version: 66.06
glider: 108
mission: 14
dive: 155
start: 7 7 110 21 33 36
data:
$ID,108
$MISSION,14
$DIVE,155
$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,-180632.92
$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,37
$R_STBD_OVSHOOT,50
$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
$GPS1,212627,6704.204,-5658.494,35,2.8,54,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-76.7
$GPS2,213316,6704.214,-5658.636,9,2.4,28,-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,293.7,156250,-18.1,-10.000
$D_GRID,592
$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,-146.1,0.0,0.0,0,53,0.00,0.00,-34.67,0.000,2,0.000,0.000,336,2275,2536,0,0,0,0,0,0
$GC,57,-0.78,-146.1,3.0,-1.0,7,129,9.98,2.15,-56.75,0.000,4,0.231,0.082,2931,3574,3654,0,0,0,0,0,0
$GC,270,-0.78,-146.1,16.8,-11.3,46,276,0.00,2.08,0.00,0.000,6,0.000,0.044,2931,2239,3659,0,0,0,0,0,0
$GC,614,-0.78,-146.1,52.1,-9.3,107,620,0.00,2.17,0.00,0.000,4,0.000,0.054,2931,846,3661,0,0,0,0,0,0
$GC,711,-0.78,-146.1,61.5,-9.3,124,717,0.00,2.22,0.00,0.000,6,0.000,0.057,2922,2228,3661,0,0,0,0,0,0
$GC,1057,-0.78,-146.1,93.4,-9.8,185,1062,0.00,2.15,0.00,0.000,4,0.000,0.067,2911,3594,3663,0,0,0,0,0,0
$GC,1126,-0.78,-146.1,100.7,-10.6,197,1131,0.12,2.08,0.00,0.000,6,0.153,0.045,2946,2249,3663,0,0,0,0,0,0
$GC,1452,-0.78,-146.1,128.2,-8.3,227,1456,0.00,2.17,0.00,0.000,4,0.000,0.055,2946,834,3663,0,0,0,0,0,0
$GC,1547,-0.78,-146.1,136.7,-8.2,235,1553,0.00,2.28,0.00,0.000,6,0.000,0.058,2939,2257,3663,0,0,0,0,0,0
$GC,1872,-0.78,-146.1,163.6,-7.9,266,1876,0.00,2.12,0.00,0.000,4,0.000,0.069,2929,3606,3663,0,0,0,0,0,0
$GC,1906,-0.78,-146.1,166.6,-8.6,268,1911,0.00,2.08,0.00,0.000,6,0.000,0.045,2929,2249,3663,0,0,0,0,0,0
$GC,2231,-0.78,-146.1,192.0,-7.8,299,2235,0.00,2.17,0.00,0.000,4,0.000,0.056,2929,843,3662,0,0,0,0,0,0
$GC,2328,-0.78,-146.1,200.3,-8.8,307,2333,0.10,2.25,0.00,0.000,6,0.160,0.059,2948,2248,3662,0,0,0,0,0,0
$GC,2653,-0.78,-146.1,224.0,-7.1,337,2657,0.00,2.10,0.00,0.000,4,0.000,0.069,2940,3599,3662,0,0,0,0,0,0
$GC,2742,-0.78,-146.1,231.4,-7.8,344,2748,0.00,2.08,0.00,0.000,6,0.000,0.046,2939,2243,3661,0,0,0,0,0,0
$GC,3067,-0.78,-146.1,255.8,-7.1,375,3071,0.00,2.15,0.00,0.000,4,0.000,0.056,2940,847,3661,0,0,0,0,0,0
$GC,3147,-0.78,-146.1,261.7,-7.1,382,3151,0.00,2.25,0.00,0.000,6,0.000,0.058,2930,2255,3661,0,0,0,0,0,0
$GC,3472,-0.78,-146.1,284.8,-7.3,412,3476,0.00,2.10,0.00,0.000,4,0.000,0.069,2920,3595,3661,0,0,0,0,0,0
$GC,3529,-0.78,-146.1,289.3,-8.6,417,3534,0.10,2.08,0.00,0.000,6,0.156,0.045,2948,2241,3661,0,0,0,0,0,0
