version: 66.06
glider: 108
mission: 14
dive: 249
start: 7 27 110 9 10 30
data:
$ID,108
$MISSION,14
$DIVE,249
$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,-181503.97
$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,38
$R_STBD_OVSHOOT,26
$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
$GPS1,090337,6702.637,-5654.359,35,0.9,35,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-73.5
$GPS2,091008,6702.604,-5654.202,13,1.0,13,-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,295.1,158727,-18.1,-10.000
$D_GRID,610
$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,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,88,0.00,0.00,-69.47,0.000,2,0.000,0.000,336,2259,2351,0,0,0,0,0,0
$GC,91,-0.78,-146.1,3.1,-0.7,14,169,10.23,2.17,-59.08,0.000,4,0.235,0.083,2924,3593,3656,0,0,0,0,0,0
$GC,386,-0.78,-146.1,31.4,-10.9,67,391,0.00,2.10,0.00,0.000,6,0.000,0.044,2925,2242,3661,0,0,0,0,0,0
$GC,730,-0.78,-146.1,65.8,-10.2,128,736,0.00,2.20,0.00,0.000,4,0.000,0.054,2924,836,3662,0,0,0,0,0,0
$GC,846,-0.78,-146.1,78.7,-11.5,148,852,0.10,2.30,0.00,0.000,6,0.151,0.057,2943,2262,3663,0,0,0,0,0,0
$GC,1189,-0.78,-146.1,112.0,-9.6,198,1193,0.00,2.12,0.00,0.000,4,0.000,0.068,2935,3602,3664,0,0,0,0,0,0
$GC,1245,-0.78,-146.1,117.9,-10.2,203,1249,0.00,2.08,0.00,0.000,6,0.000,0.044,2935,2250,3663,0,0,0,0,0,0
$GC,1576,-0.78,-146.1,151.2,-10.0,234,1580,0.00,2.17,0.00,0.000,4,0.000,0.067,2926,3598,3663,0,0,0,0,0,0
$GC,1604,-0.78,-146.1,154.2,-10.8,236,1609,0.00,2.10,0.00,0.000,6,0.000,0.046,2926,2244,3663,0,0,0,0,0,0
$GC,1929,-0.78,-146.1,186.7,-9.8,267,1933,0.00,2.20,0.00,0.000,4,0.000,0.056,2926,835,3663,0,0,0,0,0,0
$GC,1980,-0.78,-146.1,192.1,-10.6,271,1985,0.10,2.30,0.00,0.000,6,0.150,0.058,2945,2262,3662,0,0,0,0,0,0
$GC,2306,-0.78,-146.1,221.5,-9.1,301,2310,0.00,2.10,0.00,0.000,4,0.000,0.070,2937,3600,3662,0,0,0,0,0,0
$GC,2390,-0.78,-146.1,230.4,-10.6,308,2395,0.00,2.05,0.00,0.000,6,0.000,0.046,2937,2250,3662,0,0,0,0,0,0
$GC,2715,-0.78,-146.1,260.3,-8.4,339,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2250,3662,0,0,0,0,0,0
$GC,3036,-0.78,-146.1,286.3,-7.6,369,3041,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2250,3662,0,0,0,0,0,0
$GC,3364,-0.78,-146.1,311.5,-7.5,400,3368,0.00,2.20,0.00,0.000,4,0.000,0.067,2927,3603,3661,0,0,0,0,0,0
$GC,3392,-0.78,-146.1,313.9,-8.1,402,3398,0.00,2.10,0.00,0.000,6,0.000,0.044,2927,2236,3661,0,0,0,0,0,0
$GC,3717,-0.78,-146.1,337.7,-7.0,433,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2237,3661,0,0,0,0,0,0
