version: 66.06
glider: 108
mission: 14
dive: 58
start: 6 16 110 21 38 23
data:
$ID,108
$MISSION,14
$DIVE,58
$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,-179843.81
$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,34
$R_STBD_OVSHOOT,33
$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,1.8
$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
$GPS1,213136,6659.170,-5705.085,35,0.8,35,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-75.2
$GPS2,213801,6659.079,-5704.985,10,1.0,15,-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,96.9,14255,-18.1,-10.000
$D_GRID,717
$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,-146.1,0.0,0.0,0,47,0.00,0.00,-29.27,0.000,2,0.000,0.000,335,2261,2489,0,0,0,0,0,0
$GC,51,-0.78,-146.1,3.1,-1.6,6,128,10.15,2.40,-57.12,0.000,4,0.237,0.080,2938,843,3656,0,0,0,0,0,0
$GC,156,-0.78,-146.1,8.5,-13.3,26,162,0.00,2.35,0.00,0.000,6,0.000,0.070,2930,2243,3659,0,0,0,0,0,0
$GC,500,-0.78,-146.1,53.4,-11.9,87,505,0.00,2.30,0.00,0.000,4,0.000,0.066,2930,836,3662,0,0,0,0,0,0
$GC,601,-0.78,-146.1,66.1,-12.8,105,607,0.00,2.35,0.00,0.000,6,0.000,0.071,2921,2249,3662,0,0,0,0,0,0
$GC,943,-0.78,-146.1,105.0,-11.4,162,947,0.00,2.30,0.00,0.000,4,0.000,0.067,2921,837,3661,0,0,0,0,0,0
$GC,998,-0.78,-146.1,112.0,-12.5,166,1004,0.12,2.33,0.00,0.000,6,0.163,0.072,2945,2260,3661,0,0,0,0,0,0
$GC,1323,-0.78,-146.1,142.3,-8.5,197,1327,0.00,2.15,0.00,0.000,4,0.000,0.084,2937,3595,3660,0,0,0,0,0,0
$GC,1356,-0.78,-146.1,145.2,-8.8,199,1361,0.00,2.15,0.00,0.000,6,0.000,0.059,2936,2247,3660,0,0,0,0,0,0
$GC,1681,-0.78,-146.1,170.4,-8.2,230,1685,0.00,2.25,0.00,0.000,4,0.000,0.070,2937,837,3660,0,0,0,0,0,0
$GC,1743,-0.78,-146.1,175.7,-8.8,235,1747,0.00,2.30,0.00,0.000,6,0.000,0.072,2927,2249,3659,0,0,0,0,0,0
$GC,2068,-0.78,-146.1,205.4,-9.4,265,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2249,3659,0,0,0,0,0,0
$GC,2389,-0.78,-146.1,235.9,-9.1,295,2393,0.00,2.17,0.00,0.000,4,0.000,0.082,2917,3602,3658,0,0,0,0,0,0
$GC,2413,-0.78,-146.1,238.4,-9.4,297,2417,0.10,2.15,0.00,0.000,6,0.170,0.058,2942,2243,3658,0,0,0,0,0,0
$GC,2738,-0.78,-146.1,262.9,-7.4,327,2742,0.00,2.22,0.00,0.000,4,0.000,0.067,2942,834,3658,0,0,0,0,0,0
$GC,2823,-0.78,-146.1,268.9,-6.3,334,2827,0.00,2.33,0.00,0.000,6,0.000,0.071,2935,2262,3658,0,0,0,0,0,0
$GC,3148,-0.78,-146.1,294.7,-8.3,364,3149,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2262,3658,0,0,0,0,0,0
$GC,3469,-0.78,-146.1,319.3,-7.3,394,3470,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2262,3659,0,0,0,0,0,0
$GC,3787,-0.78,-146.1,343.3,-7.7,424,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2262,3659,0,0,0,0,0,0
$GC,4114,-0.78,-146.1,369.7,-7.8,455,4115,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2262,3660,0,0,0,0,0,0
$GC,4433,-0.78,-146.1,393.9,-7.3,485,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2262,3660,0,0,0,0,0,0
$GC,4760,-0.78,-146.1,416.1,-6.7,516,4761,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2262,3662,0,0,0,0,0,0
$GC,5080,-0.78,-146.1,437.5,-6.9,546,5085,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2262,3662,0,0,0,0,0,0
$GC,5409,-0.78,-146.1,459.5,-6.7,577,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2262,3663,0,0,0,0,0,0
$GC,5736,-0.78,-146.1,482.7,-7.3,608,5740,0.00,2.25,0.00,0.000,4,0.000,0.062,2935,839,3663,0,0,0,0,0,0
$GC,5788,-0.78,-146.1,486.9,-7.9,612,5792,0.00,2.28,0.00,0.000,6,0.000,0.067,2925,2263,3663,0,0,0,0,0,0
