version: 66.06
glider: 108
mission: 14
dive: 290
start: 8 6 110 0 49 39
data:
$ID,108
$MISSION,14
$DIVE,290
$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,-2
$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,-182161.86
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,003824,6650.705,-6019.545,34,1.3,34,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.76
$_SM_ANGLEo,-70.8
$GPS2,004919,6650.761,-6019.389,9,1.1,14,-38.2
$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,239.3,13423,-18.1,-10.000
$D_GRID,563
$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,-146.1,0.0,0.0,0,73,0.00,0.00,-54.25,0.000,2,0.000,0.000,340,2257,1839,0,0,0,0,0,0
$GC,76,-0.78,-146.1,3.1,-1.2,11,201,10.35,2.38,-102.20,0.000,4,0.240,0.077,2936,837,3655,0,0,0,0,0,0
$GC,275,-0.78,-146.1,14.4,-16.3,48,281,0.00,2.38,0.00,0.000,6,0.000,0.067,2929,2256,3658,0,0,0,0,0,0
$GC,620,-0.78,-146.1,61.9,-12.8,109,626,0.00,2.20,0.00,0.000,4,0.000,0.077,2918,3607,3660,0,0,0,0,0,0
$GC,689,-0.78,-146.1,71.6,-13.5,121,695,0.10,2.17,0.00,0.000,6,0.166,0.054,2944,2241,3661,0,0,0,0,0,0
$GC,1029,-0.78,-146.1,108.9,-10.2,174,1033,0.00,2.25,0.00,0.000,4,0.000,0.065,2945,836,3662,0,0,0,0,0,0
$GC,1085,-0.78,-146.1,114.9,-10.4,178,1090,0.00,2.35,0.00,0.000,6,0.000,0.069,2938,2251,3661,0,0,0,0,0,0
$GC,1410,-0.78,-146.1,147.9,-9.7,209,1414,0.00,2.30,0.00,0.000,4,0.000,0.066,2938,843,3661,0,0,0,0,0,0
$GC,1428,-0.78,-146.1,149.5,-10.0,210,1432,0.00,2.35,0.00,0.000,6,0.000,0.069,2928,2257,3661,0,0,0,0,0,0
$GC,1753,-0.78,-146.1,183.1,-10.1,240,1756,0.00,2.20,0.00,0.000,4,0.000,0.081,2918,3606,3661,0,0,0,0,0,0
$GC,1803,-0.78,-146.1,188.7,-11.3,244,1809,0.10,2.17,0.00,0.000,6,0.160,0.058,2945,2240,3661,0,0,0,0,0,0
$GC,2128,-0.78,-146.1,216.4,-8.6,275,2132,0.00,2.22,0.00,0.000,4,0.000,0.067,2945,842,3661,0,0,0,0,0,0
$GC,2183,-0.78,-146.1,221.5,-8.9,279,2189,0.00,2.35,0.00,0.000,6,0.000,0.071,2938,2256,3660,0,0,0,0,0,0
$GC,2509,-0.78,-146.1,250.9,-8.6,310,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2256,3660,0,0,0,0,0,0
$GC,2830,-0.78,-146.1,277.5,-8.1,340,2834,0.00,2.20,0.00,0.000,4,0.000,0.083,2928,3603,3658,0,0,0,0,0,0
$GC,2869,-0.78,-146.1,281.3,-9.1,343,2875,0.00,2.17,0.00,0.000,6,0.000,0.058,2928,2239,3658,0,0,0,0,0,0
$GC,3195,-0.78,-146.1,310.4,-8.7,374,3199,0.00,2.25,0.00,0.000,4,0.000,0.069,2928,842,3658,0,0,0,0,0,0
$GC,3235,-0.78,-146.1,314.2,-9.3,377,3240,0.10,2.35,0.00,0.000,6,0.156,0.071,2947,2254,3658,0,0,0,0,0,0
$GC,3561,-0.78,-146.1,339.2,-7.4,407,3565,0.00,2.20,0.00,0.000,4,0.000,0.081,2939,3603,3658,0,0,0,0,0,0
$GC,3601,-0.78,-146.1,342.4,-7.8,410,3606,0.00,2.15,0.00,0.000,6,0.000,0.057,2939,2244,3658,0,0,0,0,0,0
$GC,3926,-0.78,-146.1,366.7,-7.4,441,3930,0.00,2.25,0.00,0.000,4,0.000,0.068,2939,843,3658,0,0,0,0,0,0
$GC,3959,-0.78,-146.1,369.4,-8.5,443,3965,0.00,2.35,0.00,0.000,6,0.000,0.070,2930,2260,3658,0,0,0,0,0,0
$GC,4285,-0.78,-146.1,395.1,-7.6,474,4286,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2260,3658,0,0,0,0,0,0
$GC,4606,-0.78,-146.1,419.1,-8.0,504,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2260,3658,0,0,0,0,0,0
