version: 66.06
glider: 108
mission: 14
dive: 326
start: 8 14 110 5 12 52
data:
$ID,108
$MISSION,14
$DIVE,326
$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,-182968.73
$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,39
$R_STBD_OVSHOOT,54
$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
$GPS1,050300,6704.972,-5653.321,36,0.8,42,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.73
$_SM_ANGLEo,-72.3
$GPS2,051232,6705.038,-5653.478,12,1.1,12,-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,293.5,160281,-18.1,-10.000
$D_GRID,482
$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,-146.1,0.0,0.0,0,78,0.00,0.00,-59.28,0.000,2,0.000,0.000,333,2282,2135,0,0,0,0,0,0
$GC,81,-0.78,-146.1,3.0,-0.6,12,176,10.07,2.10,-73.70,0.000,4,0.226,0.080,2928,3563,3655,0,0,0,0,0,0
$GC,199,-0.78,-146.1,5.1,-9.5,34,205,0.00,2.05,0.00,0.000,6,0.000,0.043,2928,2239,3656,0,0,0,0,0,0
$GC,545,-0.78,-146.1,46.0,-10.5,95,550,0.00,2.17,0.00,0.000,4,0.000,0.051,2928,840,3660,0,0,0,0,0,0
$GC,676,-0.78,-146.1,58.1,-8.8,118,682,0.10,2.22,0.00,0.000,6,0.148,0.054,2949,2225,3661,0,0,0,0,0,0
$GC,1023,-0.78,-146.1,81.8,-6.4,179,1028,0.00,2.15,0.00,0.000,4,0.000,0.064,2941,3605,3662,0,0,0,0,0,0
$GC,1092,-0.78,-146.1,87.0,-7.6,191,1097,0.00,2.10,0.00,0.000,6,0.000,0.042,2940,2236,3662,0,0,0,0,0,0
$GC,1430,-0.78,-146.1,119.4,-9.9,235,1434,0.00,2.17,0.00,0.000,4,0.000,0.053,2940,837,3662,0,0,0,0,0,0
$GC,1487,-0.78,-146.1,125.0,-9.2,240,1491,0.00,2.28,0.00,0.000,6,0.000,0.054,2931,2263,3662,0,0,0,0,0,0
$GC,1818,-0.78,-146.1,152.8,-7.9,271,1822,0.00,2.10,0.00,0.000,4,0.000,0.067,2921,3593,3662,0,0,0,0,0,0
$GC,1902,-0.78,-146.1,159.8,-7.8,278,1908,0.00,2.08,0.00,0.000,6,0.000,0.044,2920,2244,3662,0,0,0,0,0,0
$GC,2228,-0.78,-146.1,187.4,-8.2,309,2231,0.00,2.17,0.00,0.000,4,0.000,0.054,2921,848,3661,0,0,0,0,0,0
$GC,2262,-0.78,-146.1,190.4,-9.0,312,2267,0.12,2.25,0.00,0.000,6,0.138,0.055,2949,2247,3661,0,0,0,0,0,0
$GC,2588,-0.78,-146.1,210.9,-6.0,342,2591,0.00,2.12,0.00,0.000,4,0.000,0.067,2941,3594,3660,0,0,0,0,0,0
$GC,2645,-0.78,-146.1,214.9,-6.9,347,2649,0.00,2.08,0.00,0.000,6,0.000,0.045,2941,2249,3660,0,0,0,0,0,0
$GC,2976,-0.78,-146.1,238.4,-7.0,378,2980,0.00,2.20,0.00,0.000,4,0.000,0.054,2941,837,3660,0,0,0,0,0,0
$GC,3027,-0.78,-146.1,242.5,-8.1,382,3031,0.00,2.28,0.00,0.000,6,0.000,0.057,2932,2251,3660,0,0,0,0,0,0
$GC,3352,-0.78,-146.1,267.9,-7.5,412,3356,0.00,2.10,0.00,0.000,4,0.000,0.067,2922,3594,3659,0,0,0,0,0,0
$GC,3443,-0.78,-146.1,275.7,-8.9,420,3447,0.00,2.08,0.00,0.000,6,0.000,0.045,2922,2248,3659,0,0,0,0,0,0
$GC,3774,-0.78,-146.1,303.3,-7.8,451,3778,0.00,2.20,0.00,0.000,4,0.000,0.055,2922,839,3659,0,0,0,0,0,0
$GC,3807,-0.78,-146.1,306.1,-8.5,453,3813,0.10,2.28,0.00,0.000,6,0.147,0.057,2942,2256,3659,0,0,0,0,0,0
$GC,4132,-0.78,-146.1,326.3,-6.2,484,4136,0.00,2.12,0.00,0.000,4,0.000,0.067,2934,3602,3658,0,0,0,0,0,0
$GC,4183,-0.78,-146.1,329.8,-7.2,488,4188,0.00,2.10,0.00,0.000,6,0.000,0.044,2934,2237,3658,0,0,0,0,0,0
