version: 66.06
glider: 108
mission: 14
dive: 293
start: 8 6 110 11 57 34
data:
$ID,108
$MISSION,14
$DIVE,293
$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,-182209.5
$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,30
$R_STBD_OVSHOOT,19
$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
$GPS1,115006,6649.357,-6013.697,29,1.1,29,-38.2
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-73.5
$GPS2,115714,6649.378,-6013.637,12,1.1,12,-38.2
$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,118.6,150627,-18.1,-10.000
$D_GRID,577
$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,17,-0.78,-146.1,0.0,0.0,0,78,0.00,0.00,-59.60,0.000,2,0.000,0.000,335,2256,1949,0,0,0,0,0,0
$GC,82,-0.78,-146.1,3.2,-1.6,12,196,10.27,2.30,-91.95,0.000,4,0.237,0.092,2926,3606,3657,0,0,0,0,0,0
$GC,344,-0.78,-146.1,33.5,-13.5,60,349,0.00,2.15,0.00,0.000,6,0.000,0.055,2926,2251,3662,0,0,0,0,0,0
$GC,687,-0.78,-146.1,79.4,-13.8,121,694,0.00,2.30,0.00,0.000,4,0.000,0.066,2926,824,3664,0,0,0,0,0,0
$GC,741,-0.78,-146.1,86.3,-12.5,130,748,0.10,2.38,0.00,0.000,6,0.159,0.067,2944,2259,3664,0,0,0,0,0,0
$GC,1081,-0.78,-146.1,120.9,-9.7,172,1085,0.00,2.17,0.00,0.000,4,0.000,0.079,2936,3598,3664,0,0,0,0,0,0
$GC,1125,-0.78,-146.1,125.5,-10.5,175,1131,0.00,2.15,0.00,0.000,6,0.000,0.057,2936,2244,3664,0,0,0,0,0,0
$GC,1450,-0.78,-146.1,159.6,-10.7,206,1455,0.00,2.25,0.00,0.000,4,0.000,0.079,2926,3602,3664,0,0,0,0,0,0
$GC,1484,-0.78,-146.1,163.5,-11.5,208,1489,0.00,2.15,0.00,0.000,6,0.000,0.056,2927,2249,3664,0,0,0,0,0,0
$GC,1809,-0.78,-146.1,198.6,-10.2,239,1813,0.00,2.28,0.00,0.000,4,0.000,0.067,2927,832,3664,0,0,0,0,0,0
$GC,1860,-0.78,-146.1,203.9,-10.2,243,1865,0.10,2.35,0.00,0.000,6,0.158,0.070,2945,2248,3664,0,0,0,0,0,0
$GC,2186,-0.78,-146.1,231.5,-8.8,273,2187,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2247,3664,0,0,0,0,0,0
$GC,2508,-0.78,-146.1,257.3,-7.8,303,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2247,3663,0,0,0,0,0,0
$GC,2836,-0.78,-146.1,284.6,-8.7,334,2840,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2247,3662,0,0,0,0,0,0
$GC,3161,-0.78,-146.1,309.2,-6.7,365,3165,0.00,2.20,0.00,0.000,4,0.000,0.083,2937,3605,3662,0,0,0,0,0,0
$GC,3212,-0.78,-146.1,313.1,-7.7,369,3217,0.00,2.15,0.00,0.000,6,0.000,0.057,2937,2247,3662,0,0,0,0,0,0
$GC,3537,-0.78,-146.1,337.4,-7.4,400,3541,0.00,2.25,0.00,0.000,4,0.000,0.068,2937,831,3662,0,0,0,0,0,0
$GC,3588,-0.78,-146.1,341.3,-7.9,404,3592,0.00,2.35,0.00,0.000,6,0.000,0.070,2928,2250,3662,0,0,0,0,0,0
$GC,3913,-0.78,-146.1,366.1,-7.5,434,3915,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2249,3662,0,0,0,0,0,0
$GC,4237,-0.78,-146.1,390.7,-8.0,464,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2249,3662,0,0,0,0,0,0
$GC,4564,-0.78,-146.1,416.0,-7.9,495,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2249,3662,0,0,0,0,0,0
$GC,4883,-0.78,-146.1,440.4,-7.6,525,4888,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2249,3662,0,0,0,0,0,0
$GC,5211,-0.78,-146.1,465.1,-7.0,556,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2249,3662,0,0,0,0,0,0
