version: 66.06
glider: 108
mission: 14
dive: 250
start: 7 27 110 13 19 11
data:
$ID,108
$MISSION,14
$DIVE,250
$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,-181519.64
$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,32
$R_STBD_OVSHOOT,27
$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
$GPS1,131155,6702.524,-5655.508,38,1.0,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-73.4
$GPS2,131849,6702.529,-5655.508,13,0.9,13,-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,295.0,157765,-18.1,-10.000
$D_GRID,624
$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,-146.1,0.0,0.0,0,83,0.00,0.00,-64.40,0.000,2,0.000,0.000,337,2257,2238,0,0,0,0,0,0
$GC,86,-0.78,-146.1,3.0,-1.0,13,173,10.30,2.35,-66.45,0.000,4,0.235,0.067,2934,835,3656,0,0,0,0,0,0
$GC,428,-0.78,-146.1,38.8,-10.6,75,434,0.00,2.30,0.00,0.000,6,0.000,0.056,2926,2249,3660,0,0,0,0,0,0
$GC,772,-0.78,-146.1,69.3,-8.4,136,777,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2249,3662,0,0,0,0,0,0
$GC,1115,-0.78,-146.1,98.1,-9.0,197,1121,0.00,2.25,0.00,0.000,4,0.000,0.052,2927,828,3663,0,0,0,0,0,0
$GC,1162,-0.78,-146.1,102.5,-9.3,203,1167,0.10,2.28,0.00,0.000,6,0.153,0.057,2945,2249,3663,0,0,0,0,0,0
$GC,1493,-0.78,-146.1,130.6,-9.0,234,1496,0.00,2.10,0.00,0.000,4,0.000,0.067,2937,3594,3663,0,0,0,0,0,0
$GC,1552,-0.78,-146.1,135.9,-9.4,239,1556,0.00,2.10,0.00,0.000,6,0.000,0.044,2937,2235,3663,0,0,0,0,0,0
$GC,1883,-0.78,-146.1,163.6,-8.0,270,1884,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2235,3662,0,0,0,0,0,0
$GC,2204,-0.78,-146.1,188.4,-7.9,300,2208,0.00,2.17,0.00,0.000,4,0.000,0.056,2937,842,3662,0,0,0,0,0,0
$GC,2237,-0.78,-146.1,191.3,-8.6,302,2242,0.00,2.28,0.00,0.000,6,0.000,0.058,2928,2252,3662,0,0,0,0,0,0
$GC,2562,-0.78,-146.1,219.4,-8.8,333,2565,0.00,2.15,0.00,0.000,4,0.000,0.070,2917,3607,3661,0,0,0,0,0,0
$GC,2619,-0.78,-146.1,224.8,-10.1,338,2623,0.10,2.10,0.00,0.000,6,0.153,0.047,2945,2249,3661,0,0,0,0,0,0
$GC,2944,-0.78,-146.1,251.3,-8.1,368,2948,0.00,2.20,0.00,0.000,4,0.000,0.056,2945,835,3661,0,0,0,0,0,0
$GC,2984,-0.78,-146.1,254.7,-8.5,371,2988,0.00,2.30,0.00,0.000,6,0.000,0.058,2938,2264,3661,0,0,0,0,0,0
$GC,3309,-0.78,-146.1,282.2,-8.3,401,3313,0.00,2.10,0.00,0.000,4,0.000,0.069,2928,3592,3661,0,0,0,0,0,0
$GC,3370,-0.78,-146.1,287.6,-9.0,406,3376,0.00,2.05,0.00,0.000,6,0.000,0.045,2928,2249,3660,0,0,0,0,0,0
$GC,3696,-0.78,-146.1,313.8,-7.5,437,3700,0.00,2.17,0.00,0.000,4,0.000,0.055,2928,847,3660,0,0,0,0,0,0
$GC,3736,-0.78,-146.1,317.1,-8.2,440,3741,0.10,2.25,0.00,0.000,6,0.150,0.058,2948,2248,3660,0,0,0,0,0,0