$GC,3854,-0.78,-146.1,310.6,-6.3,447,3858,0.00,2.15,0.00,0.000,4,0.000,0.055,2948,846,3661,0,0,0,0,0,0
$GC,3911,-0.78,-146.1,314.6,-7.0,451,3916,0.00,2.25,0.00,0.000,6,0.000,0.058,2941,2258,3661,0,0,0,0,0,0
$GC,4236,-0.78,-146.1,336.4,-6.7,482,4239,0.00,2.08,0.00,0.000,4,0.000,0.068,2930,3598,3661,0,0,0,0,0,0
$GC,4304,-0.78,-146.1,341.3,-7.3,488,4308,0.00,2.08,0.00,0.000,6,0.000,0.045,2930,2244,3661,0,0,0,0,0,0
$GC,4634,-0.78,-146.1,365.3,-6.8,519,4638,0.00,2.15,0.00,0.000,4,0.000,0.055,2931,834,3661,0,0,0,0,0,0
$GC,4720,-0.78,-146.1,371.7,-7.9,526,4724,0.00,2.28,0.00,0.000,6,0.000,0.058,2921,2262,3661,0,0,0,0,0,0
$GC,5045,-0.78,-146.1,396.1,-7.9,556,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,2922,2262,3660,0,0,0,0,0,0
$GC,5365,-0.78,-146.1,420.7,-7.8,586,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2262,3661,0,0,0,0,0,0
$GC,5686,-0.78,-146.1,444.0,-7.4,616,5689,0.00,2.10,0.00,0.000,4,0.000,0.067,2911,3605,3661,0,0,0,0,0,0
$GC,5725,-0.78,-146.1,447.7,-9.0,619,5731,0.12,2.08,0.00,0.000,6,0.146,0.044,2948,2244,3661,0,0,0,0,0,0
$GC,6050,-0.78,-146.1,466.9,-5.5,650,6054,0.00,2.15,0.00,0.000,4,0.000,0.056,2948,842,3661,0,0,0,0,0,0
$GC,6119,-0.78,-146.1,470.9,-6.4,656,6123,0.00,2.25,0.00,0.000,6,0.000,0.058,2941,2257,3661,0,0,0,0,0,0
$GC,6444,-0.78,-146.1,491.1,-6.4,686,6447,0.00,2.10,0.00,0.000,4,0.000,0.068,2931,3598,3661,0,0,0,0,0,0
$GC,6535,-0.78,-146.1,497.4,-7.3,694,6538,0.00,2.05,0.00,0.000,6,0.000,0.045,2931,2244,3661,0,0,0,0,0,0
$GC,6865,-0.78,-146.1,520.0,-7.4,725,6869,0.00,2.15,0.00,0.000,4,0.000,0.056,2931,834,3661,0,0,0,0,0,0
$GC,6917,-0.78,-146.1,523.9,-7.5,729,6921,0.00,2.28,0.00,0.000,6,0.000,0.058,2922,2263,3661,0,0,0,0,0,0
$GC,7242,-0.78,-146.1,548.6,-7.7,759,7246,0.00,2.10,0.00,0.000,4,0.000,0.067,2912,3607,3661,0,0,0,0,0,0
$GC,7315,-0.78,-146.1,555.0,-8.8,765,7321,0.12,2.08,0.00,0.000,6,0.146,0.044,2948,2245,3661,0,0,0,0,0,0
$GC,7641,-0.78,-146.1,575.2,-5.9,796,7644,0.00,2.17,0.00,0.000,4,0.000,0.057,2948,838,3661,0,0,0,0,0,0
$GC,7681,-0.78,-146.1,577.7,-6.2,799,7685,0.00,2.25,0.00,0.000,6,0.000,0.058,2941,2250,3661,0,0,0,0,0,0
$STATE,7706,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7706,begin apogee
$GC,7713,-0.17,0.0,579.5,6.1,801,7839,0.40,0.00,119.55,1.206,6,0.120,0.000,3078,2185,3058,0,0,0,0,0,0
$STATE,7840,end apogee,CONTROL_FINISHED_OK
$STATE,7840,begin climb
$GC,7843,0.78,146.1,582.5,0.0,814,7977,0.57,2.42,120.50,1.145,4,0.076,0.057,3293,816,2462,0,0,0,0,0,0
