version: 66.06
glider: 108
mission: 14
dive: 153
start: 7 7 110 14 20 42
data:
$ID,108
$MISSION,14
$DIVE,153
$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,-180560.09
$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,51
$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
$GPS1,141236,6703.396,-5648.825,30,0.9,30,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.61
$_SM_ANGLEo,-71.2
$GPS2,142020,6703.404,-5648.791,10,1.2,10,-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,294.8,162915,-18.1,-10.000
$D_GRID,534
$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,-146.1,0.0,0.0,0,94,0.00,0.00,-74.80,0.000,2,0.000,0.000,333,2275,2541,0,0,0,0,0,0
$GC,97,-0.78,-146.1,3.0,-1.3,15,170,10.15,2.17,-56.25,0.000,4,0.234,0.083,2938,3571,3655,0,0,0,0,0,0
$GC,316,-0.78,-146.1,12.4,-12.0,55,322,0.00,2.10,0.00,0.000,6,0.000,0.044,2939,2233,3661,0,0,0,0,0,0
$GC,660,-0.78,-146.1,46.2,-9.0,116,666,0.00,2.17,0.00,0.000,4,0.000,0.054,2939,845,3662,0,0,0,0,0,0
$GC,796,-0.78,-146.1,59.2,-9.6,140,802,0.00,2.25,0.00,0.000,6,0.000,0.056,2932,2239,3663,0,0,0,0,0,0
$GC,1140,-0.78,-146.1,91.2,-9.3,201,1146,0.00,2.15,0.00,0.000,4,0.000,0.067,2922,3601,3664,0,0,0,0,0,0
$GC,1254,-0.78,-146.1,102.8,-10.2,219,1258,0.00,2.10,0.00,0.000,6,0.000,0.044,2922,2242,3664,0,0,0,0,0,0
$GC,1585,-0.78,-146.1,134.7,-9.5,250,1589,0.00,2.17,0.00,0.000,4,0.000,0.055,2922,833,3664,0,0,0,0,0,0
$GC,1669,-0.78,-146.1,143.3,-10.1,257,1675,0.12,2.28,0.00,0.000,6,0.150,0.058,2948,2251,3664,0,0,0,0,0,0
$GC,1994,-0.78,-146.1,169.0,-7.3,288,1997,0.00,2.12,0.00,0.000,4,0.000,0.068,2940,3601,3664,0,0,0,0,0,0
$GC,2040,-0.78,-146.1,172.7,-8.0,292,2044,0.00,2.08,0.00,0.000,6,0.000,0.045,2939,2238,3664,0,0,0,0,0,0
$GC,2371,-0.78,-146.1,198.6,-7.6,323,2375,0.00,2.17,0.00,0.000,4,0.000,0.056,2939,832,3662,0,0,0,0,0,0
$GC,2460,-0.78,-146.1,205.8,-7.9,330,2466,0.00,2.28,0.00,0.000,6,0.000,0.058,2930,2255,3663,0,0,0,0,0,0
$GC,2786,-0.78,-146.1,230.2,-7.5,361,2789,0.00,2.12,0.00,0.000,4,0.000,0.069,2920,3607,3662,0,0,0,0,0,0
$GC,2870,-0.78,-146.1,237.1,-7.9,368,2876,0.10,2.05,0.00,0.000,6,0.160,0.045,2947,2249,3662,0,0,0,0,0,0
$GC,3195,-0.78,-146.1,257.8,-6.5,399,3199,0.00,2.20,0.00,0.000,4,0.000,0.055,2947,840,3662,0,0,0,0,0,0
$GC,3246,-0.78,-146.1,261.3,-6.4,403,3252,0.00,2.25,0.00,0.000,6,0.000,0.058,2940,2250,3662,0,0,0,0,0,0
$GC,3571,-0.78,-146.1,283.6,-6.5,434,3575,0.00,2.12,0.00,0.000,4,0.000,0.068,2930,3607,3661,0,0,0,0,0,0
$GC,3640,-0.78,-146.1,288.7,-7.5,440,3644,0.00,2.10,0.00,0.000,6,0.000,0.045,2930,2238,3662,0,0,0,0,0,0
$GC,3971,-0.78,-146.1,312.4,-6.9,471,3974,0.00,2.15,0.00,0.000,4,0.000,0.055,2930,843,3661,0,0,0,0,0,0
$GC,4051,-0.78,-146.1,318.4,-8.0,478,4055,0.00,2.25,0.00,0.000,6,0.000,0.058,2920,2251,3661,0,0,0,0,0,0
$GC,4376,-0.78,-146.1,341.9,-7.3,508,4381,0.10,2.12,0.00,0.000,4,0.165,0.068,2940,3598,3661,0,0,0,0,0,0
$GC,4443,-0.78,-146.1,346.6,-6.5,513,4449,0.00,2.08,0.00,0.000,6,0.000,0.045,2940,2240,3661,0,0,0,0,0,0
$GC,4768,-0.78,-146.1,368.6,-6.9,544,4772,0.00,2.12,0.00,0.000,4,0.000,0.054,2940,846,3661,0,0,0,0,0,0
