,2718,-18.8,-10.000
$D_GRID,535
$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,19,-0.79,-135.7,0.0,0.0,0,55,0.00,0.00,-33.95,0.000,2,0.000,0.000,337,2245,2522,0,0,0,0,0,0
$GC,58,-0.81,-146.1,3.0,-0.6,7,135,10.12,2.28,-57.67,0.000,4,0.237,0.070,2935,843,3656,0,0,0,0,0,0
$GC,150,-0.81,-146.1,2.1,-0.6,24,156,0.00,2.30,0.00,0.000,6,0.000,0.060,2935,2259,3658,0,0,0,0,0,0
$GC,494,-0.81,-146.1,18.3,-10.4,85,499,0.00,2.28,0.00,0.000,4,0.000,0.054,2935,829,3660,0,0,0,0,0,0
$GC,624,-0.81,-146.1,32.4,-10.2,108,629,0.00,2.30,0.00,0.000,6,0.000,0.058,2928,2252,3660,0,0,0,0,0,0
$GC,968,-0.81,-146.1,64.4,-9.4,169,973,0.00,2.12,0.00,0.000,4,0.000,0.068,2918,3595,3661,0,0,0,0,0,0
$GC,980,-0.81,-146.1,65.6,-8.9,171,986,0.00,2.10,0.00,0.000,6,0.000,0.045,2918,2238,3661,0,0,0,0,0,0
$GC,1324,-0.81,-146.1,97.5,-8.7,232,1330,0.00,2.17,0.00,0.000,4,0.000,0.055,2918,839,3663,0,0,0,0,0,0
$GC,1364,-0.81,-146.1,101.1,-8.7,238,1370,0.12,2.28,0.00,0.000,6,0.155,0.058,2943,2255,3662,0,0,0,0,0,0
$GC,1689,-0.81,-146.1,124.5,-7.4,269,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2254,3663,0,0,0,0,0,0
$GC,2010,-0.81,-146.1,148.0,-7.5,299,2015,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2254,3662,0,0,0,0,0,0
$GC,2337,-0.81,-146.1,171.9,-6.9,330,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2254,3662,0,0,0,0,0,0
$GC,2656,-0.81,-146.1,194.3,-7.0,360,2660,0.00,2.12,0.00,0.000,4,0.000,0.071,2935,3607,3661,0,0,0,0,0,0
$GC,2683,-0.81,-146.1,196.5,-7.4,362,2689,0.00,2.10,0.00,0.000,6,0.000,0.047,2935,2237,3661,0,0,0,0,0,0
$GC,3009,-0.81,-146.1,220.8,-7.4,393,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2237,3660,0,0,0,0,0,0
$GC,3329,-0.81,-146.1,244.3,-7.1,423,3333,0.00,2.17,0.00,0.000,4,0.000,0.058,2935,837,3660,0,0,0,0,0,0
$GC,3369,-0.81,-146.1,247.5,-7.4,426,3374,0.00,2.25,0.00,0.000,6,0.000,0.060,2926,2253,3660,0,0,0,0,0,0
$GC,3694,-0.81,-146.1,271.2,-7.3,457,3695,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2253,3660,0,0,0,0,0,0
$GC,4015,-0.81,-146.1,294.4,-7.2,487,4019,0.00,2.12,0.00,0.000,4,0.000,0.071,2915,3604,3659,0,0,0,0,0,0
$GC,4043,-0.81,-146.1,296.7,-7.9,489,4049,0.10,2.08,0.00,0.000,6,0.159,0.046,2943,2242,3659,0,0,0,0,0,0
$GC,4368,-0.81,-146.1,316.9,-6.1,520,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2242,3659,0,0,0,0,0,0
$GC,4688,-0.81,-146.1,336.2,-5.9,550,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2242,3659,0,0,0,0,0,0
$GC,5004,-0.81,-146.1,354.7,-5.5,580,5008,0.00,2.15,0.00,0.000,4,0.000,0.057,2943,840,3659,0,0,0,0,0,0
$GC,5021,-0.81,-146.1,355.7,-5.9,581,5026,0.00,2.25,0.00,0.000,6,0.000,0.058,2936,2251,3659,0,0,0,0,0,0
$GC,5346,-0.81,-146.1,375.1,-6.0,612,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2251,3659,0,0,0,0,0,0
$GC,5667,-0.81,-146.1,393.3,-5.9,642,5670,0.00,2.12,0.00,0.000,4,0.000,0.069,2926,3595,3659,0,0,0,0,0,0
$GC,5679,-0.81,-146.1,394.1,-5.7,643,5684,0.00,2.08,0.00,0.000,6,0.000,0.045,2926,2254,3659,0,0,0,0,0,0