$GC,4933,-0.78,-146.1,442.9,-7.5,535,4934,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2260,3658,0,0,0,0,0,0
$GC,5252,-0.78,-146.1,465.3,-7.2,565,5256,0.00,2.30,0.00,0.000,4,0.000,0.064,2930,840,3658,0,0,0,0,0,0
$GC,5292,-0.78,-146.1,468.3,-7.6,568,5296,0.00,2.33,0.00,0.000,6,0.000,0.067,2920,2252,3658,0,0,0,0,0,0
$GC,5617,-0.78,-146.1,493.5,-7.8,598,5619,0.10,0.00,0.00,0.000,6,0.163,0.000,2949,2252,3659,0,0,0,0,0,0
$GC,5936,-0.78,-146.1,513.1,-6.0,628,5937,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2252,3659,0,0,0,0,0,0
$GC,6256,-0.78,-146.1,533.2,-6.5,658,6260,0.00,2.15,0.00,0.000,4,0.000,0.077,2941,3597,3659,0,0,0,0,0,0
$GC,6284,-0.78,-146.1,535.3,-7.0,660,6290,0.00,2.12,0.00,0.000,6,0.000,0.053,2941,2241,3659,0,0,0,0,0,0
$GC,6610,-0.78,-146.1,557.8,-6.6,691,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2241,3660,0,0,0,0,0,0
$STATE,6692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6692,begin apogee
$GC,6699,-0.17,0.0,563.4,6.3,699,6826,0.40,0.00,119.62,1.196,6,0.115,0.000,3076,2203,3058,0,0,0,0,0,0
$STATE,6826,end apogee,CONTROL_FINISHED_OK
$STATE,6826,begin climb
$GC,6829,0.78,146.1,566.6,0.0,712,6960,0.60,2.55,124.38,1.125,4,0.069,0.064,3299,796,2462,0,0,0,0,0,0
$GC,6976,0.85,200.2,560.3,7.5,726,7030,0.00,2.55,48.53,1.075,6,0.000,0.064,3299,2206,2241,0,0,1,0,0,0
$GC,7356,0.86,212.0,523.6,9.5,762,7371,0.00,2.35,10.32,0.974,4,0.000,0.073,3299,3605,2193,0,0,0,0,0,0
$GC,7445,0.86,212.0,513.5,12.4,769,7451,0.00,2.30,0.00,0.000,6,0.000,0.051,3309,2198,2192,0,0,0,0,0,0
$GC,7770,0.86,212.0,479.5,10.7,800,7775,0.00,2.25,0.00,0.000,4,0.000,0.061,3320,792,2191,0,0,0,0,0,0
$GC,7810,0.86,212.0,475.2,11.0,803,7815,0.00,2.35,0.00,0.000,6,0.000,0.063,3319,2202,2192,0,0,0,0,0,0
$GC,8135,0.86,212.0,439.1,10.9,833,8139,0.00,2.25,0.00,0.000,4,0.000,0.074,3320,3598,2191,0,0,0,0,0,0
$GC,8193,0.86,212.0,431.8,13.5,838,8198,0.12,2.22,0.00,0.000,6,0.170,0.051,3296,2196,2190,0,0,0,0,0,0
$GC,8518,0.87,219.3,399.5,9.7,868,8529,0.00,2.30,6.95,0.897,4,0.000,0.061,3305,793,2164,0,0,0,0,0,0
$GC,8587,0.87,219.3,392.5,10.2,874,8591,0.00,2.33,0.00,0.000,6,0.000,0.062,3305,2201,2166,0,0,0,0,0,0
$GC,8912,0.88,221.5,359.7,9.9,904,8923,0.00,2.28,3.75,0.641,4,0.000,0.074,3305,3591,2154,0,0,0,0,0,0
$GC,8992,0.88,221.5,350.5,12.2,911,8996,0.00,2.20,0.00,0.000,6,0.000,0.051,3315,2198,2155,0,0,0,0,0,0
$GC,9317,0.88,228.2,317.7,9.7,941,9331,0.00,2.30,7.15,0.870,4,0.000,0.061,3326,790,2127,0,0,0,0,0,0
$GC,9366,0.88,228.2,313.0,10.1,945,9372,0.10,2.33,0.00,0.000,6,0.172,0.062,3300,2205,2128,0,0,0,0,0,0
$GC,9691,0.92,255.5,284.9,8.8,976,9722,0.00,2.30,23.90,0.999,4,0.000,0.074,3300,3589,2016,0,0,0,0,0,0
$GC,9780,0.92,255.5,275.8,11.3,984,9784,0.00,2.22,0.00,0.000,6,0.000,0.051,3307,2197,2014,0,0,0,0,0,0
$GC,10106,0.95,282.4,245.7,8.8,1014,10137,0.00,2.33,23.45,0.968,4,0.000,0.061,3316,791,1906,0,0,0,0,0,0
$GC,10188,0.96,293.7,238.1,9.5,1021,10205,0.00,2.35,11.02,0.885,6,0.000,0.062,3317,2199,1860,0,0,0,0,0,0
$GC,10523,0.98,309.3,205.1,9.3,1053,10544,0.00,2.33,13.62,0.905,4,0.000,0.075,3316,3594,1796,0,0,0,0,0,0