$GC,4508,-0.78,-146.1,352.1,-6.6,519,4509,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2237,3658,0,0,0,0,0,0
$GC,4830,-0.78,-146.1,373.9,-6.7,549,4835,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2237,3658,0,0,0,0,0,0
$GC,5159,-0.78,-146.1,394.7,-6.0,580,5162,0.00,2.17,0.00,0.000,4,0.000,0.054,2934,843,3658,0,0,0,0,0,0
$GC,5187,-0.78,-146.1,396.8,-6.8,582,5192,0.00,2.28,0.00,0.000,6,0.000,0.056,2925,2255,3657,0,0,0,0,0,0
$GC,5512,-0.78,-146.1,419.5,-7.2,613,5515,0.00,2.12,0.00,0.000,4,0.000,0.067,2915,3601,3657,0,0,0,0,0,0
$GC,5562,-0.78,-146.1,423.5,-8.3,617,5568,0.10,2.08,0.00,0.000,6,0.145,0.044,2945,2249,3658,0,0,0,0,0,0
$GC,5888,-0.78,-146.1,442.9,-5.3,648,5892,0.00,2.20,0.00,0.000,4,0.000,0.054,2945,836,3658,0,0,0,0,0,0
$GC,5922,-0.78,-146.1,445.0,-6.4,651,5926,0.00,2.28,0.00,0.000,6,0.000,0.055,2939,2254,3658,0,0,0,0,0,0
$GC,6248,-0.78,-146.1,467.3,-7.8,681,6252,0.00,2.12,0.00,0.000,4,0.000,0.066,2929,3600,3658,0,0,0,0,0,0
$GC,6332,-0.78,-146.1,473.6,-7.1,688,6337,0.00,2.08,0.00,0.000,6,0.000,0.044,2929,2248,3657,0,0,0,0,0,0
$STATE,6496,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6496,begin apogee
$GC,6503,-0.17,0.0,482.1,3.6,704,6623,0.43,0.00,117.18,1.081,6,0.112,0.000,3074,2248,3058,0,0,0,0,0,0
$STATE,6624,end apogee,CONTROL_FINISHED_OK
$STATE,6624,begin climb
$GC,6628,0.78,146.1,483.2,0.0,716,6758,0.57,2.38,120.50,1.021,4,0.064,0.060,3288,3591,2461,0,0,0,0,0,0
$GC,6786,0.78,146.1,472.0,11.8,730,6792,0.00,2.33,0.00,0.000,6,0.000,0.041,3297,2198,2460,0,0,0,0,0,0
$GC,7111,0.80,163.2,437.8,9.2,761,7133,0.00,2.25,14.68,0.932,4,0.000,0.053,3307,794,2393,0,0,0,0,0,0
$GC,7206,0.82,174.4,428.7,9.5,769,7224,0.00,2.33,10.73,0.886,6,0.000,0.054,3307,2213,2347,0,0,0,0,0,0
$GC,7542,0.82,174.4,395.2,10.1,801,7543,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2213,2347,0,0,0,0,0,0
$GC,7862,0.82,179.8,363.5,9.8,831,7874,0.00,2.20,5.80,0.758,4,0.000,0.062,3307,3603,2325,0,0,0,0,0,0
$GC,7897,0.82,179.8,359.4,11.3,834,7902,0.10,2.17,0.00,0.000,6,0.170,0.043,3291,2194,2326,0,0,0,0,0,0
$GC,8222,0.83,182.2,327.9,9.9,864,8233,0.00,2.22,3.60,0.572,4,0.000,0.052,3299,795,2316,0,0,0,0,0,0
$GC,8295,0.83,182.2,320.4,10.2,870,8301,0.00,2.28,0.00,0.000,6,0.000,0.053,3299,2214,2317,0,0,0,0,0,0
$GC,8620,0.83,182.2,287.5,10.6,901,8623,0.00,2.17,0.00,0.000,4,0.000,0.064,3299,3597,2317,0,0,0,0,0,0
$GC,8654,0.83,182.2,283.8,11.3,904,8658,0.00,2.15,0.00,0.000,6,0.000,0.043,3309,2201,2317,0,0,0,0,0,0
$GC,8985,0.85,198.0,250.9,9.3,935,9006,0.00,2.22,14.38,0.881,4,0.000,0.053,3319,787,2250,0,0,0,0,0,0
$GC,9079,0.85,198.0,241.4,10.7,943,9085,0.10,2.28,0.00,0.000,6,0.162,0.053,3293,2200,2251,0,0,0,0,0,0
$GC,9404,0.86,208.7,211.0,9.5,974,9418,0.00,2.20,9.88,0.821,4,0.000,0.064,3293,3591,2207,0,0,0,0,0,0
$GC,9447,0.86,208.7,206.5,10.6,977,9452,0.00,2.15,0.00,0.000,6,0.000,0.043,3300,2193,2207,0,0,0,0,0,0
$GC,9772,0.87,218.3,174.9,9.6,1008,9786,0.00,2.22,9.27,0.797,4,0.000,0.053,3310,768,2168,0,0,0,0,0,0
