version: 66.06
glider: 108
mission: 14
dive: 325
start: 8 14 110 1 29 48
data:
$ID,108
$MISSION,14
$DIVE,325
$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,-182953.81
$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,40
$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
$GPS1,012236,6703.039,-5648.479,35,0.8,35,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-70.9
$GPS2,012926,6703.041,-5648.625,10,1.3,10,-37.5
$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,295.0,162886,-18.1,-10.000
$D_GRID,534
$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,-146.1,0.0,0.0,0,68,0.00,0.00,-50.03,0.000,2,0.000,0.000,336,2259,1892,0,0,0,0,0,0
$GC,72,-0.78,-146.1,3.0,-0.4,10,177,9.98,2.15,-85.32,0.000,4,0.222,0.078,2932,3607,3654,0,0,0,0,0,0
$GC,307,-0.78,-146.1,18.5,-12.1,53,313,0.00,2.10,0.00,0.000,6,0.000,0.043,2931,2249,3657,0,0,0,0,0,0
$GC,651,-0.78,-146.1,50.5,-9.1,114,657,0.00,2.20,0.00,0.000,4,0.000,0.051,2932,833,3660,0,0,0,0,0,0
$GC,704,-0.78,-146.1,55.7,-10.0,123,710,0.00,2.28,0.00,0.000,6,0.000,0.054,2924,2254,3660,0,0,0,0,0,0
$GC,1050,-0.78,-146.1,89.8,-9.7,184,1055,0.00,2.10,0.00,0.000,4,0.000,0.065,2914,3600,3661,0,0,0,0,0,0
$GC,1124,-0.78,-146.1,97.4,-10.3,197,1130,0.10,2.08,0.00,0.000,6,0.150,0.044,2942,2237,3662,0,0,0,0,0,0
$GC,1452,-0.78,-146.1,124.4,-7.5,230,1455,0.00,2.17,0.00,0.000,4,0.000,0.053,2942,838,3661,0,0,0,0,0,0
$GC,1480,-0.78,-146.1,126.5,-8.0,232,1485,0.00,2.28,0.00,0.000,6,0.000,0.056,2935,2252,3661,0,0,0,0,0,0
$GC,1805,-0.78,-146.1,148.9,-7.1,263,1809,0.00,2.12,0.00,0.000,4,0.000,0.068,2925,3596,3661,0,0,0,0,0,0
$GC,1863,-0.78,-146.1,153.5,-8.2,268,1866,0.00,2.08,0.00,0.000,6,0.000,0.045,2925,2251,3661,0,0,0,0,0,0
$GC,2193,-0.78,-146.1,180.7,-8.7,299,2197,0.00,2.22,0.00,0.000,4,0.000,0.054,2925,838,3660,0,0,0,0,0,0
$GC,2217,-0.78,-146.1,182.8,-8.7,301,2222,0.10,2.28,0.00,0.000,6,0.148,0.057,2945,2249,3661,0,0,0,0,0,0
$GC,2543,-0.78,-146.1,206.4,-6.8,331,2547,0.00,2.15,0.00,0.000,4,0.000,0.069,2937,3606,3660,0,0,0,0,0,0
$GC,2591,-0.78,-146.1,209.7,-7.6,335,2594,0.00,2.08,0.00,0.000,6,0.000,0.044,2937,2245,3660,0,0,0,0,0,0
$GC,2921,-0.78,-146.1,230.9,-6.1,366,2926,0.00,2.17,0.00,0.000,4,0.000,0.054,2937,839,3659,0,0,0,0,0,0
$GC,2957,-0.78,-146.1,233.2,-6.5,369,2961,0.00,2.28,0.00,0.000,6,0.000,0.058,2928,2250,3659,0,0,0,0,0,0
$GC,3282,-0.78,-146.1,256.5,-7.2,399,3286,0.00,2.12,0.00,0.000,4,0.000,0.068,2918,3594,3659,0,0,0,0,0,0
