version: 66.06
glider: 108
mission: 14
dive: 246
start: 7 26 110 22 14 18
data:
$ID,108
$MISSION,14
$DIVE,246
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,0
$D_SAFE,500
$D_CALL,0
$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,-181458.41
$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,25
$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,5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,220706,6700.686,-5648.938,31,0.8,31,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-74.0
$GPS2,221356,6700.621,-5648.836,13,1.0,13,-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,45.3,4447,-18.1,-10.000
$D_GRID,561
$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,-146.1,0.0,0.0,0,82,0.00,0.00,-64.50,0.000,2,0.000,0.000,338,2253,2233,0,0,0,0,0,0
$GC,86,-0.78,-146.1,3.1,-0.6,13,173,10.20,2.22,-66.85,0.000,4,0.233,0.081,2926,3597,3656,0,0,0,0,0,0
$GC,204,-0.78,-146.1,8.6,-13.5,35,209,0.00,2.12,0.00,0.000,6,0.000,0.045,2926,2245,3658,0,0,0,0,0,0
$GC,548,-0.78,-146.1,48.5,-10.0,96,553,0.00,2.20,0.00,0.000,4,0.000,0.054,2926,844,3662,0,0,0,0,0,0
$GC,684,-0.78,-146.1,62.0,-9.3,120,690,0.10,2.28,0.00,0.000,6,0.153,0.058,2944,2252,3663,0,0,0,0,0,0
$GC,1030,-0.78,-146.1,92.1,-8.3,181,1035,0.00,2.15,0.00,0.000,4,0.000,0.069,2935,3605,3664,0,0,0,0,0,0
$GC,1201,-0.78,-146.1,106.5,-8.3,205,1206,0.00,2.10,0.00,0.000,6,0.000,0.045,2936,2248,3664,0,0,0,0,0,0
$GC,1527,-0.78,-146.1,132.1,-8.1,235,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2247,3663,0,0,0,0,0,0
$GC,1847,-0.78,-146.1,161.6,-10.1,265,1851,0.00,2.20,0.00,0.000,4,0.000,0.057,2935,839,3663,0,0,0,0,0,0
$GC,1869,-0.78,-146.1,164.1,-10.3,266,1875,0.00,2.30,0.00,0.000,6,0.000,0.059,2926,2264,3662,0,0,0,0,0,0
$GC,2194,-0.78,-146.1,199.0,-10.0,297,2198,0.00,2.10,0.00,0.000,4,0.000,0.071,2916,3593,3662,0,0,0,0,0,0
$GC,2229,-0.78,-146.1,202.7,-11.1,300,2233,0.10,2.08,0.00,0.000,6,0.157,0.047,2943,2249,3662,0,0,0,0,0,0
$GC,2554,-0.78,-146.1,228.9,-7.1,330,2558,0.00,2.17,0.00,0.000,4,0.000,0.056,2943,840,3662,0,0,0,0,0,0
$GC,2598,-0.78,-146.1,232.5,-7.7,333,2604,0.00,2.28,0.00,0.000,6,0.000,0.059,2936,2250,3661,0,0,0,0,0,0
$GC,2923,-0.78,-146.1,255.6,-6.5,364,2927,0.00,2.15,0.00,0.000,4,0.000,0.071,2926,3596,3661,0,0,0,0,0,0
$GC,2996,-0.78,-146.1,261.4,-8.2,370,3002,0.00,2.08,0.00,0.000,6,0.000,0.047,2926,2247,3661,0,0,0,0,0,0
$GC,3321,-0.78,-146.1,288.0,-8.6,401,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2247,3661,0,0,0,0,0,0