$GC,6118,-0.78,-146.1,512.6,-7.6,643,6119,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2262,3663,0,0,0,0,0,0
$GC,6439,-0.78,-146.1,536.2,-7.2,673,6444,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2263,3663,0,0,0,0,0,0
$GC,6766,-0.78,-146.1,558.9,-6.7,704,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2263,3663,0,0,0,0,0,0
$GC,7085,-0.78,-146.1,580.1,-7.1,734,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2263,3664,0,0,0,0,0,0
$GC,7431,-0.78,-146.1,605.1,-7.3,763,7432,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2263,3663,0,0,0,0,0,0
$GC,7736,-0.78,-146.1,626.1,-6.6,773,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2263,3664,0,0,0,0,0,0
$GC,8041,-0.78,-146.1,646.8,-6.8,783,8043,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2264,3664,0,0,0,0,0,0
$GC,8348,-0.78,-146.1,668.3,-7.0,793,8349,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2264,3664,0,0,0,0,0,0
$GC,8654,-0.78,-146.1,689.3,-6.8,803,8655,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2264,3664,0,0,0,0,0,0
$GC,8960,-0.78,-146.1,710.3,-6.9,813,8961,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2264,3664,0,0,0,0,0,0
$STATE,9079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9080,begin apogee
$GC,9086,-0.17,0.0,718.6,6.7,817,9213,0.47,0.00,123.75,1.307,6,0.130,0.000,3079,2185,3058,0,0,0,0,0,0
$STATE,9214,end apogee,CONTROL_FINISHED_OK
$STATE,9214,begin climb
$GC,9217,0.78,146.1,719.9,0.0,821,9347,0.62,0.00,123.97,1.240,6,0.076,0.000,3293,2184,2462,0,0,0,0,0,0
$GC,9630,0.78,146.1,681.1,10.1,835,9631,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2185,2456,0,0,0,0,0,0
$GC,9936,0.78,146.1,650.1,10.0,845,9937,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2184,2455,0,0,0,0,0,0
$GC,10242,0.78,146.1,618.9,10.3,855,10243,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2184,2454,0,0,0,0,0,0
$GC,10553,0.78,146.1,586.3,10.4,873,10555,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2184,2454,0,0,0,0,0,0
$GC,10872,0.78,146.1,552.0,11.5,903,10873,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2184,2453,0,0,0,0,0,0
$GC,11195,0.78,146.1,516.6,11.1,933,11200,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2184,2453,0,0,0,0,0,0
$GC,11520,0.78,146.1,482.6,10.3,964,11524,0.00,2.30,0.00,0.000,4,0.000,0.074,3293,3604,2452,0,0,0,0,0,0
$GC,11563,0.78,146.1,477.2,13.0,967,11569,0.00,2.20,0.00,0.000,6,0.000,0.054,3303,2202,2453,0,0,0,0,0,0
$GC,11888,0.78,146.1,441.7,10.4,998,11892,0.00,2.22,0.00,0.000,4,0.000,0.064,3313,785,2453,0,0,0,0,0,0
$GC,11916,0.78,146.1,438.7,10.8,1000,11922,0.12,2.30,0.00,0.000,6,0.169,0.064,3280,2207,2453,0,0,0,0,0,0
$GC,12241,0.81,165.5,407.8,9.1,1031,12262,0.00,2.22,15.45,1.068,4,0.000,0.074,3280,3594,2382,0,0,0,0,0,0
$GC,12313,0.81,165.5,399.8,12.0,1037,12319,0.00,2.20,0.00,0.000,6,0.000,0.052,3287,2198,2380,0,0,0,0,0,0
$GC,12638,0.81,165.5,365.0,11.1,1068,12642,0.00,2.22,0.00,0.000,4,0.000,0.062,3298,786,2380,0,0,0,0,0,0
$GC,12689,0.81,167.5,359.7,9.9,1072,12693,0.00,2.30,0.00,0.000,6,0.000,0.064,3299,2212,2380,0,0,0,0,0,0
$GC,13019,0.81,167.5,323.2,10.5,1103,13022,0.00,2.20,0.00,0.000,4,0.000,0.074,3298,3591,2380,0,0,0,0,0,0
$GC,13064,0.81,167.5,318.0,11.6,1107,13068,0.00,2.17,0.00,0.000,6,0.000,0.052,3307,2200,2380,0,0,0,0,0,0
$GC,13395,0.81,167.5,279.8,11.3,1138,13396,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2199,2381,0,0,0,0,0,0
$GC,13717,0.81,167.5,245.5,10.1,1168,13721,0.00,2.17,0.00,0.000,4,0.000,0.061,3318,793,2381,0,0,0,0,0,0
