version: 66.06
glider: 108
mission: 14
dive: 328
start: 8 14 110 12 24 18
data:
$ID,108
$MISSION,14
$DIVE,328
$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,-182995.31
$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,37
$R_STBD_OVSHOOT,28
$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
$GPS1,121707,6704.721,-5659.538,27,1.2,27,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.72
$_SM_ANGLEo,-74.3
$GPS2,122356,6704.678,-5659.441,11,1.3,11,-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,293.4,155888,-18.1,-10.000
$D_GRID,594
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,88,0.00,0.00,-69.90,0.000,2,0.000,0.000,334,2237,2370,0,0,0,0,0,0
$GC,92,-0.78,-146.1,3.1,-1.2,14,169,10.27,2.25,-57.70,0.000,4,0.235,0.077,2926,3596,3655,0,0,0,0,0,0
$GC,301,-0.78,-146.1,22.0,-14.0,52,307,0.00,2.10,0.00,0.000,6,0.000,0.044,2925,2245,3659,0,0,0,0,0,0
$GC,645,-0.78,-146.1,61.7,-9.5,113,651,0.00,2.15,0.00,0.000,4,0.000,0.063,2916,3598,3661,0,0,0,0,0,0
$GC,699,-0.78,-146.1,66.5,-9.4,122,705,0.10,2.10,0.00,0.000,6,0.151,0.043,2944,2237,3662,0,0,0,0,0,0
$GC,1045,-0.78,-146.1,92.6,-8.1,183,1050,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2237,3663,0,0,0,0,0,0
$GC,1374,-0.78,-146.1,123.9,-8.9,221,1379,0.00,2.15,0.00,0.000,4,0.000,0.053,2945,845,3663,0,0,0,0,0,0
$GC,1432,-0.78,-146.1,128.4,-7.8,226,1436,0.00,2.28,0.00,0.000,6,0.000,0.056,2937,2262,3663,0,0,0,0,0,0
$GC,1757,-0.78,-146.1,147.5,-5.2,256,1761,0.00,2.10,0.00,0.000,4,0.000,0.067,2927,3594,3663,0,0,0,0,0,0
$GC,1821,-0.78,-146.1,151.4,-6.3,261,1825,0.00,2.08,0.00,0.000,6,0.000,0.044,2927,2245,3663,0,0,0,0,0,0
$GC,2146,-0.78,-146.1,175.1,-8.5,291,2147,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2245,3663,0,0,0,0,0,0
$GC,2468,-0.78,-146.1,203.1,-9.0,321,2472,0.00,2.20,0.00,0.000,4,0.000,0.054,2928,836,3662,0,0,0,0,0,0
$GC,2501,-0.78,-146.1,206.5,-9.3,323,2507,0.10,2.28,0.00,0.000,6,0.149,0.058,2948,2248,3662,0,0,0,0,0,0
$GC,2826,-0.78,-146.1,231.2,-7.2,354,2830,0.00,2.15,0.00,0.000,4,0.000,0.068,2939,3604,3662,0,0,0,0,0,0
$GC,2865,-0.78,-146.1,234.2,-8.0,357,2871,0.00,2.10,0.00,0.000,6,0.000,0.044,2939,2242,3662,0,0,0,0,0,0
$GC,3191,-0.78,-146.1,254.4,-5.6,388,3195,0.00,2.20,0.00,0.000,4,0.000,0.055,2939,834,3662,0,0,0,0,0,0
$GC,3220,-0.78,-146.1,256.1,-6.2,390,3224,0.00,2.30,0.00,0.000,6,0.000,0.058,2931,2258,3662,0,0,0,0,0,0
$GC,3551,-0.78,-146.1,277.4,-6.4,421,3554,0.00,2.10,0.00,0.000,4,0.000,0.068,2920,3598,3661,0,0,0,0,0,0
$GC,3613,-0.78,-146.1,281.9,-7.1,426,3619,0.10,2.08,0.00,0.000,6,0.146,0.045,2950,2249,3661,0,0,0,0,0,0
$GC,3940,-0.78,-146.1,301.3,-6.2,457,3943,0.00,2.20,0.00,0.000,4,0.000,0.054,2950,840,3661,0,0,0,0,0,0
$GC,3962,-0.78,-146.1,302.9,-6.2,458,3967,0.00,2.28,0.00,0.000,6,0.000,0.058,2943,2250,3661,0,0,0,0,0,0
$GC,4287,-0.78,-146.1,324.7,-7.0,489,4291,0.00,2.17,0.00,0.000,4,0.000,0.069,2933,3605,3661,0,0,0,0,0,0
$GC,4338,-0.78,-146.1,328.6,-7.5,493,4343,0.00,2.10,0.00,0.000,6,0.000,0.044,2932,2239,3661,0,0,0,0,0,0
$GC,4663,-0.78,-146.1,354.2,-7.9,524,4667,0.00,2.17,0.00,0.000,4,0.000,0.055,2932,847,3661,0,0,0,0,0,0
$GC,4714,-0.78,-146.1,358.5,-9.0,528,4718,0.00,2.28,0.00,0.000,6,0.000,0.058,2924,2260,3661,0,0,0,0,0,0