$GC,4039,-0.78,-146.1,358.8,-6.5,463,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2237,3661,0,0,0,0,0,0
$GC,4366,-0.78,-146.1,381.4,-6.9,494,4371,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2236,3661,0,0,0,0,0,0
$GC,4694,-0.78,-146.1,404.9,-7.5,525,4698,0.00,2.15,0.00,0.000,4,0.000,0.055,2927,838,3661,0,0,0,0,0,0
$GC,4727,-0.78,-146.1,407.7,-7.9,527,4734,0.10,2.28,0.00,0.000,6,0.150,0.058,2947,2256,3661,0,0,0,0,0,0
$GC,5053,-0.78,-146.1,429.0,-6.7,558,5056,0.00,2.12,0.00,0.000,4,0.000,0.069,2939,3602,3661,0,0,0,0,0,0
$GC,5114,-0.78,-146.1,433.6,-7.4,563,5120,0.00,2.08,0.00,0.000,6,0.000,0.045,2939,2249,3661,0,0,0,0,0,0
$GC,5439,-0.78,-146.1,457.7,-7.7,594,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2249,3660,0,0,0,0,0,0
$GC,5761,-0.78,-146.1,483.0,-8.3,624,5765,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2249,3661,0,0,0,0,0,0
$GC,6088,-0.78,-146.1,508.3,-7.7,655,6092,0.00,2.17,0.00,0.000,4,0.000,0.056,2939,835,3661,0,0,0,0,0,0
$GC,6128,-0.78,-146.1,511.4,-7.8,658,6132,0.00,2.28,0.00,0.000,6,0.000,0.059,2929,2249,3661,0,0,0,0,0,0
$GC,6453,-0.78,-146.1,536.3,-7.5,688,6457,0.00,2.15,0.00,0.000,4,0.000,0.070,2919,3609,3661,0,0,0,0,0,0
$GC,6527,-0.78,-146.1,542.4,-8.1,694,6533,0.10,2.10,0.00,0.000,6,0.150,0.045,2948,2241,3661,0,0,0,0,0,0
$GC,6852,-0.78,-146.1,563.1,-6.2,725,6853,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2241,3661,0,0,0,0,0,0
$GC,7173,-0.78,-146.1,582.6,-6.4,755,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2241,3660,0,0,0,0,0,0
$GC,7499,-0.78,-146.1,602.4,-5.9,784,7500,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3661,0,0,0,0,0,0
$GC,7804,-0.78,-146.1,609.0,0.1,794,7808,0.00,2.20,0.00,0.000,4,0.000,0.068,2945,3607,3660,0,0,0,0,0,0
$STATE,7863,end dive,NO_VERTICAL_VELOCITY
$STATE,7864,begin apogee
$GC,7872,-0.17,0.0,609.0,0.0,796,7994,0.38,0.00,119.18,1.226,6,0.081,0.000,3082,2202,3058,0,0,0,0,0,0
$STATE,7995,end apogee,CONTROL_FINISHED_OK
$STATE,7995,begin climb
$GC,7998,0.78,146.1,608.9,0.0,800,8131,0.57,2.53,122.20,1.160,4,0.073,0.062,3290,3587,2462,0,0,0,0,0,0
$GC,8316,0.78,147.1,590.2,10.0,815,8322,0.00,2.28,0.00,0.000,6,0.000,0.048,3299,2198,2458,0,0,0,0,0,0
$GC,8642,0.81,165.6,560.1,9.2,846,8663,0.00,2.35,16.65,1.099,4,0.000,0.059,3310,793,2382,0,0,0,0,0,0
$GC,8866,0.81,165.6,537.6,10.5,866,8871,0.10,2.33,0.00,0.000,6,0.171,0.058,3285,2205,2382,0,0,0,0,0,0
$GC,9191,0.82,172.9,508.0,9.7,896,9205,0.00,2.35,7.03,0.950,4,0.000,0.057,3293,791,2353,0,0,0,0,0,0