$GC,9854,0.88,222.7,166.8,9.8,1015,9864,0.00,2.30,5.35,0.674,6,0.000,0.054,3311,2199,2149,0,0,0,0,0,0
$GC,10184,0.90,239.2,135.0,9.2,1046,10204,0.00,0.00,14.82,0.828,6,0.000,0.000,3311,2198,2082,0,0,0,0,0,0
$GC,10524,0.94,275.2,105.2,8.4,1078,10563,0.00,2.33,30.05,0.844,4,0.000,0.052,3320,799,1936,0,0,0,0,0,0
$GC,10580,0.99,314.6,100.5,8.2,1083,10621,0.00,2.30,33.40,0.818,6,0.000,0.054,3320,2206,1774,0,0,0,0,0,0
$GC,10959,0.99,314.6,63.4,10.3,1151,10963,0.00,0.00,0.00,0.000,6,0.000,0.000,3320,2206,1766,0,0,0,0,0,0
$GC,11301,1.08,389.2,34.7,6.6,1212,11368,0.10,2.30,60.35,0.805,4,0.105,0.052,3382,801,1470,0,0,0,0,0,0
$GC,11424,1.08,389.2,20.8,11.4,1234,11431,0.15,2.33,0.00,0.000,6,0.142,0.056,3340,2209,1466,0,0,0,0,0,0
$FREEZE,8.70,7.506,-1.811,0,1,0
$FREEZE,8.25,7.514,-1.811,0,1,0
$FREEZE,7.93,7.545,-1.810,0,1,0
$FREEZE,7.37,7.587,-1.809,0,1,0
$FREEZE,7.01,7.611,-1.808,0,1,0
$FREEZE,6.52,7.633,-1.808,0,1,0
$FREEZE,6.08,7.736,-1.807,0,1,0
$FREEZE,5.61,7.881,-1.800,0,1,0
$FREEZE,5.20,7.884,-1.800,0,1,0
$FREEZE,4.89,7.885,-1.800,0,1,0
$FREEZE,4.29,7.888,-1.799,0,1,0
$FREEZE,3.86,7.887,-1.799,0,1,0
$STATE,11640,end climb,SURFACE_DEPTH_REACHED
$STATE,11640,begin surface coast
$FREEZE,3.50,7.886,-1.799,0,1,0
$FREEZE,2.97,7.886,-1.799,0,1,0
$FREEZE,2.66,7.887,-1.798,0,1,0
$FREEZE,2.18,7.882,-1.798,0,1,0
$FREEZE,2.07,7.723,-0.754,0,1,0
$FREEZE,2.12,7.671,-0.168,0,1,0
$FREEZE,2.10,7.765,-0.102,0,1,0
$FREEZE,1.92,7.723,-0.576,0,1,0
$FREEZE,2.03,7.683,-1.112,0,1,0
$FREEZE,2.09,7.748,-1.803,0,1,0
$FREEZE,2.16,7.660,-1.171,0,1,0
$FINISH,2.2,1.016787
$STATE,11703,end surface coast,CONTROL_FINISHED_OK
$STATE,11703,begin surface
$SM_CCo,11723,168.93,0.746,0,0,586,605.89
$SM_GC,2.84,0.00,0.00,168.93,0.000,0.000,0.746,335,2249,586,-12.77,-0.03,605.89
$RAFOS_CLK,435
$RAFOS,2,1281773823,8.300000,8.284166,116,102,49,47,44,42,1066,1067,1802,1318,168,1319
$RAFOS,1,1281773345,8.166667,8.151389,95,79,49,47,47,43,1035,1036,527,1333,1574,1863
$RAFOS,0,1281772868,8.033334,8.018888,94,86,51,46,43,40,1141,1142,214,1845,1876,362
$RAFOS_FIX,6706.327148,-5657.901367,140810,080848,3,102,0.37
$IRIDIUM_FIX,6636.54,-5647.69,081199,050512
$TT8_MAMPS,0.027612
$HUMID,42.20
$INTERNAL_PRESSURE,10.2348
$TCM_TEMP,17.40
$XPDR_PINGS,29
$ALTIM_TOP_PING,20.0,17.6
$24V_AH,23.0,57.760
$10V_AH,10.1,30.716
$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,19.850,109.875,449.975,168.925,0.000,56.652,111.160,185.906,8.500,0.000,14.299,2102.156,6889.177,729.416,2051.605,690.771,0.000,1829.729,0.000,2027.022,1440.000,9.694,0.000
$DEVICE_MAMPS,226.265,164.905,1080.703,746.291,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.105,876.997,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135660
$DATA_FILE_SIZE,50357,1283
$CAP_FILE_SIZE,141606,0
$CFSIZE,260165632,220454912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1468.8
$GPS,140810,083237,6705.413,-5657.697,31,1.0,31,-37.6