$GC,5044,-0.78,-146.1,383.7,-7.3,559,5048,0.00,2.10,0.00,0.000,4,0.000,0.068,2914,3594,3661,0,0,0,0,0,0
$GC,5124,-0.78,-146.1,390.2,-8.1,566,5128,0.10,2.08,0.00,0.000,6,0.149,0.045,2943,2237,3660,0,0,0,0,0,0
$GC,5450,-0.78,-146.1,411.7,-6.4,596,5451,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3660,0,0,0,0,0,0
$GC,5771,-0.78,-146.1,432.0,-6.2,626,5776,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3660,0,0,0,0,0,0
$GC,6101,-0.78,-146.1,452.9,-6.3,657,6106,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3660,0,0,0,0,0,0
$GC,6429,-0.78,-146.1,473.8,-6.2,688,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3660,0,0,0,0,0,0
$GC,6748,-0.78,-146.1,493.8,-6.5,718,6752,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3659,0,0,0,0,0,0
$GC,7075,-0.78,-146.1,515.0,-6.4,749,7076,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3660,0,0,0,0,0,0
$GC,7394,-0.78,-146.1,535.4,-6.3,779,7399,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3660,0,0,0,0,0,0
$GC,7719,-0.78,-146.1,555.7,-6.1,810,7720,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3660,0,0,0,0,0,0
$GC,8040,-0.78,-146.1,574.9,-6.0,840,8041,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2236,3660,0,0,0,0,0,0
$STATE,8311,end dive,NO_VERTICAL_VELOCITY
$STATE,8311,begin apogee
$GC,8320,-0.17,0.0,581.3,0.0,866,8446,0.35,0.00,119.43,1.171,6,0.089,0.000,3077,2236,3058,0,0,0,0,0,0
$STATE,8447,end apogee,CONTROL_FINISHED_OK
$STATE,8447,begin climb
$GC,8450,0.78,146.1,581.1,0.0,879,8585,0.57,2.55,123.18,1.103,4,0.070,0.056,3297,797,2462,0,0,0,0,0,0
$GC,8677,0.79,153.8,570.7,9.6,900,8691,0.00,2.45,7.97,0.893,6,0.000,0.057,3297,2207,2430,0,0,0,0,0,0
$GC,9017,0.79,153.8,538.0,10.1,932,9021,0.00,2.25,0.00,0.000,4,0.000,0.067,3297,3594,2430,0,0,0,0,0,0
$GC,9045,0.79,153.8,534.8,11.7,934,9050,0.10,2.22,0.00,0.000,6,0.177,0.046,3282,2192,2429,0,0,0,0,0,0
$GC,9370,0.84,191.9,506.1,8.3,964,9411,0.00,2.33,31.73,1.092,4,0.000,0.057,3291,794,2275,0,0,0,0,0,0
$GC,9481,0.84,194.5,496.1,9.9,974,9492,0.00,2.35,3.67,0.634,6,0.000,0.058,3291,2213,2264,0,0,0,0,0,0
$GC,9811,0.84,194.5,461.9,10.4,1005,9815,0.00,2.22,0.00,0.000,4,0.000,0.067,3290,3604,2263,0,0,0,0,0,0
$GC,9851,0.84,194.5,457.2,12.1,1008,9855,0.00,2.20,0.00,0.000,6,0.000,0.046,3300,2199,2262,0,0,0,0,0,0
$GC,10176,0.84,194.5,421.5,10.7,1038,10180,0.00,2.20,0.00,0.000,4,0.000,0.055,3311,789,2262,0,0,0,0,0,0
$GC,10260,0.84,194.5,412.1,10.6,1045,10265,0.00,2.30,0.00,0.000,6,0.000,0.057,3311,2209,2262,0,0,0,0,0,0
$GC,10585,0.84,194.5,376.1,11.0,1075,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2209,2262,0,0,0,0,0,0
$GC,10907,0.84,194.5,339.6,12.1,1105,10911,0.00,2.28,0.00,0.000,4,0.000,0.054,3320,783,2261,0,0,0,0,0,0
$GC,10940,0.84,194.5,335.4,11.9,1107,10946,0.10,2.30,0.00,0.000,6,0.164,0.056,3294,2205,2261,0,0,0,0,0,0
$GC,11265,0.84,194.5,301.6,10.2,1138,11269,0.00,2.22,0.00,0.000,4,0.000,0.054,3302,797,2261,0,0,0,0,0,0
$GC,11288,0.84,194.5,299.3,10.0,1140,11292,0.00,2.28,0.00,0.000,6,0.000,0.056,3302,2204,2261,0,0,0,0,0,0
$GC,11613,0.84,194.5,265.1,10.1,1170,11617,0.00,2.25,0.00,0.000,4,0.000,0.053,3311,789,2261,0,0,0,0,0,0
$GC,11643,0.84,194.5,262.1,10.5,1172,11647,0.00,2.28,0.00,0.000,6,0.000,0.056,3311,2201,2262,0,0,0,0,0,0