$GC,8039,0.79,155.7,568.2,9.6,832,8055,0.00,2.38,9.12,0.954,6,0.000,0.058,3294,2199,2423,0,0,0,0,0,0
$GC,8374,0.79,155.7,534.2,10.2,864,8378,0.00,2.28,0.00,0.000,4,0.000,0.066,3293,3597,2422,0,0,0,0,0,0
$GC,8397,0.79,155.7,531.8,11.2,865,8402,0.00,2.20,0.00,0.000,6,0.000,0.044,3302,2215,2421,0,0,0,0,0,0
$GC,8722,0.79,155.7,495.3,11.4,896,8726,0.00,2.25,0.00,0.000,4,0.000,0.055,3313,788,2421,0,0,0,0,0,0
$GC,8756,0.79,155.7,491.5,11.1,899,8761,0.12,2.33,0.00,0.000,6,0.163,0.057,3280,2213,2421,0,0,0,0,0,0
$GC,9082,0.80,160.0,459.6,9.8,929,9090,0.00,0.00,4.32,0.762,6,0.000,0.000,3281,2213,2405,0,0,0,0,0,0
$GC,9409,0.81,165.9,428.4,9.7,960,9419,0.00,0.00,6.53,0.910,6,0.000,0.000,3281,2213,2381,0,0,0,0,0,0
$GC,9738,0.82,177.1,396.4,9.5,991,9750,0.00,0.00,10.38,0.995,6,0.000,0.000,3281,2213,2336,0,0,0,0,0,0
$GC,10067,0.83,185.8,364.2,9.6,1022,10081,0.00,2.33,8.57,0.934,4,0.000,0.054,3288,797,2300,0,0,0,0,0,0
$GC,10088,0.83,185.8,362.1,10.5,1024,10093,0.00,2.30,0.00,0.000,6,0.000,0.056,3288,2213,2300,0,0,0,0,0,0
$GC,10414,0.85,198.5,329.9,9.4,1054,10433,0.00,2.25,11.90,0.967,4,0.000,0.067,3288,3592,2248,0,0,0,0,0,0
$GC,10440,0.86,208.6,327.4,9.5,1056,10456,0.00,2.20,9.62,0.918,6,0.000,0.044,3298,2185,2207,0,0,0,0,0,0
$GC,10778,0.86,208.6,288.4,11.5,1088,10782,0.00,2.17,0.00,0.000,4,0.000,0.054,3308,798,2207,0,0,0,0,0,0
$GC,10818,0.86,208.6,283.7,11.4,1091,10822,0.00,2.28,0.00,0.000,6,0.000,0.056,3308,2204,2207,0,0,0,0,0,0
$GC,11145,0.86,208.6,247.5,11.4,1121,11146,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2203,2207,0,0,0,0,0,0
$GC,11463,0.86,208.6,213.1,10.7,1151,11467,0.00,2.20,0.00,0.000,4,0.000,0.067,3308,3598,2207,0,0,0,0,0,0
$GC,11486,0.86,208.6,210.1,12.1,1153,11490,0.00,2.17,0.00,0.000,6,0.000,0.046,3318,2190,2207,0,0,0,0,0,0
$GC,11811,0.86,208.6,172.2,11.2,1183,11815,0.00,2.17,0.00,0.000,4,0.000,0.056,3328,786,2206,0,0,0,0,0,0
$GC,11827,0.86,208.6,170.3,10.9,1184,11833,0.12,2.28,0.00,0.000,6,0.161,0.057,3294,2205,2207,0,0,0,0,0,0
$GC,12152,0.88,223.8,139.8,9.3,1215,12171,0.00,0.00,13.48,0.895,6,0.000,0.000,3294,2205,2145,0,0,0,0,0,0
$GC,12491,0.89,234.6,107.5,9.5,1247,12503,0.00,0.00,10.10,0.837,6,0.000,0.000,3294,2205,2101,0,0,0,0,0,0
$GC,12834,0.95,278.6,76.3,8.0,1301,12880,0.10,2.33,36.97,0.893,4,0.108,0.069,3340,3594,1921,0,0,0,0,0,0
$GC,12906,0.95,278.6,67.9,13.9,1314,12912,0.12,2.22,0.00,0.000,6,0.168,0.048,3317,2197,1919,0,0,0,0,0,0
$GC,13253,0.95,278.6,27.8,10.1,1375,13258,0.00,2.20,0.00,0.000,4,0.000,0.058,3325,791,1914,0,0,0,0,0,0