$GC,5538,-0.78,-146.1,488.7,-7.2,587,5539,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2249,3663,0,0,0,0,0,0
$GC,5857,-0.78,-146.1,512.5,-7.5,617,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2250,3664,0,0,0,0,0,0
$GC,6184,-0.78,-146.1,537.0,-7.6,648,6188,0.00,2.20,0.00,0.000,4,0.000,0.078,2917,3600,3664,0,0,0,0,0,0
$GC,6213,-0.78,-146.1,539.3,-7.9,650,6219,0.10,2.15,0.00,0.000,6,0.150,0.054,2946,2234,3664,0,0,0,0,0,0
$GC,6538,-0.78,-146.1,559.4,-6.1,681,6542,0.00,2.22,0.00,0.000,4,0.000,0.065,2946,837,3664,0,0,0,0,0,0
$GC,6571,-0.78,-146.1,561.6,-7.0,683,6577,0.00,2.33,0.00,0.000,6,0.000,0.067,2939,2252,3664,0,0,0,0,0,0
$STATE,6797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6798,begin apogee
$GC,6805,-0.17,0.0,577.0,6.9,705,6931,0.40,0.00,119.97,1.205,6,0.117,0.000,3075,2179,3058,0,0,0,0,0,0
$STATE,6932,end apogee,CONTROL_FINISHED_OK
$STATE,6932,begin climb
$GC,6936,0.78,146.1,581.7,0.0,718,7070,0.60,2.40,124.00,1.137,4,0.072,0.063,3298,813,2462,0,0,0,0,0,0
$GC,7122,0.84,191.3,573.3,7.9,735,7168,0.00,2.50,40.08,1.086,6,0.000,0.064,3298,2207,2278,0,0,0,0,0,0
$GC,7487,0.84,191.3,537.2,10.0,770,7491,0.00,2.33,0.00,0.000,4,0.000,0.074,3298,3594,2275,0,0,0,0,0,0
$GC,7542,0.84,191.3,530.6,12.8,774,7548,0.00,2.25,0.00,0.000,6,0.000,0.051,3307,2208,2274,0,0,0,0,0,0
$GC,7867,0.84,191.3,495.9,10.7,805,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2208,2274,0,0,0,0,0,0
$GC,8189,0.84,191.3,462.1,10.4,835,8190,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2207,2273,0,0,0,0,0,0
$GC,8506,0.84,191.3,428.3,10.6,865,8507,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2207,2273,0,0,0,0,0,0
$GC,8825,0.84,191.3,396.2,10.1,895,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2207,2272,0,0,0,0,0,0
$GC,9143,0.85,199.8,365.6,9.6,925,9152,0.00,0.00,7.22,0.898,6,0.000,0.000,3307,2207,2243,0,0,0,0,0,0
$GC,9469,0.86,212.6,334.1,9.4,956,9483,0.00,0.00,11.82,0.973,6,0.000,0.000,3307,2208,2191,0,0,0,0,0,0
$GC,9799,0.89,234.8,303.8,9.0,987,9820,0.00,0.00,19.83,0.998,6,0.000,0.000,3307,2207,2100,0,0,0,0,0,0
$GC,10137,0.93,262.6,274.1,8.7,1019,10166,0.00,0.00,24.12,0.982,6,0.000,0.000,3307,2207,1986,0,0,0,0,0,0
$GC,10485,0.93,262.6,240.5,10.7,1052,10489,0.00,2.28,0.00,0.000,4,0.000,0.062,3318,790,1983,0,0,0,0,0,0
$GC,10513,0.93,262.6,237.5,10.8,1054,10518,0.00,2.35,0.00,0.000,6,0.000,0.063,3318,2213,1983,0,0,0,0,0,0
$GC,10838,0.93,262.6,202.4,10.3,1084,10842,0.00,2.20,0.00,0.000,4,0.000,0.074,3318,3593,1983,0,0,0,0,0,0
$GC,10911,0.93,262.6,194.1,11.6,1090,10915,0.00,2.20,0.00,0.000,6,0.000,0.052,3328,2194,1981,0,0,0,0,0,0
$GC,11241,0.94,271.9,161.4,9.6,1121,11255,0.00,2.28,8.10,0.828,4,0.000,0.063,3338,797,1950,0,0,0,0,0,0
$GC,11275,0.96,288.0,158.4,9.3,1124,11296,0.00,2.33,15.45,0.897,6,0.000,0.064,3338,2208,1884,0,0,0,0,0,0
$GC,11615,0.99,314.0,126.9,8.8,1156,11646,0.00,2.35,22.52,0.915,4,0.000,0.076,3338,3604,1776,0,0,0,0,0,0
$GC,11674,0.99,314.0,121.2,10.6,1161,11680,0.00,2.28,0.00,0.000,6,0.000,0.053,3348,2193,1775,0,0,0,0,0,0