$GC,4853,-0.78,-146.1,374.8,-7.0,551,4858,0.00,2.25,0.00,0.000,6,0.000,0.058,2930,2260,3661,0,0,0,0,0,0
$GC,5178,-0.78,-146.1,397.6,-6.8,582,5182,0.00,2.10,0.00,0.000,4,0.000,0.067,2921,3605,3661,0,0,0,0,0,0
$GC,5229,-0.78,-146.1,401.4,-8.1,586,5235,0.10,2.08,0.00,0.000,6,0.158,0.044,2948,2243,3661,0,0,0,0,0,0
$GC,5554,-0.78,-146.1,422.1,-6.6,617,5558,0.00,2.15,0.00,0.000,4,0.000,0.054,2948,845,3661,0,0,0,0,0,0
$GC,5617,-0.78,-146.1,426.8,-7.7,622,5622,0.00,2.25,0.00,0.000,6,0.000,0.057,2941,2264,3661,0,0,0,0,0,0
$GC,5942,-0.78,-146.1,449.9,-6.5,653,5949,0.00,2.08,0.00,0.000,4,0.000,0.067,2930,3605,3661,0,0,0,0,0,0
$GC,5994,-0.78,-146.1,453.8,-7.5,657,6000,0.00,2.08,0.00,0.000,6,0.000,0.043,2930,2238,3661,0,0,0,0,0,0
$GC,6320,-0.78,-146.1,477.3,-7.1,688,6323,0.00,2.15,0.00,0.000,4,0.000,0.054,2930,836,3661,0,0,0,0,0,0
$GC,6409,-0.78,-146.1,483.9,-7.6,695,6415,0.00,2.25,0.00,0.000,6,0.000,0.056,2922,2258,3661,0,0,0,0,0,0
$STATE,6615,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6615,begin apogee
$GC,6622,-0.17,0.0,498.9,7.0,715,6743,0.45,0.00,117.30,1.110,6,0.123,0.000,3073,2176,3058,0,0,0,0,0,0
$STATE,6744,end apogee,CONTROL_FINISHED_OK
$STATE,6744,begin climb
$GC,6747,0.78,146.1,501.1,0.0,727,6877,0.60,2.33,120.57,1.075,4,0.075,0.052,3295,814,2462,0,0,0,0,0,0
$GC,6906,0.78,146.1,489.0,11.1,741,6911,0.00,2.38,0.00,0.000,6,0.000,0.054,3295,2205,2463,0,0,0,0,0,0
$GC,7230,0.78,146.1,452.3,11.4,772,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2205,2464,0,0,0,0,0,0
$GC,7549,0.78,146.1,417.1,11.2,802,7550,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2205,2464,0,0,0,0,0,0
$GC,7868,0.78,146.1,380.4,11.6,832,7869,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2205,2464,0,0,0,0,0,0
$GC,8188,0.78,146.1,344.9,11.2,862,8192,0.00,2.20,0.00,0.000,4,0.000,0.064,3295,3606,2464,0,0,0,0,0,0
$GC,8222,0.78,146.1,340.5,12.8,864,8228,0.10,2.15,0.00,0.000,6,0.180,0.042,3280,2207,2464,0,0,0,0,0,0
$GC,8546,0.78,146.1,306.7,10.0,895,8550,0.00,2.17,0.00,0.000,4,0.000,0.051,3288,796,2464,0,0,0,0,0,0
$GC,8575,0.78,148.2,303.8,9.9,897,8586,0.00,2.25,2.92,0.466,6,0.000,0.053,3288,2211,2454,0,0,0,0,0,0
$GC,8908,0.78,148.2,269.1,10.5,928,8912,0.00,2.17,0.00,0.000,4,0.000,0.064,3288,3601,2458,0,0,0,0,0,0
$GC,8943,0.78,148.2,265.1,12.0,930,8949,0.00,2.15,0.00,0.000,6,0.000,0.043,3298,2193,2458,0,0,0,0,0,0
$GC,9268,0.78,148.2,230.6,10.4,961,9273,0.00,2.12,0.00,0.000,4,0.000,0.052,3308,798,2458,0,0,0,0,0,0
$GC,9279,0.78,148.2,229.5,10.6,962,9284,0.10,2.22,0.00,0.000,6,0.167,0.053,3282,2204,2458,0,0,0,0,0,0
$GC,9604,0.80,156.8,198.5,9.6,992,9619,0.00,2.22,8.82,0.840,4,0.000,0.064,3282,3595,2418,0,0,0,0,0,0
$GC,9626,0.80,156.8,196.3,10.2,994,9630,0.00,2.15,0.00,0.000,6,0.000,0.042,3290,2189,2418,0,0,0,0,0,0
$GC,9951,0.80,163.7,164.2,9.7,1024,9965,0.00,2.22,7.05,0.772,4,0.000,0.052,3299,793,2390,0,0,0,0,0,0
$GC,9972,0.81,167.1,162.2,9.8,1026,9983,0.00,2.22,4.57,0.650,6,0.000,0.054,3299,2198,2376,0,0,0,0,0,0
$GC,10302,0.83,188.5,130.5,9.0,1057,10327,0.00,2.25,17.95,0.874,4,0.000,0.064,3299,3590,2289,0,0,0,0,0,0
