version: 66.06
glider: 108
mission: 14
dive: 154
start: 7 7 110 17 51 16
data:
$ID,108
$MISSION,14
$DIVE,154
$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,-180600.08
$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,36
$R_STBD_OVSHOOT,53
$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
$GPS1,174022,6703.431,-5652.785,8,2.9,27,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.82
$_SM_ANGLEo,-75.6
$GPS2,175055,6703.399,-5652.800,37,1.3,37,-37.6
$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,294.6,160053,-18.1,-10.000
$D_GRID,577
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,52,0.00,0.00,-34.65,0.000,2,0.000,0.000,339,2279,2557,0,0,0,0,0,0
$GC,56,-0.78,-146.1,3.1,-1.2,7,128,10.00,2.08,-54.85,0.000,4,0.232,0.081,2931,3574,3655,0,0,0,0,0,0
$GC,214,-0.78,-146.1,10.5,-11.6,36,220,0.00,2.08,0.00,0.000,6,0.000,0.044,2931,2244,3659,0,0,0,0,0,0
$GC,558,-0.78,-146.1,47.2,-10.5,97,563,0.00,2.17,0.00,0.000,4,0.000,0.054,2931,849,3661,0,0,0,0,0,0
$GC,637,-0.78,-146.1,55.8,-10.2,111,643,0.00,2.22,0.00,0.000,6,0.000,0.056,2923,2233,3661,0,0,0,0,0,0
$GC,981,-0.78,-146.1,88.6,-9.1,172,987,0.00,2.15,0.00,0.000,4,0.000,0.067,2912,3596,3663,0,0,0,0,0,0
$GC,1146,-0.78,-146.1,105.0,-10.1,197,1152,0.12,2.08,0.00,0.000,6,0.155,0.044,2947,2249,3663,0,0,0,0,0,0
$GC,1472,-0.78,-146.1,129.1,-7.3,228,1475,0.00,2.17,0.00,0.000,4,0.000,0.054,2947,845,3663,0,0,0,0,0,0
$GC,1505,-0.78,-146.1,131.6,-7.4,230,1511,0.00,2.25,0.00,0.000,6,0.000,0.057,2939,2252,3663,0,0,0,0,0,0
$GC,1830,-0.78,-146.1,156.4,-7.3,261,1834,0.00,2.12,0.00,0.000,4,0.000,0.068,2929,3604,3664,0,0,0,0,0,0
$GC,1985,-0.78,-146.1,169.0,-7.9,274,1989,0.00,2.10,0.00,0.000,6,0.000,0.045,2929,2239,3663,0,0,0,0,0,0
$GC,2315,-0.78,-146.1,193.8,-7.4,305,2316,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2238,3662,0,0,0,0,0,0
$GC,2636,-0.78,-146.1,218.0,-7.6,335,2637,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2238,3662,0,0,0,0,0,0
$GC,2955,-0.78,-146.1,242.6,-7.9,365,2958,0.00,2.17,0.00,0.000,4,0.000,0.066,2920,3604,3661,0,0,0,0,0,0
$GC,2995,-0.78,-146.1,246.2,-8.7,368,2999,0.00,2.08,0.00,0.000,6,0.000,0.044,2920,2248,3661,0,0,0,0,0,0
$GC,3325,-0.78,-146.1,274.0,-7.9,399,3330,0.10,2.17,0.00,0.000,4,0.156,0.055,2948,848,3661,0,0,0,0,0,0
$GC,3404,-0.78,-146.1,279.8,-7.5,405,3410,0.00,2.22,0.00,0.000,6,0.000,0.058,2941,2248,3661,0,0,0,0,0,0
$GC,3729,-0.78,-146.1,302.0,-6.7,436,3733,0.00,2.12,0.00,0.000,4,0.000,0.068,2931,3607,3661,0,0,0,0,0,0
$GC,3820,-0.78,-146.1,308.7,-7.5,444,3824,0.00,2.05,0.00,0.000,6,0.000,0.044,2931,2250,3661,0,0,0,0,0,0
$GC,4151,-0.78,-146.1,331.4,-6.8,475,4155,0.00,2.15,0.00,0.000,4,0.000,0.054,2930,837,3661,0,0,0,0,0,0
$GC,4213,-0.78,-146.1,335.9,-7.5,480,4217,0.00,2.25,0.00,0.000,6,0.000,0.058,2921,2251,3661,0,0,0,0,0,0
$GC,4538,-0.78,-146.1,358.9,-7.3,510,4542,0.00,2.10,0.00,0.000,4,0.000,0.067,2911,3597,3660,0,0,0,0,0,0
$GC,4600,-0.78,-146.1,363.9,-8.1,515,4606,0.12,2.05,0.00,0.000,6,0.150,0.045,2947,2248,3661,0,0,0,0,0,0
$GC,4926,-0.78,-146.1,383.6,-5.9,546,4930,0.00,2.15,0.00,0.000,4,0.000,0.054,2947,847,3661,0,0,0,0,0,0