$GC,3362,-0.78,-146.1,262.8,-7.7,406,3366,0.10,2.08,0.00,0.000,6,0.147,0.045,2946,2249,3659,0,0,0,0,0,0
$GC,3692,-0.78,-146.1,283.7,-5.9,437,3696,0.00,2.20,0.00,0.000,4,0.000,0.054,2946,838,3658,0,0,0,0,0,0
$GC,3732,-0.78,-146.1,286.3,-6.4,440,3737,0.00,2.28,0.00,0.000,6,0.000,0.058,2939,2255,3659,0,0,0,0,0,0
$GC,4057,-0.78,-146.1,307.3,-6.1,471,4061,0.00,2.12,0.00,0.000,4,0.000,0.068,2930,3597,3658,0,0,0,0,0,0
$GC,4126,-0.78,-146.1,312.1,-7.2,477,4130,0.00,2.10,0.00,0.000,6,0.000,0.045,2930,2251,3658,0,0,0,0,0,0
$GC,4456,-0.78,-146.1,334.6,-6.8,508,4460,0.00,2.17,0.00,0.000,4,0.000,0.054,2930,841,3658,0,0,0,0,0,0
$GC,4507,-0.78,-146.1,338.4,-6.9,512,4512,0.00,2.28,0.00,0.000,6,0.000,0.058,2921,2259,3658,0,0,0,0,0,0
$GC,4832,-0.78,-146.1,362.4,-7.0,543,4837,0.10,2.12,0.00,0.000,4,0.153,0.067,2942,3601,3658,0,0,0,0,0,0
$GC,4890,-0.78,-146.1,366.2,-6.6,548,4893,0.00,2.08,0.00,0.000,6,0.000,0.044,2942,2249,3658,0,0,0,0,0,0
$GC,5221,-0.78,-146.1,385.5,-5.6,579,5224,0.00,2.17,0.00,0.000,4,0.000,0.054,2942,838,3658,0,0,0,0,0,0
$GC,5260,-0.78,-146.1,388.2,-6.5,582,5265,0.00,2.28,0.00,0.000,6,0.000,0.057,2933,2250,3658,0,0,0,0,0,0
$GC,5585,-0.78,-146.1,409.7,-6.9,613,5589,0.00,2.12,0.00,0.000,4,0.000,0.067,2922,3594,3658,0,0,0,0,0,0
$GC,5654,-0.78,-146.1,414.8,-7.8,619,5658,0.00,2.05,0.00,0.000,6,0.000,0.044,2923,2249,3658,0,0,0,0,0,0
$GC,5984,-0.78,-146.1,438.1,-6.9,650,5988,0.00,2.17,0.00,0.000,4,0.000,0.054,2923,837,3658,0,0,0,0,0,0
$GC,6030,-0.78,-146.1,441.4,-7.1,654,6035,0.10,2.28,0.00,0.000,6,0.147,0.056,2943,2250,3658,0,0,0,0,0,0
$GC,6356,-0.78,-146.1,459.7,-5.5,684,6359,0.00,2.10,0.00,0.000,4,0.000,0.067,2935,3594,3658,0,0,0,0,0,0
$GC,6395,-0.78,-146.1,462.0,-6.6,687,6400,0.00,2.08,0.00,0.000,6,0.000,0.044,2935,2239,3657,0,0,0,0,0,0
$GC,6720,-0.78,-146.1,481.0,-5.8,718,6724,0.00,2.17,0.00,0.000,4,0.000,0.053,2935,842,3658,0,0,0,0,0,0
$GC,6770,-0.78,-146.1,484.4,-6.5,722,6776,0.00,2.28,0.00,0.000,6,0.000,0.055,2926,2259,3658,0,0,0,0,0,0
$GC,7096,-0.78,-146.1,502.6,-1.4,753,7100,0.00,2.22,0.00,0.000,4,0.000,0.051,2926,850,3658,0,0,0,0,0,0
$STATE,7225,end dive,NO_VERTICAL_VELOCITY
$STATE,7225,begin apogee
$GC,7234,-0.17,0.0,502.4,0.0,764,7355,0.40,0.00,117.47,1.086,6,0.085,0.000,3078,2209,3058,0,0,0,0,0,0
$STATE,7356,end apogee,CONTROL_FINISHED_OK
$STATE,7356,begin climb
$GC,7359,0.78,146.1,502.1,0.0,776,7494,0.57,2.53,120.82,1.031,4,0.067,0.051,3300,801,2463,0,0,0,0,0,0