$GC,11967,0.84,194.5,224.9,12.0,1202,11969,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2200,2262,0,0,0,0,0,0
$GC,12289,0.84,194.5,190.0,10.3,1232,12293,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,2200,2262,0,0,0,0,0,0
$GC,12618,0.85,200.1,157.9,9.7,1263,12629,0.00,2.25,5.75,0.703,4,0.000,0.051,3321,792,2242,0,0,0,0,0,0
$GC,12647,0.85,200.5,154.6,10.0,1265,12653,0.10,2.28,0.00,0.000,6,0.159,0.056,3294,2202,2243,0,0,0,0,0,0
$GC,12972,0.88,229.0,124.8,8.7,1296,13003,0.00,2.30,24.50,0.862,4,0.000,0.055,3295,787,2124,0,0,0,0,0,0
$GC,13032,0.92,262.0,119.5,8.5,1301,13068,0.00,2.33,28.35,0.844,6,0.000,0.056,3295,2210,1988,0,0,0,0,0,0
$GC,13395,0.95,284.4,87.9,9.0,1347,13421,0.10,2.35,18.73,0.806,4,0.105,0.054,3358,788,1898,0,0,0,0,0,0
$GC,13451,0.95,284.4,81.5,11.8,1357,13457,0.15,2.33,0.00,0.000,6,0.150,0.057,3316,2204,1898,0,0,0,0,0,0
$GC,13797,0.99,312.8,46.9,8.7,1418,13828,0.00,2.33,23.65,0.801,4,0.000,0.055,3321,798,1781,0,0,0,0,0,0
$GC,13847,1.05,362.4,42.7,7.7,1427,13898,0.00,2.30,42.22,0.795,6,0.000,0.058,3321,2208,1579,0,0,0,0,0,0
$FREEZE,8.80,7.651,-1.800,0,1,0
$FREEZE,8.15,7.681,-1.800,0,1,0
$FREEZE,7.40,7.714,-1.802,0,1,0
$FREEZE,6.72,7.793,-1.799,0,1,0
$FREEZE,5.98,7.823,-1.798,0,1,0
$GC,14238,1.15,443.2,12.8,6.3,1497,14312,0.12,2.35,65.07,0.777,4,0.088,0.054,3395,798,1249,0,0,0,0,0,0
$FREEZE,3.78,7.925,-1.793,0,1,0
$STATE,14317,end climb,SURFACE_DEPTH_REACHED
$STATE,14317,begin surface coast
$FREEZE,3.09,8.059,-1.793,0,1,0
$FINISH,3.1,1.025460
$STATE,14323,end surface coast,CONTROL_FINISHED_OK
$STATE,14324,begin surface
$SM_CCo,14345,126.95,0.736,0,0,588,605.89
$SM_GC,2.94,0.00,0.00,126.95,0.000,0.000,0.736,342,2263,588,-12.74,0.37,605.89
$RAFOS_CLK,546
$RAFOS,1,1281802141,16.166666,16.150278,80,74,45,45,41,39,1035,1036,734,1561,172,1542
$RAFOS,0,1281801665,16.033333,16.018055,79,71,46,44,42,40,1135,1136,635,1358,61,1393
$RAFOS,6,1281790147,12.833333,12.818611,102,100,51,47,46,44,798,797,145,540,927,914
$RAFOS,5,1281789665,12.700000,12.684722,149,132,43,43,41,40,640,639,1362,770,751,219
$RAFOS,4,1281789182,12.566667,12.550555,94,84,59,54,41,40,881,882,1729,1223,264,1813
$RAFOS,3,1281788703,12.433333,12.417500,145,103,45,43,42,39,998,998,738,1770,334,1486
$RAFOS,1,1281787743,12.166667,12.150833,43,42,42,41,39,39,395,759,1815,154,1519,1816
$RAFOS_FIX,6706.995117,-5702.224121,140810,121238,5,112,9.11
$IRIDIUM_FIX,6636.54,-5655.33,081199,080848
$TT8_MAMPS,0.027612
$HUMID,41.96
$INTERNAL_PRESSURE,10.225
$TCM_TEMP,17.20
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.4
$24V_AH,22.7,58.116
$10V_AH,10.1,30.880
$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,20.550,111.925,494.250,126.950,0.000,28.331,35.137,192.734,2.500,0.000,12.815,2432.633,8740.646,723.841,2353.939,664.436,0.000,1981.633,0.000,2337.349,2520.000,20.504,0.000
$DEVICE_MAMPS,234.702,76.700,1171.209,736.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1097.079,1070.842,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135584
$DATA_FILE_SIZE,59857,1512
$CAP_FILE_SIZE,159108,0
$CFSIZE,260165632,220270592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.0
$GPS,140810,162736,6705.531,-5703.785,32,0.9,32,-37.7