$GC,6010,-0.81,-146.1,414.5,-6.4,674,6014,0.00,2.17,0.00,0.000,4,0.000,0.056,2926,842,3659,0,0,0,0,0,0
$GC,6034,-0.81,-146.1,416.0,-6.2,675,6039,0.00,2.25,0.00,0.000,6,0.000,0.058,2917,2258,3659,0,0,0,0,0,0
$GC,6359,-0.81,-146.1,437.8,-6.5,706,6363,0.00,2.20,0.00,0.000,4,0.000,0.054,2917,844,3659,0,0,0,0,0,0
$GC,6386,-0.81,-146.1,439.8,-6.6,708,6392,0.12,2.25,0.00,0.000,6,0.150,0.058,2944,2260,3659,0,0,0,0,0,0
$GC,6712,-0.81,-146.1,458.2,-5.5,739,6713,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2260,3659,0,0,0,0,0,0
$GC,7030,-0.81,-146.1,476.5,-6.5,769,7034,0.00,2.08,0.00,0.000,4,0.000,0.067,2936,3594,3659,0,0,0,0,0,0
$GC,7047,-0.81,-146.1,477.7,-6.6,770,7052,0.00,2.05,0.00,0.000,6,0.000,0.044,2936,2240,3659,0,0,0,0,0,0
$GC,7372,-0.81,-146.1,498.3,-6.1,801,7373,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2240,3659,0,0,0,0,0,0
$STATE,7390,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7390,begin apogee
$GC,7397,-0.17,0.0,499.6,6.1,803,7523,0.40,0.00,118.85,1.126,6,0.118,0.000,3073,2239,3058,0,0,0,0,0,0
$STATE,7523,end apogee,CONTROL_FINISHED_OK
$STATE,7524,begin climb
$GC,7527,0.81,146.1,500.7,0.0,816,7654,0.62,2.42,119.97,1.074,4,0.079,0.054,3303,804,2461,0,0,0,0,0,0
$GC,7684,0.81,146.1,487.5,11.2,831,7690,0.00,2.40,0.00,0.000,6,0.000,0.055,3303,2198,2461,0,0,0,0,0,0
$GC,8009,0.81,146.1,448.7,11.7,862,8013,0.00,2.25,0.00,0.000,4,0.000,0.064,3303,3606,2458,0,0,0,0,0,0
$GC,8048,0.81,146.1,443.5,13.1,865,8053,0.10,2.22,0.00,0.000,6,0.178,0.043,3288,2196,2457,0,0,0,0,0,0
$GC,8373,0.81,146.1,406.3,10.8,895,8377,0.00,2.17,0.00,0.000,4,0.000,0.052,3296,797,2457,0,0,0,0,0,0
$GC,8469,0.81,146.1,396.4,10.5,903,8474,0.00,2.28,0.00,0.000,6,0.000,0.054,3297,2206,2457,0,0,0,0,0,0
$GC,8794,0.81,146.1,359.7,11.3,933,8798,0.00,2.17,0.00,0.000,4,0.000,0.063,3297,3603,2457,0,0,0,0,0,0
$GC,8849,0.81,146.1,352.5,13.3,937,8855,0.00,2.17,0.00,0.000,6,0.000,0.043,3307,2190,2456,0,0,0,0,0,0
$GC,9174,0.81,146.1,313.2,11.8,968,9178,0.00,2.17,0.00,0.000,4,0.000,0.051,3317,786,2457,0,0,0,0,0,0
$GC,9263,0.81,146.1,302.8,12.3,975,9269,0.12,2.25,0.00,0.000,6,0.163,0.054,3283,2201,2457,0,0,0,0,0,0
$GC,9588,0.82,155.1,271.5,9.6,1006,9602,0.00,2.22,8.00,0.857,4,0.000,0.063,3284,3595,2425,0,0,0,0,0,0
$GC,9659,0.82,155.1,263.5,11.7,1012,9665,0.00,2.15,0.00,0.000,6,0.000,0.042,3291,2193,2425,0,0,0,0,0,0
$GC,9984,0.82,155.1,229.9,10.1,1043,9988,0.00,2.17,0.00,0.000,4,0.000,0.052,3300,786,2424,0,0,0,0,0,0
$GC,10073,0.82,155.1,220.8,10.4,1050,10078,0.00,2.25,0.00,0.000,6,0.000,0.054,3300,2200,2425,0,0,0,0,0,0
$GC,10398,0.83,165.8,189.1,9.5,1081,10413,0.00,2.20,9.90,0.852,4,0.000,0.064,3300,3592,2382,0,0,0,0,0,0
$GC,10452,0.83,165.8,183.3,11.3,1085,10458,0.00,2.15,0.00,0.000,6,0.000,0.043,3309,2195,2381,0,0,0,0,0,0
$GC,10777,0.83,165.8,150.2,10.3,1116,10781,0.00,2.15,0.00,0.000,4,0.000,0.052,3320,792,2381,0,0,0,0,0,0
$GC,10839,0.83,165.8,143.8,10.6,1121,10843,0.12,2.25,0.00,0.000,6,0.156,0.054,3285,2200,2381,0,0,0,0,0,0