$GC,12005,1.03,347.0,89.5,8.5,1202,12041,0.00,2.35,28.25,0.907,4,0.000,0.066,3358,788,1643,0,0,0,0,0,0
$GC,12066,1.08,387.4,84.3,8.2,1213,12107,0.00,2.38,35.62,0.886,6,0.000,0.065,3358,2198,1478,0,0,0,0,0,0
$GC,12445,1.09,398.7,50.0,9.5,1281,12461,0.00,2.33,9.23,0.795,4,0.000,0.079,3357,3600,1432,0,0,0,0,0,0
$GC,12496,1.09,398.7,44.8,10.8,1290,12502,0.00,2.28,0.00,0.000,6,0.000,0.055,3367,2195,1431,0,0,0,0,0,0
$GC,12842,1.12,422.9,12.8,8.9,1351,12869,0.00,2.33,21.12,0.859,4,0.000,0.067,3375,782,1333,0,0,0,0,0,0
$FREEZE,8.86,3.070,-1.674,0,1,0
$FREEZE,8.48,3.095,-1.673,0,1,0
$FREEZE,8.16,3.154,-1.671,0,1,0
$FREEZE,7.79,3.175,-1.671,0,1,0
$FREEZE,7.42,3.198,-1.670,0,1,0
$FREEZE,7.03,3.222,-1.669,0,1,0
$FREEZE,6.76,3.235,-1.670,0,1,0
$FREEZE,6.38,3.236,-1.670,0,1,0
$FREEZE,5.99,3.244,-1.668,0,1,0
$FREEZE,5.57,3.244,-1.669,0,1,0
$FREEZE,5.19,3.241,-1.668,0,1,0
$FREEZE,4.71,3.240,-1.669,0,1,0
$FREEZE,4.18,3.228,-1.671,0,1,0
$FREEZE,3.62,3.241,-1.670,0,1,0
$STATE,12970,end climb,SURFACE_DEPTH_REACHED
$STATE,12970,begin surface coast
$FREEZE,3.08,3.184,-1.674,0,1,0
$FREEZE,2.50,3.236,-1.670,0,1,0
$FREEZE,2.03,3.147,-1.676,0,1,0
$FREEZE,2.09,3.183,-1.674,0,1,0
$FREEZE,2.29,3.094,-1.679,0,1,0
$FREEZE,1.85,3.139,-1.676,0,1,0
$FREEZE,1.88,3.283,-0.888,0,1,0
$FREEZE,1.96,3.297,-0.838,0,1,0
$FREEZE,1.89,3.007,-0.460,0,1,0
$FINISH,1.9,1.006725
$STATE,13025,end surface coast,CONTROL_FINISHED_OK
$STATE,13025,begin surface
$SM_CCo,13047,146.32,0.835,0,0,587,605.89
$SM_GC,2.82,0.00,0.00,146.32,0.000,0.000,0.835,332,2264,587,-12.78,0.40,605.89
$RAFOS_CLK,536
$RAFOS,6,1281098948,12.833333,12.818889,95,92,43,43,43,41,774,775,205,1480,1479,104
$RAFOS,5,1281098471,12.700000,12.686389,80,72,43,40,39,39,896,895,1173,1239,677,1882
$RAFOS,4,1281097983,12.566667,12.550834,100,94,50,45,41,40,705,706,877,959,188,492
$RAFOS,3,1281097511,12.433333,12.419723,122,113,43,42,41,41,762,763,1535,1694,357,1795
$RAFOS,2,1281097025,12.300000,12.284722,80,78,48,46,45,42,667,666,1333,1804,295,1805
$RAFOS,1,1281096545,12.166667,12.151389,80,64,63,61,48,47,543,542,553,553,1520,336
$RAFOS,0,1281096066,12.033333,12.018333,111,111,45,43,42,41,624,623,1205,1753,188,1845
$RAFOS_FIX,6648.118652,-6009.762695,060810,121234,7,95,2.02
$IRIDIUM_FIX,6620.33,-6018.02,311099,080810
$TT8_MAMPS,0.026845
$HUMID,41.06
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$24V_AH,22.6,50.743
$10V_AH,10.0,27.416
$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,19.675,82.325,487.350,146.325,0.000,31.382,33.075,211.148,1.750,0.000,13.485,2195.310,7954.480,748.530,2118.163,617.891,0.000,1870.244,0.000,2092.381,2520.000,13.204,0.000
$DEVICE_MAMPS,237.003,93.574,1204.957,835.263,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1004.175,975.940,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135572
$DATA_FILE_SIZE,53475,1383
$CAP_FILE_SIZE,140224,0
$CFSIZE,260165632,223555584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.3
$GPS,060810,153906,6649.220,-6009.095,24,1.8,24,-38.2