version: 66.06
glider: 108
mission: 14
dive: 371
start: 8 24 110 8 59 48
data:
$ID,108
$MISSION,14
$DIVE,371
$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,-183663.2
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,084406,6648.626,-6015.780,37,1.8,43,-38.2
$_CALLS,3
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-75.5
$GPS2,085926,6648.500,-6015.691,12,1.4,12,-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,118.0,152369,-18.1,-10.000
$D_GRID,569
$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,-146.1,0.0,0.0,0,58,0.00,0.00,-40.08,0.000,2,0.000,0.000,339,2259,1521,0,0,0,0,0,0
$GC,62,-0.78,-146.1,3.0,-0.1,8,188,10.25,2.33,-105.57,0.000,4,0.234,0.075,2934,842,3655,0,0,0,0,0,0
$GC,284,-0.78,-146.1,21.8,-12.7,49,290,0.00,2.35,0.00,0.000,6,0.000,0.067,2927,2247,3660,0,0,0,0,0,0
$GC,628,-0.78,-146.1,68.5,-12.8,110,634,0.00,2.30,0.00,0.000,4,0.000,0.063,2927,839,3663,0,0,0,0,0,0
$GC,691,-0.78,-146.1,76.5,-12.4,121,697,0.10,2.35,0.00,0.000,6,0.162,0.068,2945,2254,3663,0,0,0,0,0,0
$GC,1029,-0.78,-146.1,113.6,-10.3,170,1033,0.00,2.30,0.00,0.000,4,0.000,0.064,2945,831,3664,0,0,0,0,0,0
$GC,1057,-0.78,-146.1,116.6,-10.7,172,1061,0.00,2.38,0.00,0.000,6,0.000,0.069,2938,2262,3664,0,0,0,0,0,0
$GC,1383,-0.78,-146.1,149.6,-9.8,202,1386,0.00,2.15,0.00,0.000,4,0.000,0.081,2928,3596,3663,0,0,0,0,0,0
$GC,1444,-0.78,-146.1,156.2,-10.7,207,1449,0.00,2.15,0.00,0.000,6,0.000,0.057,2928,2250,3663,0,0,0,0,0,0
$GC,1769,-0.78,-146.1,189.5,-10.4,238,1773,0.00,2.28,0.00,0.000,4,0.000,0.067,2928,837,3663,0,0,0,0,0,0
$GC,1792,-0.78,-146.1,191.8,-9.8,239,1798,0.10,2.35,0.00,0.000,6,0.156,0.071,2947,2251,3663,0,0,0,0,0,0
$GC,2117,-0.78,-146.1,218.8,-7.9,270,2121,0.00,2.17,0.00,0.000,4,0.000,0.083,2939,3596,3662,0,0,0,0,0,0
$GC,2141,-0.78,-146.1,220.7,-7.8,272,2144,0.00,2.15,0.00,0.000,6,0.000,0.058,2939,2248,3662,0,0,0,0,0,0
$GC,2472,-0.78,-146.1,248.2,-7.7,303,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2248,3662,0,0,0,0,0,0
$GC,2794,-0.78,-146.1,273.1,-8.1,333,2798,0.00,2.28,0.00,0.000,4,0.000,0.068,2939,835,3661,0,0,0,0,0,0
$GC,2845,-0.78,-146.1,277.7,-8.0,337,2850,0.00,2.38,0.00,0.000,6,0.000,0.072,2930,2257,3661,0,0,0,0,0,0
$GC,3171,-0.78,-146.1,305.5,-8.8,367,3175,0.00,2.17,0.00,0.000,4,0.000,0.083,2919,3599,3660,0,0,0,0,0,0
$GC,3215,-0.78,-146.1,309.7,-9.7,370,3222,0.10,2.15,0.00,0.000,6,0.151,0.058,2948,2239,3660,0,0,0,0,0,0
$GC,3541,-0.78,-146.1,332.9,-7.0,401,3545,0.00,2.25,0.00,0.000,4,0.000,0.067,2948,842,3660,0,0,0,0,0,0
$GC,3569,-0.78,-146.1,335.0,-7.8,403,3573,0.00,2.35,0.00,0.000,6,0.000,0.071,2941,2253,3659,0,0,0,0,0,0
$GC,3894,-0.78,-146.1,357.8,-7.0,433,3898,0.00,2.20,0.00,0.000,4,0.000,0.082,2931,3600,3659,0,0,0,0,0,0
$GC,3957,-0.78,-146.1,362.6,-7.8,438,3961,0.00,2.15,0.00,0.000,6,0.000,0.057,2931,2251,3659,0,0,0,0,0,0
$GC,4287,-0.78,-146.1,387.9,-7.8,469,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2250,3659,0,0,0,0,0,0
$GC,4609,-0.78,-146.1,412.7,-7.7,499,4613,0.00,2.30,0.00,0.000,4,0.000,0.067,2931,833,3659,0,0,0,0,0,0