$GC,7544,0.81,167.8,497.3,9.0,793,7571,0.00,2.42,19.88,0.956,6,0.000,0.054,3299,2203,2373,0,0,0,0,0,0
$GC,7890,0.81,167.8,459.2,10.8,826,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2203,2372,0,0,0,0,0,0
$GC,8210,0.81,167.8,424.6,11.0,856,8214,0.00,2.22,0.00,0.000,4,0.000,0.064,3300,3605,2371,0,0,0,0,0,0
$GC,8244,0.81,167.8,420.2,13.2,859,8248,0.00,2.17,0.00,0.000,6,0.000,0.042,3309,2197,2371,0,0,0,0,0,0
$GC,8574,0.81,167.8,383.6,10.9,890,8577,0.00,2.17,0.00,0.000,4,0.000,0.051,3320,790,2371,0,0,0,0,0,0
$GC,8632,0.81,167.8,377.5,11.0,895,8637,0.12,2.28,0.00,0.000,6,0.156,0.054,3286,2205,2371,0,0,0,0,0,0
$GC,8957,0.85,203.0,349.3,8.4,925,8992,0.00,2.25,28.42,0.975,4,0.000,0.064,3286,3586,2230,0,0,0,0,0,0
$GC,9026,0.85,203.0,342.7,10.8,931,9032,0.00,2.17,0.00,0.000,6,0.000,0.041,3293,2186,2228,0,0,0,0,0,0
$GC,9351,0.85,203.0,310.7,10.1,962,9355,0.00,2.15,0.00,0.000,4,0.000,0.051,3304,794,2228,0,0,0,0,0,0
$GC,9401,0.85,203.0,305.4,10.2,966,9406,0.00,2.28,0.00,0.000,6,0.000,0.052,3304,2210,2229,0,0,0,0,0,0
$GC,9726,0.85,203.0,270.3,10.8,996,9730,0.00,2.17,0.00,0.000,4,0.000,0.064,3304,3594,2229,0,0,0,0,0,0
$GC,9771,0.85,203.0,264.7,13.3,999,9776,0.00,2.15,0.00,0.000,6,0.000,0.042,3313,2191,2228,0,0,0,0,0,0
$GC,10095,0.85,203.0,228.6,10.2,1030,10099,0.00,2.15,0.00,0.000,4,0.000,0.051,3324,791,2228,0,0,0,0,0,0
$GC,10135,0.85,203.0,224.6,10.0,1033,10140,0.10,2.25,0.00,0.000,6,0.164,0.053,3298,2200,2229,0,0,0,0,0,0
$GC,10460,0.87,220.1,194.8,9.2,1063,10480,0.00,2.20,14.85,0.854,4,0.000,0.063,3297,3604,2159,0,0,0,0,0,0
$GC,10493,0.89,235.2,191.6,9.3,1066,10514,0.00,2.17,13.68,0.831,6,0.000,0.042,3305,2194,2098,0,0,0,0,0,0
$GC,10833,0.89,235.2,154.2,11.9,1098,10837,0.00,2.20,0.00,0.000,4,0.000,0.052,3315,785,2097,0,0,0,0,0,0
$GC,10872,0.89,235.2,149.5,12.1,1101,10876,0.00,2.28,0.00,0.000,6,0.000,0.054,3315,2198,2097,0,0,0,0,0,0
$GC,11197,0.90,245.3,115.2,9.5,1131,11211,0.00,2.22,9.32,0.764,4,0.000,0.065,3315,3601,2057,0,0,0,0,0,0
$GC,11246,0.90,245.3,110.0,11.2,1135,11252,0.00,2.17,0.00,0.000,6,0.000,0.044,3325,2191,2056,0,0,0,0,0,0
$GC,11584,0.92,261.5,75.5,9.3,1187,11605,0.00,2.22,14.18,0.790,4,0.000,0.054,3336,801,1992,0,0,0,0,0,0
$GC,11685,0.92,261.5,65.4,10.2,1205,11691,0.10,2.28,0.00,0.000,6,0.157,0.055,3308,2207,1993,0,0,0,0,0,0
$GC,12031,0.97,295.1,37.0,8.5,1266,12067,0.00,2.25,28.50,0.806,4,0.000,0.067,3308,3585,1855,0,0,0,0,0,0