$GC,9280,0.82,172.9,499.2,10.2,904,9284,0.00,2.30,0.00,0.000,6,0.000,0.058,3293,2200,2354,0,0,0,0,0,0
$GC,9605,0.82,172.9,466.2,10.2,934,9609,0.00,2.30,0.00,0.000,4,0.000,0.056,3302,783,2354,0,0,0,0,0,0
$GC,9706,0.82,176.1,455.8,9.9,942,9715,0.00,2.30,4.50,0.777,6,0.000,0.057,3302,2203,2339,0,0,0,0,0,0
$GC,10041,0.82,176.5,422.1,10.0,974,10045,0.00,2.25,0.00,0.000,4,0.000,0.056,3312,784,2339,0,0,0,0,0,0
$GC,10114,0.82,176.5,414.7,10.3,980,10119,0.10,2.30,0.00,0.000,6,0.170,0.057,3287,2205,2339,0,0,0,0,0,0
$GC,10439,0.83,186.7,384.6,9.5,1010,10454,0.00,2.28,9.80,0.976,4,0.000,0.057,3294,784,2296,0,0,0,0,0,0
$GC,10511,0.85,198.3,377.8,9.5,1016,10527,0.00,2.30,11.12,0.984,6,0.000,0.057,3294,2201,2249,0,0,0,0,0,0
$GC,10846,0.86,212.7,345.6,9.3,1047,10867,0.00,2.35,12.65,0.986,4,0.000,0.055,3304,786,2191,0,0,0,0,0,0
$GC,10930,0.87,219.5,337.4,9.7,1054,10946,0.00,2.33,7.47,0.878,6,0.000,0.056,3303,2210,2163,0,0,0,0,0,0
$GC,11265,0.87,219.5,302.7,11.1,1086,11269,0.00,2.30,0.00,0.000,4,0.000,0.056,3313,781,2161,0,0,0,0,0,0
$GC,11322,0.87,219.5,296.2,11.7,1091,11326,0.00,2.33,0.00,0.000,6,0.000,0.058,3313,2208,2161,0,0,0,0,0,0
$GC,11647,0.87,219.5,256.6,12.2,1121,11651,0.00,2.28,0.00,0.000,4,0.000,0.056,3323,786,2160,0,0,0,0,0,0
$GC,11708,0.87,219.5,248.8,12.0,1126,11714,0.00,2.30,0.00,0.000,6,0.000,0.058,3323,2204,2161,0,0,0,0,0,0
$GC,12033,0.87,219.5,205.3,13.0,1157,12037,0.00,2.25,0.00,0.000,4,0.000,0.054,3333,790,2160,0,0,0,0,0,0
$GC,12074,0.87,219.5,200.1,12.8,1160,12078,0.12,2.28,0.00,0.000,6,0.163,0.058,3299,2199,2161,0,0,0,0,0,0
$GC,12399,0.87,220.5,166.0,10.0,1190,12403,0.00,2.25,0.00,0.000,4,0.000,0.054,3306,784,2160,0,0,0,0,0,0
$GC,12443,0.88,226.9,161.5,9.7,1193,12459,0.00,2.28,7.10,0.790,6,0.000,0.056,3305,2200,2133,0,0,0,0,0,0
$GC,12778,0.88,226.9,127.1,10.3,1225,12782,0.00,2.28,0.00,0.000,4,0.000,0.055,3315,780,2133,0,0,0,0,0,0
$GC,12812,0.88,226.9,123.5,10.3,1228,12816,0.00,2.30,0.00,0.000,6,0.000,0.057,3315,2206,2134,0,0,0,0,0,0
$GC,13142,0.88,226.9,88.0,10.6,1267,13147,0.00,2.25,0.00,0.000,4,0.000,0.055,3325,791,2133,0,0,0,0,0,0
$GC,13199,0.88,226.9,82.0,10.1,1277,13205,0.00,2.28,0.00,0.000,6,0.000,0.057,3325,2204,2134,0,0,0,0,0,0
$GC,13545,0.94,276.1,51.0,7.8,1338,13592,0.00,2.30,40.90,0.860,4,0.000,0.054,3334,785,1931,0,0,0,0,0,0
$GC,13682,0.94,276.1,38.7,10.2,1363,13688,0.00,2.33,0.00,0.000,6,0.000,0.057,3334,2202,1929,0,0,0,0,0,0
$FREEZE,8.81,7.332,-1.804,0,1,0
$FREEZE,8.34,7.336,-1.804,0,1,0
$FREEZE,7.89,7.338,-1.804,0,1,0