$GC,4637,-0.78,-146.1,415.3,-8.4,501,4642,0.00,2.38,0.00,0.000,6,0.000,0.069,2922,2264,3659,0,0,0,0,0,0
$GC,4963,-0.78,-146.1,440.7,-7.9,531,4967,0.00,2.17,0.00,0.000,4,0.000,0.080,2912,3599,3659,0,0,0,0,0,0
$GC,5014,-0.78,-146.1,445.0,-8.6,535,5020,0.12,2.15,0.00,0.000,6,0.141,0.054,2948,2238,3659,0,0,0,0,0,0
$GC,5340,-0.78,-146.1,464.2,-5.5,566,5341,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2238,3660,0,0,0,0,0,0
$GC,5661,-0.78,-146.1,483.0,-6.1,596,5666,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2238,3660,0,0,0,0,0,0
$GC,5990,-0.78,-146.1,502.8,-6.1,627,5995,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2238,3661,0,0,0,0,0,0
$GC,6317,-0.78,-146.1,522.3,-6.1,658,6321,0.00,2.22,0.00,0.000,4,0.000,0.064,2949,832,3661,0,0,0,0,0,0
$GC,6352,-0.78,-146.1,524.5,-6.5,660,6357,0.00,2.35,0.00,0.000,6,0.000,0.067,2942,2263,3661,0,0,0,0,0,0
$GC,6677,-0.78,-146.1,542.3,-5.6,691,6680,0.00,2.17,0.00,0.000,4,0.000,0.078,2932,3602,3661,0,0,0,0,0,0
$GC,6727,-0.78,-146.1,545.3,-6.3,695,6733,0.00,2.12,0.00,0.000,6,0.000,0.052,2932,2235,3661,0,0,0,0,0,0
$GC,7053,-0.78,-146.1,566.1,-6.5,726,7054,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2234,3661,0,0,0,0,0,0
$STATE,7103,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7103,begin apogee
$GC,7109,-0.17,0.0,569.6,6.5,731,7236,0.43,0.00,122.15,1.177,6,0.111,0.000,3078,2234,3058,0,0,0,0,0,0
$STATE,7236,end apogee,CONTROL_FINISHED_OK
$STATE,7236,begin climb
$GC,7240,0.78,146.1,574.8,0.0,744,7377,0.57,2.65,127.00,1.108,4,0.064,0.064,3298,798,2462,0,0,0,0,0,0
$GC,7426,0.80,160.9,564.3,9.3,762,7448,0.00,2.53,14.52,0.991,6,0.000,0.064,3298,2205,2401,0,0,0,0,0,0
$GC,7766,0.82,177.7,533.4,9.2,794,7788,0.00,2.33,15.23,1.023,4,0.000,0.074,3298,3597,2333,0,0,0,0,0,0
$GC,7862,0.82,177.7,523.8,11.1,802,7867,0.00,2.28,0.00,0.000,6,0.000,0.051,3308,2199,2333,0,0,0,0,0,0
$GC,8187,0.83,186.3,492.9,9.6,833,8197,0.00,0.00,8.43,0.941,6,0.000,0.000,3308,2198,2298,0,0,0,0,0,0
$GC,8517,0.85,197.7,460.6,9.5,864,8530,0.00,0.00,11.02,0.988,6,0.000,0.000,3308,2198,2252,0,0,0,0,0,0
$GC,8845,0.85,197.7,427.8,10.0,895,8849,0.00,2.25,0.00,0.000,4,0.000,0.063,3318,793,2252,0,0,0,0,0,0
$GC,8873,0.85,197.7,425.0,10.1,897,8878,0.10,2.35,0.00,0.000,6,0.169,0.064,3293,2217,2253,0,0,0,0,0,0
$GC,9199,0.88,222.3,395.6,8.9,927,9230,0.00,2.30,21.77,1.039,4,0.000,0.073,3293,3593,2150,0,0,0,0,0,0
$GC,9264,0.88,222.3,389.0,11.0,933,9269,0.00,2.22,0.00,0.000,6,0.000,0.051,3300,2198,2149,0,0,0,0,0,0
$GC,9590,0.88,224.4,356.7,9.9,963,9591,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2197,2149,0,0,0,0,0,0
$GC,9910,0.89,234.3,325.8,9.5,993,9926,0.00,2.25,10.93,0.931,4,0.000,0.061,3310,784,2102,0,0,0,0,0,0
$GC,9950,0.90,242.4,321.6,9.6,996,9965,0.00,2.35,8.70,0.878,6,0.000,0.062,3310,2209,2069,0,0,0,0,0,0
$GC,10291,0.91,247.3,286.6,9.8,1028,10301,0.00,0.00,5.60,0.771,6,0.000,0.000,3310,2209,2048,0,0,0,0,0,0
$GC,10621,0.91,252.6,253.7,9.8,1059,10632,0.00,2.22,6.00,0.779,4,0.000,0.074,3310,3595,2028,0,0,0,0,0,0