$GC,13741,0.82,180.2,243.1,9.4,1170,13762,0.12,2.28,13.12,0.935,6,0.165,0.063,3284,2210,2323,0,0,0,0,0,0
$GC,14081,0.86,205.9,213.9,8.8,1202,14112,0.00,2.33,21.70,0.949,4,0.000,0.074,3284,3602,2217,0,0,0,0,0,0
$GC,14147,0.86,205.9,207.3,11.7,1208,14151,0.00,2.25,0.00,0.000,6,0.000,0.052,3292,2189,2215,0,0,0,0,0,0
$GC,14472,0.86,205.9,172.8,10.0,1238,14476,0.00,2.20,0.00,0.000,4,0.000,0.062,3301,788,2214,0,0,0,0,0,0
$GC,14511,0.86,205.9,168.8,10.2,1241,14515,0.00,2.28,0.00,0.000,6,0.000,0.062,3301,2200,2214,0,0,0,0,0,0
$GC,14836,0.86,205.9,136.0,10.5,1271,14840,0.00,2.20,0.00,0.000,4,0.000,0.074,3301,3592,2214,0,0,0,0,0,0
$GC,14899,0.86,205.9,128.1,13.1,1276,14903,0.00,2.17,0.00,0.000,6,0.000,0.053,3310,2192,2213,0,0,0,0,0,0
$GC,15228,0.86,205.9,91.7,10.5,1313,15233,0.00,2.20,0.00,0.000,4,0.000,0.062,3321,791,2214,0,0,0,0,0,0
$GC,15285,0.86,205.9,85.4,11.1,1323,15291,0.10,2.25,0.00,0.000,6,0.168,0.063,3295,2200,2214,0,0,0,0,0,0
$GC,15632,0.89,230.1,53.8,8.9,1384,15658,0.00,2.25,20.25,0.869,4,0.000,0.074,3295,3598,2119,0,0,0,0,0,0
$GC,15705,0.89,230.1,46.3,10.6,1397,15710,0.00,2.22,0.00,0.000,6,0.000,0.053,3301,2195,2115,0,0,0,0,0,0
$GC,16051,0.97,300.5,18.0,6.8,1458,16118,0.08,2.35,58.45,0.857,4,0.125,0.064,3351,798,1833,0,0,0,0,0,0
$FREEZE,8.56,-0.675,-1.797,0,1,0
$FREEZE,7.83,-0.492,-1.798,0,1,0
$FREEZE,7.38,0.115,-1.804,0,1,0
$FREEZE,6.78,1.109,-1.779,0,1,0
$FREEZE,6.30,1.305,-1.774,0,1,0
$FREEZE,5.85,1.308,-1.777,0,1,0
$FREEZE,5.28,1.485,-1.773,0,1,0
$FREEZE,4.86,1.512,-1.773,0,1,0
$FREEZE,4.38,1.499,-1.774,0,1,0
$FREEZE,3.89,1.486,-1.774,0,1,0
$FREEZE,3.49,1.485,-1.775,0,1,0
$FREEZE,2.85,1.473,-1.775,0,1,0
$STATE,16216,end climb,SURFACE_DEPTH_REACHED
$STATE,16216,begin surface coast
$FREEZE,2.35,1.494,-1.774,0,1,0
$FINISH,2.4,1.025909
$STATE,16225,end surface coast,CONTROL_FINISHED_OK
$STATE,16225,begin surface
$SM_CCo,16307,0.00,0.000,0,0,1819,303.68
$SM_GC,2.51,8.15,0.00,0.00,0.043,0.000,0.000,336,2249,1819,-12.69,-0.03,303.68
$RAFOS_CLK,645
$RAFOS,6,1276735745,0.833333,0.818056,78,62,43,42,41,41,826,832,1046,988,1066,1902
$RAFOS,5,1276735268,0.700000,0.685556,138,122,51,49,45,43,622,623,350,1665,1681,1925
$RAFOS,4,1276734790,0.566667,0.552778,45,43,42,41,41,39,1163,446,366,925,1548,1193
$RAFOS,3,1276734328,0.433333,0.424444,48,45,44,44,40,39,1336,1379,422,800,123,107
$RAFOS,2,1276733838,0.300000,0.288333,51,47,44,43,42,41,539,107,799,61,956,1284
$RAFOS,1,1276733352,0.166667,0.153333,44,43,43,39,39,38,1498,628,1928,605,1535,550
$RAFOS,0,1276732862,0.033333,0.017222,52,45,42,40,39,39,984,501,101,1082,1331,355
$RAFOS_FIX,6701.194336,-5702.690430,170610,000056,2,108,0.38
$IRIDIUM_FIX,6636.54,-5650.71,100999,181846
$TT8_MAMPS,0.026845
$HUMID,38.73
$INTERNAL_PRESSURE,10.2055
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.3
$ALTIM_BOTTOM_PING,651.1,81.7
$24V_AH,23.4,10.207
$10V_AH,10.2,5.424
$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,20.050,90.350,376.700,0.000,0.000,30.830,42.089,175.342,2.500,0.000,16.557,2435.845,10864.462,491.002,2281.880,620.673,0.000,1665.660,0.000,2262.754,2520.000,19.620,0.000
$DEVICE_MAMPS,237.003,88.205,1306.968,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1085.565,1063.365,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135664
$DATA_FILE_SIZE,59823,1489
$CAP_FILE_SIZE,152526,0
$CFSIZE,260165632,244609024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.3
$GPS,170610,021136,6658.851,-5658.343,31,1.6,31,-37.5