$GC,11169,0.88,209.9,116.2,7.8,1152,11210,0.00,2.22,35.60,0.898,4,0.000,0.064,3285,3594,2201,0,0,0,0,0,0
$GC,11245,0.88,209.9,109.5,10.4,1159,11249,0.00,2.20,0.00,0.000,6,0.000,0.044,3292,2190,2197,0,0,0,0,0,0
$GC,11584,0.91,230.0,76.7,9.0,1210,11605,0.00,2.28,16.52,0.838,4,0.000,0.054,3301,793,2120,0,0,0,0,0,0
$GC,11699,0.94,259.2,66.0,8.6,1230,11730,0.00,2.30,25.15,0.842,6,0.000,0.055,3300,2208,2001,0,0,0,0,0,0
$GC,12070,0.98,289.6,32.8,8.5,1296,12101,0.10,2.25,25.52,0.828,4,0.104,0.066,3352,3598,1877,0,0,0,0,0,0
$GC,12168,0.98,289.6,19.7,15.7,1313,12174,0.15,2.22,0.00,0.000,6,0.157,0.046,3320,2197,1872,0,0,0,0,0,0
$FREEZE,8.51,5.596,-1.840,0,2,0
$FREEZE,7.94,5.606,-1.839,0,2,0
$FREEZE,7.47,5.652,-1.839,0,2,0
$FREEZE,6.79,5.665,-1.838,0,2,0
$FREEZE,6.23,5.664,-1.838,0,2,0
$FREEZE,5.60,5.698,-1.837,0,2,0
$FREEZE,5.04,5.710,-1.837,0,2,0
$FREEZE,4.55,5.763,-1.836,0,2,0
$FREEZE,3.91,5.758,-1.836,0,2,0
$FREEZE,3.42,5.764,-1.836,0,2,0
$FREEZE,2.84,5.772,-1.835,0,2,0
$STATE,12319,end climb,SURFACE_DEPTH_REACHED
$STATE,12319,begin surface coast
$FREEZE,2.33,5.775,-1.835,0,2,0
$FREEZE,1.94,5.786,-0.290,0,2,0
$FREEZE,1.96,5.516,-0.897,0,2,0
$FREEZE,1.95,5.723,-0.132,0,2,0
$FREEZE,1.90,5.689,-0.942,0,2,0
$FREEZE,2.01,5.748,-1.712,0,2,0
$FINISH,2.0,1.024649
$STATE,12354,end surface coast,CONTROL_FINISHED_OK
$STATE,12354,begin surface
$SM_CCo,12494,241.85,0.778,0,0,588,605.89
$SM_GC,2.74,0.00,0.00,241.85,0.000,0.000,0.778,333,2275,588,-12.78,0.71,605.89
$RAFOS_CLK,477
$RAFOS,6,1278506941,12.833333,12.816944,112,104,48,47,46,44,863,862,1741,1588,690,1118
$RAFOS,5,1278506464,12.700000,12.684444,46,44,44,41,41,40,210,1910,1921,257,1826,610
$RAFOS,4,1278505983,12.566667,12.550834,73,57,44,41,41,41,897,898,1665,599,427,1118
$RAFOS,3,1278505505,12.433333,12.418056,52,47,44,43,41,40,1005,1010,1317,1463,745,101
$RAFOS,2,1278505027,12.300000,12.285277,55,55,47,44,43,43,1064,1067,485,533,959,1486
$RAFOS,1,1278504544,12.166667,12.151111,79,71,46,45,42,41,1062,1063,1886,1603,1193,848
$RAFOS,0,1278504064,12.033333,12.017777,66,61,44,43,42,41,1192,1193,1353,169,91,61
$RAFOS_FIX,6704.108398,-5652.114258,070710,121208,4,82,0.33
$IRIDIUM_FIX,6636.54,-5650.71,011099,101030
$TT8_MAMPS,0.026845
$HUMID,39.68
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,17.20
$XPDR_PINGS,21
$ALTIM_TOP_PING,19.7,17.2
$ALTIM_BOTTOM_PING,450.5,63.7
$24V_AH,23.6,25.314
$10V_AH,10.2,14.202
$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,20.050,105.925,359.525,241.850,0.000,80.237,146.420,193.574,6.750,0.000,16.198,2208.159,7658.262,719.713,2075.187,781.179,0.000,1808.556,0.000,2054.427,2520.000,12.507,0.000
$DEVICE_MAMPS,237.003,92.807,1125.956,777.738,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,994.217,924.281,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135744
$DATA_FILE_SIZE,53627,1346
$CAP_FILE_SIZE,147518,0
$CFSIZE,260165632,236097536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.4
$GPS,070710,141236,6703.396,-5648.825,30,0.9,30,-37.5