$GC,4061,-0.78,-146.1,338.0,-6.2,470,4065,0.00,2.12,0.00,0.000,4,0.000,0.068,2939,3595,3660,0,0,0,0,0,0
$GC,4107,-0.78,-146.1,341.2,-7.6,474,4111,0.00,2.08,0.00,0.000,6,0.000,0.045,2939,2245,3660,0,0,0,0,0,0
$GC,4437,-0.78,-146.1,365.3,-7.6,505,4441,0.00,2.15,0.00,0.000,4,0.000,0.055,2939,847,3660,0,0,0,0,0,0
$GC,4466,-0.78,-146.1,367.5,-8.0,507,4470,0.00,2.25,0.00,0.000,6,0.000,0.058,2930,2250,3660,0,0,0,0,0,0
$GC,4792,-0.78,-146.1,392.8,-7.6,537,4795,0.00,2.15,0.00,0.000,4,0.000,0.068,2920,3600,3660,0,0,0,0,0,0
$GC,4849,-0.78,-146.1,397.5,-8.7,542,4853,0.10,2.08,0.00,0.000,6,0.149,0.045,2948,2250,3660,0,0,0,0,0,0
$GC,5174,-0.78,-146.1,418.8,-6.4,572,5177,0.00,2.17,0.00,0.000,4,0.000,0.055,2949,848,3660,0,0,0,0,0,0
$GC,5213,-0.78,-146.1,421.4,-6.7,575,5219,0.00,2.25,0.00,0.000,6,0.000,0.057,2942,2254,3660,0,0,0,0,0,0
$GC,5539,-0.78,-146.1,443.6,-6.9,606,5542,0.00,2.12,0.00,0.000,4,0.000,0.068,2931,3601,3660,0,0,0,0,0,0
$GC,5601,-0.78,-146.1,448.2,-7.3,611,5606,0.00,2.05,0.00,0.000,6,0.000,0.044,2931,2250,3660,0,0,0,0,0,0
$GC,5926,-0.78,-146.1,471.5,-7.5,642,5930,0.00,2.20,0.00,0.000,4,0.000,0.055,2931,834,3660,0,0,0,0,0,0
$GC,5967,-0.78,-146.1,474.7,-8.0,645,5971,0.00,2.28,0.00,0.000,6,0.000,0.058,2922,2250,3660,0,0,0,0,0,0
$GC,6292,-0.78,-146.1,499.9,-7.9,675,6297,0.00,2.12,0.00,0.000,4,0.000,0.069,2912,3595,3660,0,0,0,0,0,0
$GC,6372,-0.78,-146.1,506.3,-7.8,682,6376,0.12,2.05,0.00,0.000,6,0.140,0.045,2949,2249,3661,0,0,0,0,0,0
$GC,6697,-0.78,-146.1,526.0,-5.7,712,6701,0.00,2.15,0.00,0.000,4,0.000,0.055,2949,849,3661,0,0,0,0,0,0
$GC,6738,-0.78,-146.1,528.5,-6.3,715,6742,0.00,2.25,0.00,0.000,6,0.000,0.058,2942,2251,3660,0,0,0,0,0,0
$GC,7063,-0.78,-146.1,548.5,-6.4,745,7067,0.00,2.12,0.00,0.000,4,0.000,0.069,2932,3595,3660,0,0,0,0,0,0
$GC,7122,-0.78,-146.1,552.7,-7.3,750,7126,0.00,2.05,0.00,0.000,6,0.000,0.045,2932,2245,3661,0,0,0,0,0,0
$GC,7453,-0.78,-146.1,576.9,-7.6,781,7457,0.00,2.17,0.00,0.000,4,0.000,0.057,2931,847,3660,0,0,0,0,0,0
$GC,7499,-0.78,-146.1,580.4,-8.2,784,7505,0.00,2.25,0.00,0.000,6,0.000,0.059,2923,2260,3660,0,0,0,0,0,0
$STATE,7799,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7799,begin apogee
$GC,7806,-0.17,0.0,602.7,7.3,811,7929,0.47,0.00,119.40,1.210,6,0.114,0.000,3079,2179,3058,0,0,0,0,0,0
$STATE,7929,end apogee,CONTROL_FINISHED_OK
$STATE,7930,begin climb
$GC,7932,0.78,146.1,606.6,0.0,815,8065,0.57,2.42,122.07,1.145,4,0.067,0.056,3298,825,2462,0,0,0,0,0,0
$GC,8145,0.79,155.8,595.0,9.6,823,8160,0.00,2.40,9.48,0.965,6,0.000,0.058,3298,2206,2422,0,0,0,0,0,0