$GC,10678,0.91,252.6,246.9,12.7,1064,10682,0.00,2.20,0.00,0.000,6,0.000,0.051,3320,2200,2027,0,0,0,0,0,0
$GC,11009,0.92,255.6,212.1,9.9,1095,11020,0.00,2.30,3.78,0.607,4,0.000,0.063,3331,790,2017,0,0,0,0,0,0
$GC,11078,0.93,264.3,205.6,9.6,1101,11092,0.00,2.33,9.52,0.855,6,0.000,0.063,3331,2203,1980,0,0,0,0,0,0
$GC,11418,0.95,283.3,173.1,9.1,1133,11442,0.00,2.33,17.75,0.911,4,0.000,0.076,3331,3601,1903,0,0,0,0,0,0
$GC,11496,0.95,283.3,165.3,11.6,1140,11501,0.10,2.25,0.00,0.000,6,0.169,0.053,3314,2195,1901,0,0,0,0,0,0
$GC,11826,1.01,330.7,138.3,7.8,1171,11872,0.00,2.30,40.83,0.921,4,0.000,0.063,3321,787,1708,0,0,0,0,0,0
$GC,11910,1.07,381.8,132.0,7.7,1178,11962,0.10,2.35,44.60,0.884,6,0.104,0.064,3375,2196,1501,0,0,0,0,0,0
$GC,12289,1.07,381.8,85.9,11.7,1223,12294,0.12,0.00,0.00,0.000,6,0.153,0.000,3340,2197,1491,0,0,0,0,0,0
$GC,12633,1.17,463.2,60.1,6.3,1284,12711,0.10,2.45,66.70,0.872,4,0.105,0.065,3394,793,1169,0,0,0,0,0,0
$GC,12724,1.17,463.2,51.1,10.4,1301,12731,0.12,2.42,0.00,0.000,6,0.146,0.067,3361,2210,1168,0,0,0,0,0,0
$GC,13071,1.26,535.2,23.5,6.7,1362,13138,0.10,2.38,58.25,0.842,4,0.110,0.080,3415,3593,876,0,0,0,0,0,0
$FREEZE,8.87,2.731,-1.651,0,2,0
$FREEZE,8.25,2.761,-1.649,0,2,0
$FREEZE,7.59,2.850,-1.645,0,2,0
$FREEZE,6.85,2.992,-1.641,0,2,0
$FREEZE,6.15,3.162,-1.637,0,2,0
$FREEZE,5.51,3.192,-1.640,0,2,0
$FREEZE,4.90,3.276,-1.638,0,2,0
$FREEZE,4.36,3.292,-1.638,0,2,0
$FREEZE,3.74,3.300,-1.637,0,2,0
$STATE,13277,end climb,SURFACE_DEPTH_REACHED
$STATE,13277,begin surface coast
$FREEZE,2.92,3.302,-1.634,0,2,0
$FINISH,2.9,1.023789
$STATE,13285,end surface coast,CONTROL_FINISHED_OK
$STATE,13285,begin surface
$SM_CCo,13306,56.25,0.813,0,0,587,605.89
$SM_GC,2.83,0.00,0.00,56.25,0.000,0.000,0.813,335,2236,587,-12.77,-0.40,605.89
$RAFOS_CLK,559
$RAFOS,4,1282653184,12.566667,12.551111,102,97,50,43,41,40,708,709,1569,241,1422,1731
$RAFOS,3,1282652703,12.433333,12.417500,96,90,50,48,45,45,809,809,1789,400,437,587
$RAFOS,2,1282652223,12.300000,12.284166,47,42,41,41,41,39,792,358,1734,373,1181,601
$RAFOS,1,1282651750,12.166667,12.152778,68,62,55,49,47,46,524,525,1010,672,1009,782
$RAFOS,0,1282651267,12.033333,12.018611,126,123,52,49,48,44,616,615,1863,1458,1862,1144
$RAFOS_FIX,6647.775879,-6012.413086,240810,121212,4,98,0.23
$IRIDIUM_FIX,6620.33,-6022.76,181199,090925
$TT8_MAMPS,0.029913
$HUMID,41.53
$INTERNAL_PRESSURE,10.0883
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,22.2,67.323
$10V_AH,10.0,35.170
$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,20.700,114.325,592.775,56.250,0.000,84.879,113.889,404.116,2.000,0.000,14.458,2243.977,8069.907,745.215,2207.559,1019.453,0.000,1933.882,0.000,2176.803,2160.000,18.072,0.000
$DEVICE_MAMPS,233.935,82.836,1176.578,813.020,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1016.221,988.467,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135600
$DATA_FILE_SIZE,56677,1400
$CAP_FILE_SIZE,158619,0
$CFSIZE,260165632,216150016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.8
$GPS,240810,124407,6649.730,-6013.508,32,1.1,32,-38.2