$GC,4987,-0.78,-146.1,387.8,-6.4,551,4993,0.00,2.25,0.00,0.000,6,0.000,0.056,2941,2265,3660,0,0,0,0,0,0
$GC,5312,-0.78,-146.1,408.8,-6.6,582,5316,0.00,2.05,0.00,0.000,4,0.000,0.066,2930,3597,3660,0,0,0,0,0,0
$GC,5397,-0.78,-146.1,414.8,-7.5,589,5402,0.00,2.05,0.00,0.000,6,0.000,0.044,2931,2243,3661,0,0,0,0,0,0
$GC,5722,-0.78,-146.1,437.9,-7.2,620,5726,0.00,2.15,0.00,0.000,4,0.000,0.054,2931,841,3661,0,0,0,0,0,0
$GC,5805,-0.78,-146.1,444.5,-7.7,627,5812,0.00,2.22,0.00,0.000,6,0.000,0.056,2922,2249,3661,0,0,0,0,0,0
$GC,6131,-0.78,-146.1,469.0,-7.6,658,6134,0.00,2.10,0.00,0.000,4,0.000,0.066,2911,3598,3661,0,0,0,0,0,0
$GC,6204,-0.78,-146.1,475.2,-8.4,664,6210,0.12,2.05,0.00,0.000,6,0.147,0.044,2948,2250,3660,0,0,0,0,0,0
$GC,6529,-0.78,-146.1,495.2,-5.8,695,6533,0.00,2.15,0.00,0.000,4,0.000,0.054,2948,848,3660,0,0,0,0,0,0
$GC,6584,-0.78,-146.1,499.0,-6.5,699,6590,0.00,2.22,0.00,0.000,6,0.000,0.056,2941,2252,3660,0,0,0,0,0,0
$GC,6910,-0.78,-146.1,519.3,-6.0,730,6913,0.00,2.08,0.00,0.000,4,0.000,0.067,2930,3598,3661,0,0,0,0,0,0
$GC,6989,-0.78,-146.1,524.8,-7.0,737,6993,0.00,2.05,0.00,0.000,6,0.000,0.044,2930,2252,3660,0,0,0,0,0,0
$STATE,7245,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7246,begin apogee
$GC,7252,-0.17,0.0,542.6,7.0,761,7378,0.43,0.00,118.88,1.171,6,0.119,0.000,3075,2197,3058,0,0,0,0,0,0
$STATE,7379,end apogee,CONTROL_FINISHED_OK
$STATE,7379,begin climb
$GC,7382,0.78,146.1,545.3,0.0,774,7512,0.60,2.42,120.05,1.117,4,0.076,0.061,3288,3593,2461,0,0,0,0,0,0
$GC,7518,0.79,152.7,536.4,9.7,786,7534,0.00,2.33,6.97,0.858,6,0.000,0.042,3298,2198,2435,0,0,0,0,0,0
$GC,7852,0.79,152.7,500.2,10.8,818,7853,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2198,2434,0,0,0,0,0,0
$GC,8171,0.79,152.7,466.3,10.7,848,8175,0.00,2.20,0.00,0.000,4,0.000,0.055,3308,797,2432,0,0,0,0,0,0
$GC,8193,0.79,152.7,463.9,11.0,849,8199,0.10,2.30,0.00,0.000,6,0.170,0.057,3284,2208,2432,0,0,0,0,0,0
$GC,8518,0.81,167.7,431.8,9.3,880,8539,0.00,2.28,12.55,1.022,4,0.000,0.065,3284,3591,2374,0,0,0,0,0,0
$GC,8552,0.81,167.7,428.4,10.6,883,8556,0.00,2.20,0.00,0.000,6,0.000,0.043,3291,2187,2374,0,0,0,0,0,0
$GC,8876,0.81,167.7,392.0,11.3,913,8880,0.00,2.17,0.00,0.000,4,0.000,0.054,3302,786,2373,0,0,0,0,0,0
$GC,8921,0.81,167.7,387.1,10.6,916,8926,0.00,2.28,0.00,0.000,6,0.000,0.054,3302,2200,2374,0,0,0,0,0,0
$GC,9246,0.81,167.7,348.4,12.1,947,9247,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2200,2373,0,0,0,0,0,0
$GC,9567,0.81,167.7,309.2,12.5,977,9568,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2199,2373,0,0,0,0,0,0
$GC,9883,0.81,167.7,270.7,12.8,1007,9884,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2200,2373,0,0,0,0,0,0
$GC,10201,0.81,167.7,230.4,12.2,1037,10205,0.00,2.22,0.00,0.000,4,0.000,0.052,3311,786,2373,0,0,0,0,0,0
$GC,10219,0.81,167.7,228.2,12.2,1038,10223,0.10,2.25,0.00,0.000,6,0.167,0.054,3285,2202,2373,0,0,0,0,0,0
$GC,10544,0.81,169.3,194.8,9.9,1068,10548,0.00,2.17,0.00,0.000,4,0.000,0.064,3285,3596,2374,0,0,0,0,0,0
$GC,10566,0.81,169.3,192.4,10.3,1069,10572,0.00,2.15,0.00,0.000,6,0.000,0.044,3292,2190,2373,0,0,0,0,0,0