$GC,10573,0.98,309.3,200.0,11.1,1057,10578,0.00,2.25,0.00,0.000,6,0.000,0.051,3326,2190,1796,0,0,0,0,0,0
$GC,10897,0.98,309.3,166.6,10.2,1088,10901,0.00,2.25,0.00,0.000,4,0.000,0.062,3336,787,1794,0,0,0,0,0,0
$GC,10942,0.99,314.7,161.9,9.8,1091,10953,0.00,2.35,5.38,0.731,6,0.000,0.064,3336,2209,1775,0,0,0,0,0,0
$GC,11272,1.00,321.6,128.7,9.7,1122,11287,0.00,2.33,7.72,0.813,4,0.000,0.077,3336,3604,1746,0,0,0,0,0,0
$GC,11317,1.00,321.6,123.9,11.7,1126,11321,0.00,2.25,0.00,0.000,6,0.000,0.054,3346,2194,1746,0,0,0,0,0,0
$GC,11646,1.06,368.4,94.5,7.9,1162,11692,0.00,2.33,41.05,0.927,4,0.000,0.064,3355,785,1556,0,0,0,0,0,0
$GC,11746,1.08,391.0,86.3,9.0,1180,11772,0.00,2.40,20.12,0.864,6,0.000,0.065,3356,2209,1464,0,0,0,0,0,0
$GC,12112,1.10,401.3,50.4,9.5,1245,12128,0.00,2.38,8.90,0.796,4,0.000,0.065,3364,800,1422,0,0,0,0,0,0
$GC,12157,1.14,436.6,46.5,8.4,1253,12194,0.00,2.38,31.27,0.869,6,0.000,0.067,3364,2214,1278,0,0,0,0,0,0
$GC,12531,1.23,512.2,17.8,6.5,1320,12598,0.00,2.47,61.47,0.861,4,0.000,0.065,3364,796,969,0,0,0,0,0,0
$FREEZE,8.34,3.016,-1.611,0,1,0
$FREEZE,7.70,3.019,-1.625,0,1,0
$FREEZE,7.14,3.081,-1.640,0,1,0
$FREEZE,6.58,3.076,-1.632,0,1,0
$FREEZE,5.95,3.074,-1.628,0,1,0
$FREEZE,5.30,3.076,-1.626,0,1,0
$FREEZE,4.72,3.086,-1.629,0,1,0
$GC,12680,1.23,512.2,4.7,10.8,1347,12686,0.00,2.40,0.00,0.000,6,0.000,0.067,3364,2204,965,0,0,0,0,0,0
$FREEZE,3.43,3.068,-1.649,0,1,0
$STATE,12690,end climb,SURFACE_DEPTH_REACHED
$STATE,12690,begin surface coast
$FREEZE,3.16,3.075,-1.653,0,1,0
$FREEZE,2.64,3.059,-1.657,0,1,0
$FREEZE,2.13,3.038,-1.667,0,1,0
$FREEZE,1.86,3.230,-0.415,0,1,0
$FREEZE,1.77,3.129,-1.626,0,1,0
$FREEZE,1.92,3.116,-1.663,0,1,0
$FREEZE,1.94,3.084,-1.663,0,1,0
$FREEZE,2.00,2.875,-1.678,0,1,0
$FINISH,2.0,1.024449
$STATE,12739,end surface coast,CONTROL_FINISHED_OK
$STATE,12739,begin surface
$SM_CCo,12758,74.07,0.829,0,0,587,605.89
$SM_GC,2.62,0.00,0.00,74.07,0.000,0.000,0.829,336,2256,587,-12.77,0.17,605.89
$RAFOS_CLK,526
$RAFOS,1,1281067742,4.166667,4.150556,110,96,47,45,41,40,574,573,1665,1845,1343,1410
$RAFOS,0,1281067269,4.033333,4.019166,83,64,47,43,42,41,581,582,151,704,1430,285
$RAFOS,4,1281054784,0.566667,0.551111,46,43,42,42,39,38,1052,1051,1211,1314,890,1562
$RAFOS_FIX,6645.446777,-6019.671387,060810,040428,2,96,0.83
$IRIDIUM_FIX,6620.33,-6015.31,311099,000038
$TT8_MAMPS,0.027612
$HUMID,40.94
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,550.7,29.9
$24V_AH,22.6,50.147
$10V_AH,10.0,27.179
$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,20.250,124.100,568.625,74.075,0.000,59.592,68.376,287.008,2.000,0.000,15.552,2192.217,7586.631,759.996,2145.388,797.748,0.000,1921.128,0.000,2117.358,1080.000,15.937,0.000
$DEVICE_MAMPS,240.071,230.867,1195.753,829.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,984.826,957.553,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135616
$DATA_FILE_SIZE,53563,1357
$CAP_FILE_SIZE,154080,0
$CFSIZE,260165632,223768576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1453.7
$GPS,060810,042507,6648.545,-6021.271,38,0.9,38,-38.2