$GC,10356,0.83,188.5,125.2,11.4,1062,10360,0.00,2.17,0.00,0.000,6,0.000,0.043,3309,2190,2288,0,0,0,0,0,0
$GC,10685,0.83,188.5,91.3,10.0,1099,10691,0.00,2.17,0.00,0.000,4,0.000,0.053,3319,794,2289,0,0,0,0,0,0
$GC,10715,0.85,200.1,88.6,9.5,1104,10731,0.10,2.28,10.55,0.804,6,0.166,0.055,3293,2211,2242,0,0,0,0,0,0
$GC,11070,0.90,240.6,59.0,8.2,1167,11111,0.00,2.35,33.08,0.861,4,0.000,0.054,3299,795,2077,0,0,0,0,0,0
$GC,11119,0.94,274.1,55.0,8.5,1176,11155,0.00,2.33,28.55,0.825,6,0.000,0.055,3299,2208,1939,0,0,0,0,0,0
$GC,11494,1.01,329.0,21.8,7.5,1243,11545,0.10,2.28,43.83,0.826,4,0.107,0.066,3348,3599,1715,0,0,0,0,0,0
$GC,11559,1.01,329.0,14.5,12.5,1254,11566,0.12,2.25,0.00,0.000,6,0.160,0.046,3325,2200,1713,0,0,0,0,0,0
$FREEZE,8.46,5.973,-1.838,0,1,0
$FREEZE,7.83,5.991,-1.837,0,1,0
$FREEZE,7.18,6.000,-1.837,0,1,0
$FREEZE,6.64,6.063,-1.837,0,1,0
$FREEZE,6.05,6.124,-1.836,0,1,0
$FREEZE,5.53,6.195,-1.836,0,1,0
$FREEZE,4.88,6.325,-1.835,0,1,0
$FREEZE,4.34,6.370,-1.833,0,1,0
$FREEZE,3.76,6.370,-1.833,0,1,0
$FREEZE,2.95,6.348,-1.833,0,1,0
$STATE,11656,end climb,SURFACE_DEPTH_REACHED
$STATE,11656,begin surface coast
$FREEZE,2.39,6.354,-1.831,0,1,0
$FREEZE,1.92,6.396,-0.900,0,1,0
$FREEZE,1.93,6.441,-1.822,0,1,0
$FREEZE,1.87,6.355,-1.834,0,1,0
$FREEZE,2.00,6.182,-1.844,0,1,0
$FINISH,2.0,1.026425
$STATE,11685,end surface coast,CONTROL_FINISHED_OK
$STATE,11685,begin surface
$SM_CCo,11885,0.00,0.000,0,0,1700,333.12
$SM_GC,2.91,7.93,0.00,0.00,0.041,0.000,0.000,340,2278,1700,-12.65,0.79,333.12
$RAFOS_CLK,433
$RAFOS,6,1278521345,16.833334,16.818056,118,110,49,46,45,40,827,828,1718,275,1938,580
$RAFOS,5,1278520869,16.700001,16.685833,146,130,46,45,45,44,630,629,753,767,1188,61
$RAFOS,4,1278520392,16.566668,16.553333,119,98,46,42,38,38,840,839,1225,503,1111,1782
$RAFOS,3,1278519903,16.433332,16.417500,115,110,45,44,43,42,1002,1003,61,1800,1799,142
$RAFOS,2,1278519426,16.299999,16.285000,118,115,46,42,41,41,1062,1063,1072,639,1374,1774
$RAFOS,1,1278518951,16.166666,16.153055,45,44,42,41,41,39,1164,775,569,513,928,61
$RAFOS,0,1278518461,16.033333,16.016945,110,109,48,43,41,39,1192,1191,892,1486,249,748
$RAFOS_FIX,6703.634766,-5653.559570,070710,161634,6,121,0.44
$IRIDIUM_FIX,6636.54,-5650.71,011099,101018
$TT8_MAMPS,0.026845
$HUMID,41.65
$INTERNAL_PRESSURE,10.3031
$TCM_TEMP,17.10
$XPDR_PINGS,28
$ALTIM_TOP_PING,19.7,17.5
$ALTIM_BOTTOM_PING,450.3,63.5
$24V_AH,23.7,25.444
$10V_AH,10.2,14.277
$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,20.075,118.250,395.200,0.000,0.000,28.586,34.596,258.370,8.500,0.000,11.983,2094.942,7067.740,514.166,2030.388,651.558,0.000,1618.150,0.000,2012.207,2520.000,12.545,0.000
$DEVICE_MAMPS,233.935,90.506,1109.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,942.826,871.495,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135824
$DATA_FILE_SIZE,50554,1276
$CAP_FILE_SIZE,144885,0
$CFSIZE,260165632,236048384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1469.5
$GPS,070710,174022,6703.431,-5652.785,8,2.9,27,-37.6