$GC,13334,0.95,282.8,19.6,9.8,1389,13346,0.00,2.30,3.65,0.539,6,0.000,0.059,3325,2205,1903,0,0,0,0,0,0
$FREEZE,8.72,6.012,-1.843,0,1,0
$FREEZE,8.19,6.211,-1.843,0,1,0
$FREEZE,7.57,6.431,-1.840,0,1,0
$FREEZE,7.02,6.505,-1.839,0,1,0
$FREEZE,6.41,6.522,-1.839,0,1,0
$FREEZE,5.92,6.535,-1.839,0,1,0
$FREEZE,5.36,6.533,-1.839,0,1,0
$FREEZE,4.80,6.535,-1.839,0,1,0
$FREEZE,4.28,6.538,-1.839,0,1,0
$FREEZE,3.65,6.529,-1.839,0,1,0
$FREEZE,3.18,6.530,-1.838,0,1,0
$FREEZE,2.59,6.532,-1.838,0,1,0
$STATE,13497,end climb,SURFACE_DEPTH_REACHED
$STATE,13497,begin surface coast
$FREEZE,2.09,6.526,-1.838,0,1,0
$FREEZE,2.00,6.453,-1.841,0,1,0
$FREEZE,2.12,6.503,-1.839,0,1,0
$FREEZE,1.93,6.326,-1.848,0,1,0
$FREEZE,1.91,6.503,-1.012,0,1,0
$FREEZE,1.97,6.500,-1.797,0,1,0
$FINISH,2.0,1.025734
$STATE,13532,end surface coast,CONTROL_FINISHED_OK
$STATE,13532,begin surface
$SM_CCo,13672,13.12,0.802,0,0,1835,300.00
$SM_GC,2.56,0.00,0.00,13.12,0.000,0.000,0.802,335,2260,1835,-12.77,0.31,300.00
$RAFOS_CLK,514
$RAFOS,6,1278550150,0.833333,0.819444,99,92,50,48,45,43,763,764,526,506,899,1621
$RAFOS,5,1278549662,0.700000,0.683889,93,84,47,45,42,40,641,637,1427,195,1650,1820
$RAFOS,4,1278549188,0.566667,0.552222,107,91,45,42,41,41,829,830,1452,196,203,1453
$RAFOS,3,1278548710,0.433333,0.419444,51,48,48,46,45,44,955,353,739,1858,1342,1933
$RAFOS,2,1278548225,0.300000,0.284722,109,85,56,43,42,42,1039,1040,1703,593,795,1356
$RAFOS,1,1278547748,0.166667,0.152222,75,67,42,41,40,39,995,996,518,567,107,265
$RAFOS,0,1278547271,0.033333,0.019722,90,88,49,47,45,42,1112,1111,633,806,1855,919
$RAFOS_FIX,6706.456543,-5705.696289,080710,000044,6,96,0.63
$IRIDIUM_FIX,6636.54,-5658.34,011099,171727
$TT8_MAMPS,0.026845
$HUMID,42.83
$INTERNAL_PRESSURE,10.3031
$TCM_TEMP,16.90
$XPDR_PINGS,3
$ALTIM_TOP_PING,19.6,999.0
$ALTIM_BOTTOM_PING,550.1,44.3
$24V_AH,23.5,25.709
$10V_AH,10.2,14.439
$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,19.900,122.800,364.700,13.125,0.000,27.826,33.966,179.083,2.750,0.000,32.214,2373.673,8351.468,489.180,2285.397,605.860,0.000,1687.145,0.000,2244.368,2520.000,16.187,0.000
$DEVICE_MAMPS,230.867,131.157,1206.491,802.282,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1035.466,1003.634,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135764
$DATA_FILE_SIZE,56702,1424
$CAP_FILE_SIZE,158544,0
$CFSIZE,260165632,235876352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.7
$GPS,080710,012331,6704.856,-5704.591,37,1.8,37,-37.7