$GC,10891,0.82,174.1,158.6,9.8,1100,10903,0.00,2.22,6.55,0.776,4,0.000,0.053,3303,791,2348,0,0,0,0,0,0
$GC,10949,0.83,183.7,152.9,9.6,1105,10963,0.00,2.25,9.15,0.830,6,0.000,0.055,3303,2208,2308,0,0,0,0,0,0
$GC,11290,0.83,183.7,116.4,11.0,1137,11291,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2208,2308,0,0,0,0,0,0
$GC,11617,0.86,213.4,83.8,8.6,1181,11647,0.00,0.00,24.23,0.880,6,0.000,0.000,3303,2208,2188,0,0,0,0,0,0
$GC,11984,0.90,238.7,50.3,8.8,1247,12010,0.00,0.00,21.48,0.846,6,0.000,0.000,3303,2208,2083,0,0,0,0,0,0
$GC,12350,0.96,294.0,20.5,7.5,1312,12404,0.00,2.33,44.65,0.841,4,0.000,0.068,3303,3588,1858,0,0,0,0,0,0
$GC,12413,1.01,331.8,15.2,8.3,1323,12454,0.00,2.22,31.95,0.798,6,0.000,0.046,3311,2199,1705,0,0,0,0,0,0
$FREEZE,8.60,5.863,-1.842,0,1,0
$FREEZE,8.09,5.922,-1.841,0,1,0
$FREEZE,7.57,6.002,-1.841,0,1,0
$FREEZE,7.03,6.011,-1.840,0,1,0
$FREEZE,6.52,6.074,-1.840,0,1,0
$FREEZE,6.02,6.123,-1.840,0,1,0
$FREEZE,5.56,6.206,-1.839,0,1,0
$FREEZE,4.87,6.187,-1.839,0,1,0
$FREEZE,4.49,6.179,-1.840,0,1,0
$FREEZE,3.98,6.218,-1.838,0,1,0
$FREEZE,3.35,6.206,-1.838,0,1,0
$FREEZE,2.94,6.249,-1.837,0,1,0
$STATE,12543,end climb,SURFACE_DEPTH_REACHED
$STATE,12543,begin surface coast
$FREEZE,2.44,6.248,-1.837,0,1,0
$FREEZE,1.98,6.250,-0.910,0,1,0
$FREEZE,1.92,6.227,-1.837,0,1,0
$FREEZE,2.00,6.200,-1.837,0,1,0
$FREEZE,2.01,6.234,-0.962,0,1,0
$FREEZE,1.91,6.281,-0.951,0,1,0
$FREEZE,1.97,6.272,-0.113,0,1,0
$FINISH,2.0,1.001526
$STATE,12584,end surface coast,CONTROL_FINISHED_OK
$STATE,12586,begin surface
$SM_CCo,12786,0.00,0.000,0,0,1690,335.57
$SM_GC,2.83,7.88,0.00,0.00,0.037,0.000,0.000,336,2275,1690,-12.68,0.71,335.57
$RAFOS_CLK,478
$RAFOS,6,1278535742,20.833334,20.817223,69,69,50,49,48,42,826,828,596,154,595,1256
$RAFOS,5,1278535264,20.700001,20.684444,159,139,43,43,41,39,640,641,378,1523,1063,1846
$RAFOS,4,1278534786,20.566668,20.551666,96,90,43,42,42,41,856,857,572,1838,1611,571
$RAFOS,3,1278534309,20.433332,20.419167,114,96,42,42,41,41,966,967,256,1496,1,61
$RAFOS,2,1278533822,20.299999,20.283890,72,62,48,45,44,40,1067,1071,1777,1802,1801,1416
$RAFOS,1,1278533348,20.166666,20.152222,65,54,45,40,39,38,1017,1021,1921,112,505,1861
$RAFOS,0,1278532862,20.033333,20.017221,47,47,46,40,40,39,751,1176,1172,919,871,1893
$RAFOS_FIX,6705.524902,-5659.354492,070710,202017,6,96,0.64
$IRIDIUM_FIX,6636.54,-5652.31,011099,171726
$TT8_MAMPS,0.026845
$HUMID,42.40
$INTERNAL_PRESSURE,10.3031
$TCM_TEMP,17.10
$XPDR_PINGS,6
$ALTIM_TOP_PING,19.8,17.8
$ALTIM_BOTTOM_PING,500.6,56.9
$24V_AH,23.6,25.580
$10V_AH,10.2,14.357
$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,19.575,104.475,396.450,0.000,0.000,54.202,75.187,247.814,3.250,0.000,39.362,2215.558,7810.691,480.258,2182.688,740.177,0.000,1624.706,0.000,2132.061,2520.000,14.271,0.000
$DEVICE_MAMPS,232.401,158.002,1171.209,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,988.444,941.436,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135776
$DATA_FILE_SIZE,53602,1354
$CAP_FILE_SIZE,150030,0
$CFSIZE,260165632,235962368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.4
$GPS,070710,212627,6704.204,-5658.494,35,2.8,54,-37.6