$GC,8486,0.80,160.6,562.3,9.8,855,8495,0.00,0.00,5.18,0.821,6,0.000,0.000,3298,2206,2403,0,0,0,0,0,0
$GC,8814,0.83,183.1,532.1,9.0,886,8836,0.00,0.00,19.83,1.104,6,0.000,0.000,3298,2206,2311,0,0,0,0,0,0
$GC,9153,0.83,183.1,498.0,10.3,918,9157,0.00,2.25,0.00,0.000,4,0.000,0.069,3298,3603,2309,0,0,0,0,0,0
$GC,9181,0.83,183.1,494.6,11.8,920,9186,0.00,2.20,0.00,0.000,6,0.000,0.047,3308,2208,2307,0,0,0,0,0,0
$GC,9506,0.83,183.1,459.4,11.1,950,9510,0.00,2.22,0.00,0.000,4,0.000,0.057,3319,792,2307,0,0,0,0,0,0
$GC,9553,0.83,183.1,454.4,11.5,954,9558,0.12,2.30,0.00,0.000,6,0.160,0.058,3285,2208,2307,0,0,0,0,0,0
$GC,9879,0.84,195.3,422.8,9.4,984,9894,0.00,2.20,10.62,1.006,4,0.000,0.067,3285,3593,2261,0,0,0,0,0,0
$GC,9929,0.84,195.3,417.5,11.2,988,9933,0.00,2.20,0.00,0.000,6,0.000,0.045,3293,2190,2261,0,0,0,0,0,0
$GC,10254,0.84,195.3,384.6,10.1,1018,10258,0.00,2.20,0.00,0.000,4,0.000,0.056,3301,790,2260,0,0,0,0,0,0
$GC,10309,0.84,195.3,379.0,10.1,1022,10314,0.00,2.30,0.00,0.000,6,0.000,0.058,3300,2210,2260,0,0,0,0,0,0
$GC,10634,0.84,195.3,345.6,10.4,1053,10638,0.00,2.20,0.00,0.000,4,0.000,0.068,3301,3597,2259,0,0,0,0,0,0
$GC,10662,0.84,195.3,342.3,11.6,1055,10667,0.00,2.17,0.00,0.000,6,0.000,0.046,3310,2195,2259,0,0,0,0,0,0
$GC,10988,0.84,195.3,306.3,11.0,1085,10992,0.00,2.17,0.00,0.000,4,0.000,0.054,3321,788,2259,0,0,0,0,0,0
$GC,11054,0.84,195.3,299.1,11.2,1090,11060,0.10,2.28,0.00,0.000,6,0.167,0.057,3295,2199,2261,0,0,0,0,0,0
$GC,11379,0.86,208.5,268.3,9.4,1121,11399,0.00,2.28,11.90,0.924,4,0.000,0.067,3295,3596,2207,0,0,0,0,0,0
$GC,11423,0.86,208.5,263.7,10.9,1125,11427,0.00,2.17,0.00,0.000,6,0.000,0.045,3302,2195,2206,0,0,0,0,0,0
$GC,11748,0.86,208.5,228.0,10.6,1155,11752,0.00,2.17,0.00,0.000,4,0.000,0.054,3313,790,2206,0,0,0,0,0,0
$GC,11837,0.86,211.6,218.8,9.9,1162,11846,0.00,2.28,4.25,0.652,6,0.000,0.058,3313,2199,2194,0,0,0,0,0,0
$GC,12172,0.86,211.6,184.3,10.1,1194,12173,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2199,2194,0,0,0,0,0,0
$GC,12495,0.87,216.0,152.9,9.8,1224,12506,0.00,2.22,5.28,0.703,4,0.000,0.051,3322,786,2177,0,0,0,0,0,0
$GC,12534,0.89,234.2,148.7,9.2,1227,12555,0.00,2.28,16.23,0.876,6,0.000,0.056,3322,2200,2103,0,0,0,0,0,0
$GC,12875,0.89,236.7,112.1,9.9,1259,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2200,2100,0,0,0,0,0,0
$GC,13203,0.89,236.7,77.7,10.9,1307,13208,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2200,2100,0,0,0,0,0,0
$GC,13547,0.91,254.0,43.7,9.2,1368,13568,0.00,2.28,16.70,0.830,4,0.000,0.069,3323,3592,2022,0,0,0,0,0,0