$GC,3643,-0.78,-146.1,316.5,-8.9,431,3647,0.00,2.17,0.00,0.000,4,0.000,0.056,2926,847,3661,0,0,0,0,0,0
$GC,3676,-0.78,-146.1,320.0,-9.4,433,3682,0.10,2.25,0.00,0.000,6,0.151,0.059,2945,2262,3661,0,0,0,0,0,0
$GC,4002,-0.78,-146.1,343.1,-7.4,464,4005,0.00,2.10,0.00,0.000,4,0.000,0.070,2937,3594,3661,0,0,0,0,0,0
$GC,4064,-0.78,-146.1,348.2,-8.9,469,4069,0.00,2.05,0.00,0.000,6,0.000,0.045,2937,2249,3661,0,0,0,0,0,0
$GC,4389,-0.78,-146.1,372.7,-7.5,500,4393,0.00,2.17,0.00,0.000,4,0.000,0.056,2937,847,3661,0,0,0,0,0,0
$GC,4434,-0.78,-146.1,376.3,-7.7,503,4440,0.00,2.25,0.00,0.000,6,0.000,0.058,2928,2249,3661,0,0,0,0,0,0
$GC,4759,-0.78,-146.1,401.6,-7.9,534,4763,0.00,2.10,0.00,0.000,4,0.000,0.070,2917,3594,3661,0,0,0,0,0,0
$GC,4845,-0.78,-146.1,408.8,-8.6,541,4850,0.10,2.08,0.00,0.000,6,0.151,0.046,2946,2242,3661,0,0,0,0,0,0
$GC,5170,-0.78,-146.1,429.6,-6.3,571,5174,0.00,2.17,0.00,0.000,4,0.000,0.056,2946,843,3660,0,0,0,0,0,0
$GC,5204,-0.78,-146.1,431.9,-7.2,573,5209,0.00,2.28,0.00,0.000,6,0.000,0.058,2939,2262,3660,0,0,0,0,0,0
$GC,5529,-0.78,-146.1,454.1,-7.0,604,5533,0.00,2.10,0.00,0.000,4,0.000,0.069,2929,3597,3660,0,0,0,0,0,0
$GC,5614,-0.78,-146.1,461.2,-8.1,611,5620,0.00,2.08,0.00,0.000,6,0.000,0.045,2929,2243,3661,0,0,0,0,0,0
$GC,5939,-0.78,-146.1,486.8,-7.6,642,5943,0.00,2.15,0.00,0.000,4,0.000,0.056,2929,849,3661,0,0,0,0,0,0
$GC,5975,-0.78,-146.1,489.3,-7.8,645,5979,0.10,2.25,0.00,0.000,6,0.151,0.058,2948,2250,3661,0,0,0,0,0,0
$GC,6300,-0.78,-146.1,508.6,-5.8,675,6303,0.00,2.12,0.00,0.000,4,0.000,0.069,2940,3600,3661,0,0,0,0,0,0
$GC,6362,-0.78,-146.1,512.8,-6.3,680,6368,0.00,2.08,0.00,0.000,6,0.000,0.045,2940,2245,3661,0,0,0,0,0,0
$GC,6688,-0.78,-146.1,532.5,-6.1,711,6692,0.00,2.15,0.00,0.000,4,0.000,0.056,2940,847,3661,0,0,0,0,0,0
$GC,6722,-0.78,-146.1,534.9,-7.0,713,6727,0.00,2.25,0.00,0.000,6,0.000,0.058,2931,2250,3661,0,0,0,0,0,0
$GC,7047,-0.78,-146.1,550.0,0.2,744,7051,0.00,2.25,0.00,0.000,4,0.000,0.056,2931,844,3661,0,0,0,0,0,0
$STATE,7099,end dive,NO_VERTICAL_VELOCITY
$STATE,7100,begin apogee
$GC,7109,-0.17,0.0,550.0,0.0,748,7234,0.40,0.00,118.38,1.173,6,0.082,0.000,3081,2204,3058,0,0,0,0,0,0
$STATE,7235,end apogee,CONTROL_FINISHED_OK
$STATE,7235,begin climb
$GC,7238,0.78,146.1,549.9,0.0,761,7367,0.57,2.45,121.53,1.110,4,0.073,0.053,3298,809,2461,0,0,0,0,0,0
$GC,7441,0.80,164.4,540.8,9.2,780,7465,0.00,2.42,16.62,1.012,6,0.000,0.057,3299,2206,2387,0,0,0,0,0,0
$GC,7791,0.81,165.0,505.6,10.0,813,7792,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2206,2385,0,0,0,0,0,0