$GC,12085,1.03,346.5,32.5,7.7,1276,12137,0.08,2.17,43.08,0.785,6,0.125,0.044,3355,2198,1644,0,0,0,0,0,0
$FREEZE,8.91,7.856,-1.805,0,1,0
$FREEZE,8.42,7.861,-1.804,0,1,0
$FREEZE,7.84,7.869,-1.803,0,1,0
$FREEZE,7.42,7.870,-1.803,0,1,0
$FREEZE,6.99,7.873,-1.802,0,1,0
$FREEZE,6.40,7.873,-1.802,0,1,0
$FREEZE,5.90,7.879,-1.801,0,1,0
$FREEZE,5.40,7.874,-1.800,0,1,0
$FREEZE,4.91,7.873,-1.800,0,1,0
$FREEZE,4.35,7.878,-1.799,0,1,0
$FREEZE,3.70,7.877,-1.799,0,1,0
$STATE,12400,end climb,SURFACE_DEPTH_REACHED
$STATE,12400,begin surface coast
$FREEZE,3.27,7.875,-1.798,0,1,0
$FREEZE,2.67,7.871,-1.798,0,1,0
$FREEZE,2.18,7.869,-1.797,0,1,0
$FREEZE,2.06,7.773,-0.779,0,1,0
$FREEZE,1.98,7.841,-1.792,0,1,0
$FREEZE,2.05,7.788,-1.752,0,1,0
$FREEZE,1.90,7.768,-0.959,0,1,0
$FREEZE,1.94,7.833,-1.785,0,1,0
$FINISH,1.9,1.025392
$STATE,12451,end surface coast,CONTROL_FINISHED_OK
$STATE,12451,begin surface
$SM_CCo,12470,202.30,0.740,0,0,587,605.89
$SM_GC,2.87,0.00,0.00,202.30,0.000,0.000,0.740,334,2282,587,-12.78,0.90,605.89
$RAFOS_CLK,462
$RAFOS,6,1281761346,4.833333,4.818333,75,75,50,44,44,43,805,805,845,1916,394,489
$RAFOS,5,1281760862,4.700000,4.683889,83,70,45,43,41,41,671,672,143,1211,1,415
$RAFOS,4,1281760391,4.566667,4.553056,120,106,40,40,40,40,838,839,321,1801,1292,1449
$RAFOS,3,1281759910,4.433333,4.419445,80,65,47,46,41,39,975,976,1370,145,154,1
$RAFOS,2,1281759428,4.300000,4.285555,119,110,45,45,39,39,1053,1054,165,1922,688,1560
$RAFOS,1,1281758942,4.166667,4.150556,87,82,46,45,45,41,1063,1062,1493,96,847,252
$RAFOS,0,1281758471,4.033333,4.019722,77,66,45,44,43,41,1142,1143,822,915,61,1819
$RAFOS_FIX,6707.561035,-5655.581543,140810,040429,7,92,0.91
$IRIDIUM_FIX,6636.54,-5650.71,071199,212128
$TT8_MAMPS,0.026845
$HUMID,41.65
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,17.20
$XPDR_PINGS,18
$ALTIM_TOP_PING,19.3,17.3
$24V_AH,23.0,57.586
$10V_AH,10.1,30.640
$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,19.850,136.075,410.200,202.300,0.000,29.575,36.770,188.448,6.250,0.000,11.694,2242.813,7340.421,735.068,2161.981,617.699,0.000,1893.756,0.000,2134.284,2520.000,14.328,0.000
$DEVICE_MAMPS,222.430,91.273,1086.072,740.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.285,915.113,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135652
$DATA_FILE_SIZE,53553,1341
$CAP_FILE_SIZE,152030,0
$CFSIZE,260165632,220512256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1470.1
$GPS,140810,050300,6704.972,-5653.321,36,0.8,42,-37.6