$FREEZE,7.51,7.338,-1.803,0,1,0
$FREEZE,7.06,7.341,-1.803,0,1,0
$FREEZE,6.22,7.344,-1.802,0,1,0
$FREEZE,5.69,7.350,-1.802,0,1,0
$FREEZE,5.26,7.348,-1.802,0,1,0
$FREEZE,4.83,7.352,-1.801,0,1,0
$FREEZE,4.40,7.361,-1.801,0,1,0
$FREEZE,3.93,7.368,-1.801,0,1,0
$GC,14031,1.01,330.2,7.1,7.5,1424,14068,0.00,0.00,34.78,0.818,2,0.000,0.000,3334,2202,1754,0,0,0,0,0,0
$STATE,14069,end climb,SURFACE_DEPTH_REACHED
$STATE,14069,begin surface coast
$FREEZE,3.35,7.375,-1.800,0,1,0
$FREEZE,2.89,7.380,-1.800,0,1,0
$FREEZE,2.37,7.387,-1.799,0,1,0
$FREEZE,1.97,7.384,-1.799,0,1,0
$FREEZE,1.95,6.903,-0.696,0,1,0
$FREEZE,1.97,6.738,-0.663,0,1,0
$FREEZE,1.91,7.010,-0.907,0,1,0
$FREEZE,2.05,7.085,-0.271,0,1,0
$FREEZE,2.03,7.103,-0.456,0,1,0
$FREEZE,1.99,7.167,-0.990,0,1,0
$FREEZE,1.98,7.140,-0.648,0,1,0
$FINISH,2.0,1.009286
$STATE,14131,end surface coast,CONTROL_FINISHED_OK
$STATE,14131,begin surface
$SM_CCo,14151,225.70,0.768,0,0,587,605.89
$SM_GC,2.85,0.00,0.00,225.70,0.000,0.000,0.768,338,2256,587,-12.77,0.17,605.89
$RAFOS_CLK,546
$RAFOS,6,1280234941,12.833333,12.816944,156,151,42,41,40,40,838,837,523,1271,533,1756
$RAFOS,5,1280234467,12.700000,12.685278,146,145,48,42,39,39,628,627,1401,1529,1,1208
$RAFOS,4,1280233982,12.566667,12.550555,95,93,44,43,42,39,887,886,386,184,185,1909
$RAFOS,3,1280233503,12.433333,12.417500,77,71,45,43,40,40,997,998,628,553,629,1879
$RAFOS,2,1280233028,12.300000,12.285556,109,100,43,43,41,39,1040,1041,1829,427,210,234
$RAFOS,1,1280232546,12.166667,12.151667,54,51,47,42,42,40,1036,1032,517,1830,151,1732
$RAFOS,0,1280232064,12.033333,12.017777,92,74,50,45,41,40,1167,1168,373,61,649,1574
$RAFOS_FIX,6704.370605,-5658.624023,270710,121213,6,112,0.38
$IRIDIUM_FIX,6631.12,-5604.88,211099,050541
$TT8_MAMPS,0.027612
$HUMID,41.02
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,17.10
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.7,17.6
$24V_AH,23.0,41.296
$10V_AH,10.1,23.019
$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,19.950,116.525,393.375,225.700,0.000,28.086,31.713,180.274,4.750,0.000,15.179,2401.089,8651.779,758.478,2366.675,600.791,0.000,1983.101,0.000,2332.062,2520.000,17.525,0.000
$DEVICE_MAMPS,234.702,128.089,1225.666,767.767,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.041,1026.972,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135596
$DATA_FILE_SIZE,56708,1441
$CAP_FILE_SIZE,157268,0
$CFSIZE,260165632,227749888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,270710,131155,6702.524,-5655.508,38,1.0,38,-37.6