$GC,8113,0.81,165.6,473.6,10.0,843,8117,0.00,0.00,0.00,0.000,6,0.000,0.000,3298,2206,2383,0,0,0,0,0,0
$GC,8438,0.82,176.5,442.6,9.5,874,8452,0.00,2.25,10.10,0.985,4,0.000,0.068,3298,3604,2338,0,0,0,0,0,0
$GC,8482,0.82,176.5,438.0,11.0,878,8486,0.00,2.20,0.00,0.000,6,0.000,0.047,3308,2204,2338,0,0,0,0,0,0
$GC,8810,0.83,183.5,405.0,9.7,908,8824,0.00,2.30,7.18,0.903,4,0.000,0.056,3318,787,2310,0,0,0,0,0,0
$GC,8870,0.83,183.5,398.6,10.6,913,8876,0.12,2.33,0.00,0.000,6,0.161,0.058,3285,2215,2311,0,0,0,0,0,0
$GC,9195,0.87,217.1,370.7,8.5,944,9230,0.00,2.28,28.48,1.052,4,0.000,0.069,3285,3590,2172,0,0,0,0,0,0
$GC,9260,0.87,217.1,364.7,10.6,950,9264,0.00,2.20,0.00,0.000,6,0.000,0.045,3292,2199,2170,0,0,0,0,0,0
$GC,9584,0.87,217.1,333.9,10.1,980,9588,0.00,2.20,0.00,0.000,4,0.000,0.056,3301,795,2168,0,0,0,0,0,0
$GC,9648,0.87,217.2,327.6,10.0,985,9652,0.00,2.28,0.00,0.000,6,0.000,0.058,3301,2200,2169,0,0,0,0,0,0
$GC,9978,0.87,217.2,292.3,10.9,1016,9982,0.00,2.22,0.00,0.000,4,0.000,0.069,3301,3597,2168,0,0,0,0,0,0
$GC,10000,0.87,217.2,289.5,11.7,1017,10006,0.00,2.17,0.00,0.000,6,0.000,0.046,3310,2196,2167,0,0,0,0,0,0
$GC,10325,0.87,217.2,250.7,11.6,1048,10329,0.00,2.20,0.00,0.000,4,0.000,0.055,3321,789,2167,0,0,0,0,0,0
$GC,10398,0.87,217.2,242.1,12.1,1054,10404,0.00,2.30,0.00,0.000,6,0.000,0.058,3321,2213,2168,0,0,0,0,0,0
$GC,10723,0.87,217.2,202.3,12.0,1085,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2213,2167,0,0,0,0,0,0
$GC,11045,0.87,217.2,164.9,11.1,1115,11049,0.00,2.17,0.00,0.000,4,0.000,0.069,3321,3591,2168,0,0,0,0,0,0
$GC,11072,0.87,217.2,161.0,12.2,1117,11078,0.12,2.12,0.00,0.000,6,0.168,0.046,3297,2201,2168,0,0,0,0,0,0
$GC,11398,0.90,242.2,130.5,8.9,1148,11424,0.00,2.20,20.65,0.882,4,0.000,0.054,3305,794,2070,0,0,0,0,0,0
$GC,11470,0.93,264.7,124.0,9.0,1154,11495,0.00,2.28,19.38,0.858,6,0.000,0.058,3305,2206,1978,0,0,0,0,0,0
$GC,11820,0.93,264.7,90.4,10.6,1195,11826,0.00,2.28,0.00,0.000,4,0.000,0.054,3314,790,1974,0,0,0,0,0,0
$GC,11867,0.94,276.5,86.0,9.5,1203,11883,0.00,2.28,10.55,0.792,6,0.000,0.058,3314,2202,1930,0,0,0,0,0,0
$GC,12224,0.97,296.1,53.7,9.1,1266,12250,0.00,2.33,17.20,0.818,4,0.000,0.054,3323,797,1850,0,0,0,0,0,0
$GC,12333,0.97,296.1,42.4,10.7,1285,12338,0.00,2.30,0.00,0.000,6,0.000,0.058,3323,2204,1849,0,0,0,0,0,0
$FREEZE,8.99,6.923,-1.813,0,1,0
$GC,12679,1.04,359.7,12.7,7.1,1346,12741,0.00,2.35,51.92,0.825,4,0.000,0.070,3323,3601,1590,0,0,0,0,0,0
$FREEZE,8.01,6.935,-1.812,0,1,0
$FREEZE,7.55,6.945,-1.812,0,1,0