$GC,13592,0.91,254.0,39.4,10.2,1376,13598,0.00,2.17,0.00,0.000,6,0.000,0.046,3332,2199,2020,0,0,0,0,0,0
$FREEZE,8.48,7.311,-1.805,0,1,0
$FREEZE,8.00,7.353,-1.804,0,1,0
$FREEZE,7.59,7.360,-1.804,0,1,0
$FREEZE,7.18,7.375,-1.804,0,1,0
$FREEZE,6.72,7.397,-1.804,0,1,0
$FREEZE,6.33,7.388,-1.804,0,1,0
$FREEZE,5.85,7.401,-1.804,0,1,0
$FREEZE,5.51,7.406,-1.804,0,1,0
$GC,13938,0.99,311.9,9.2,7.4,1437,13991,0.00,2.25,47.10,0.831,4,0.000,0.054,3341,795,1785,0,0,0,0,0,0
$FREEZE,4.51,7.453,-1.803,0,1,0
$FREEZE,4.01,7.499,-1.803,0,1,0
$FREEZE,3.61,7.555,-1.802,0,1,0
$STATE,14007,end climb,SURFACE_DEPTH_REACHED
$STATE,14008,begin surface coast
$FREEZE,3.24,7.556,-1.802,0,1,0
$FREEZE,2.83,7.584,-1.802,0,1,0
$FREEZE,2.50,7.599,-1.801,0,1,0
$FREEZE,1.94,7.577,-1.802,0,1,0
$FREEZE,1.91,7.396,-0.080,0,1,0
$FREEZE,2.00,7.368,-1.003,0,1,0
$FINISH,2.0,1.014411
$STATE,14042,end surface coast,CONTROL_FINISHED_OK
$STATE,14042,begin surface
$SM_CCo,14064,231.18,0.770,0,0,587,605.89
$SM_GC,2.84,0.00,0.00,231.18,0.000,0.000,0.770,334,2261,587,-12.77,0.31,605.89
$RAFOS_CLK,536
$RAFOS,6,1280249346,16.833334,16.818333,113,109,46,41,40,39,797,798,331,1109,1,1542
$RAFOS,5,1280248867,16.700001,16.685278,121,120,50,44,43,42,618,619,1743,1881,300,291
$RAFOS,4,1280248390,16.566668,16.552778,78,73,43,43,43,42,834,835,243,1764,400,678
$RAFOS,3,1280247904,16.433332,16.417778,112,107,49,48,45,42,978,979,1879,674,270,1413
$RAFOS,2,1280247428,16.299999,16.285555,92,70,46,45,43,39,1033,1034,1802,750,689,1674
$RAFOS,1,1280246949,16.166666,16.152500,91,73,48,48,46,40,1002,1003,241,1421,302,1742
$RAFOS,0,1280246467,16.033333,16.018612,64,53,47,43,42,42,1138,1139,1795,233,193,159
$RAFOS_FIX,6705.021973,-5702.312988,270710,161644,7,96,0.59
$IRIDIUM_FIX,6631.12,-5658.34,211099,090945
$TT8_MAMPS,0.027612
$HUMID,40.78
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,17.10
$XPDR_PINGS,13
$ALTIM_TOP_PING,19.6,17.5
$ALTIM_BOTTOM_PING,600.4,16.5
$24V_AH,23.0,41.479
$10V_AH,10.1,23.104
$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,20.200,132.425,388.025,231.175,0.000,25.834,35.405,195.428,5.750,0.000,15.049,2428.426,8543.348,756.350,2351.627,642.724,0.000,1985.515,0.000,2324.586,2520.000,24.423,0.000
$DEVICE_MAMPS,235.469,91.273,1210.326,770.068,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1061.972,1030.695,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135664
$DATA_FILE_SIZE,56720,1455
$CAP_FILE_SIZE,162936,0
$CFSIZE,260165632,227663872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.5
$GPS,270710,171907,6702.717,-5659.516,25,1.2,25,-37.6