$FREEZE,6.85,6.964,-1.812,0,1,0
$FREEZE,6.25,7.010,-1.811,0,1,0
$FREEZE,5.81,7.164,-1.810,0,1,0
$FREEZE,5.26,7.183,-1.810,0,1,0
$FREEZE,4.88,7.179,-1.810,0,1,0
$FREEZE,4.48,7.176,-1.810,0,1,0
$FREEZE,4.06,7.175,-1.810,0,1,0
$GC,12756,1.11,409.1,7.6,7.7,1360,12804,0.00,2.25,40.95,0.783,6,0.000,0.047,3331,2191,1390,0,0,0,0,0,0
$FREEZE,2.97,7.176,-1.810,0,1,0
$STATE,12811,end climb,SURFACE_DEPTH_REACHED
$STATE,12812,begin surface coast
$FREEZE,2.39,7.180,-1.809,0,1,0
$FREEZE,2.08,7.119,-0.897,0,1,0
$FREEZE,2.17,7.166,-1.809,0,1,0
$FREEZE,2.05,6.976,-0.937,0,1,0
$FREEZE,2.02,7.057,-0.158,0,1,0
$FREEZE,2.08,7.122,-1.675,0,1,0
$FREEZE,2.02,6.758,-0.198,0,1,0
$FREEZE,2.04,6.852,-0.821,0,1,0
$FREEZE,2.09,6.988,-0.377,0,1,0
$FREEZE,1.98,7.078,-0.869,0,1,0
$FREEZE,2.04,7.084,-1.812,0,1,0
$FINISH,2.0,1.025870
$STATE,12873,end surface coast,CONTROL_FINISHED_OK
$STATE,12874,begin surface
$SM_CCo,12893,153.07,0.763,0,0,588,605.89
$SM_GC,2.83,0.00,0.00,153.07,0.000,0.000,0.763,340,2287,588,-12.75,1.05,605.89
$RAFOS_CLK,489
$RAFOS,6,1280191742,0.833333,0.817222,125,106,47,47,47,45,858,857,624,1819,1647,436
$RAFOS,5,1280191262,0.700000,0.683889,89,86,48,44,43,42,682,681,984,414,1651,1535
$RAFOS,4,1280190787,0.566667,0.551944,49,47,45,44,42,41,878,624,1740,887,935,107
$RAFOS,3,1280190310,0.433333,0.419444,105,87,45,42,41,41,975,976,1565,1715,1102,1213
$RAFOS,2,1280189822,0.300000,0.283889,116,89,46,45,44,43,1094,1094,759,723,857,1429
$RAFOS,1,1280189343,0.166667,0.150833,59,51,46,44,42,39,1296,154,1076,544,653,1920
$RAFOS,0,1280188866,0.033333,0.018333,92,83,47,43,42,41,1176,1177,875,1679,364,392
$RAFOS_FIX,6703.714355,-5651.009277,270710,000052,5,105,0.73
$IRIDIUM_FIX,6631.12,-5701.34,201099,181814
$TT8_MAMPS,0.026845
$HUMID,40.78
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,17.10
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,17.6
$24V_AH,23.1,40.755
$10V_AH,10.1,22.780
$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,20.025,128.175,462.925,153.075,0.000,28.733,32.706,193.091,3.000,0.000,15.297,2222.058,7673.483,728.361,2206.104,629.107,0.000,1916.076,0.000,2183.194,2520.000,15.087,0.000
$DEVICE_MAMPS,233.168,81.302,1172.743,763.165,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1002.670,974.022,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135672
$DATA_FILE_SIZE,56696,1380
$CAP_FILE_SIZE,153035,0
$CFSIZE,260165632,227987456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.3
$GPS,270710,015331,6702.743,-5648.710,40,1.0,40,-37.5