version: 66.06
glider: 108
mission: 14
dive: 374
start: 8 24 110 20 53 47
data:
$ID,108
$MISSION,14
$DIVE,374
$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,-183710.81
$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,29
$R_STBD_OVSHOOT,20
$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
$GPS1,204637,6650.279,-6007.502,33,0.9,33,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-71.4
$GPS2,205325,6650.215,-6007.381,10,1.3,15,-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,118.9,145916,-18.1,-10.000
$D_GRID,643
$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,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,52,0.00,0.00,-34.30,0.000,2,0.000,0.000,340,2253,1379,0,0,0,0,0,0
$GC,56,-0.78,-146.1,3.0,-0.9,7,185,10.23,2.38,-107.50,0.000,4,0.233,0.079,2936,844,3657,0,0,0,0,0,0
$GC,377,-0.78,-146.1,37.1,-12.8,66,383,0.00,2.38,0.00,0.000,6,0.000,0.070,2929,2263,3663,0,0,0,0,0,0
$GC,721,-0.78,-146.1,84.7,-13.0,127,727,0.00,2.20,0.00,0.000,4,0.000,0.081,2919,3608,3665,0,0,0,0,0,0
$GC,806,-0.78,-146.1,96.5,-13.8,142,812,0.10,2.17,0.00,0.000,6,0.160,0.056,2945,2241,3666,0,0,0,0,0,0
$GC,1135,-0.78,-146.1,131.9,-9.9,175,1139,0.00,2.25,0.00,0.000,4,0.000,0.079,2938,3596,3666,0,0,0,0,0,0
$GC,1167,-0.78,-146.1,135.6,-11.3,177,1173,0.00,2.15,0.00,0.000,6,0.000,0.057,2938,2251,3666,0,0,0,0,0,0
$GC,1493,-0.78,-146.1,167.7,-9.4,208,1494,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2251,3665,0,0,0,0,0,0
$GC,1814,-0.78,-146.1,196.8,-9.5,238,1818,0.00,2.28,0.00,0.000,4,0.000,0.068,2938,839,3665,0,0,0,0,0,0
$GC,1853,-0.78,-146.1,201.0,-10.3,241,1858,0.00,2.38,0.00,0.000,6,0.000,0.072,2929,2262,3665,0,0,0,0,0,0
$GC,2179,-0.78,-146.1,232.9,-9.6,271,2183,0.00,2.17,0.00,0.000,4,0.000,0.083,2918,3603,3664,0,0,0,0,0,0
$GC,2230,-0.78,-146.1,238.4,-10.7,275,2234,0.10,2.17,0.00,0.000,6,0.157,0.058,2946,2246,3664,0,0,0,0,0,0
$GC,2555,-0.78,-146.1,265.0,-7.9,305,2559,0.00,2.25,0.00,0.000,4,0.000,0.080,2939,3597,3664,0,0,0,0,0,0
$GC,2588,-0.78,-146.1,267.8,-8.4,307,2593,0.00,2.15,0.00,0.000,6,0.000,0.058,2939,2251,3664,0,0,0,0,0,0
$GC,2913,-0.78,-146.1,296.0,-8.9,338,2914,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2250,3664,0,0,0,0,0,0
$GC,3234,-0.78,-146.1,323.6,-8.3,368,3235,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2250,3663,0,0,0,0,0,0
$GC,3553,-0.78,-146.1,349.6,-8.0,398,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2250,3663,0,0,0,0,0,0
$GC,3880,-0.78,-146.1,374.2,-7.3,429,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2250,3663,0,0,0,0,0,0
$GC,4199,-0.78,-146.1,397.4,-7.3,459,4203,0.00,2.25,0.00,0.000,4,0.000,0.078,2930,3604,3663,0,0,0,0,0,0
$GC,4233,-0.78,-146.1,400.1,-8.2,461,4238,0.00,2.17,0.00,0.000,6,0.000,0.056,2929,2238,3663,0,0,0,0,0,0
$GC,4558,-0.78,-146.1,424.8,-7.2,492,4562,0.00,2.25,0.00,0.000,4,0.000,0.078,2920,3608,3663,0,0,0,0,0,0
$GC,4587,-0.78,-146.1,426.9,-8.5,494,4591,0.10,2.17,0.00,0.000,6,0.150,0.056,2948,2241,3663,0,0,0,0,0,0
$GC,4912,-0.78,-146.1,446.4,-5.5,524,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2241,3663,0,0,0,0,0,0
$GC,5233,-0.78,-146.1,466.0,-6.5,554,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2241,3663,0,0,0,0,0,0
$GC,5561,-0.78,-146.1,487.1,-6.4,585,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2241,3664,0,0,0,0,0,0
$GC,5881,-0.78,-146.1,507.3,-6.2,615,5886,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2241,3664,0,0,0,0,0,0
$GC,6208,-0.78,-146.1,527.7,-6.0,646,6209,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3664,0,0,0,0,0,0
$GC,6527,-0.78,-146.1,548.7,-7.0,676,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3664,0,0,0,0,0,0
$GC,6854,-0.78,-146.1,570.3,-6.4,707,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3664,0,0,0,0,0,0
$GC,7173,-0.78,-146.1,591.1,-6.3,737,7178,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3665,0,0,0,0,0,0
$GC,7502,-0.78,-146.1,611.7,-6.0,757,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3665,0,0,0,0,0,0
$GC,7809,-0.78,-146.1,630.4,-6.1,767,7813,0.00,2.22,0.00,0.000,4,0.000,0.064,2948,836,3666,0,0,0,0,0,0
$GC,7832,-0.78,-146.1,631.9,-6.4,767,7837,0.00,2.35,0.00,0.000,6,0.000,0.066,2942,2260,3666,0,0,0,0,0,0
$STATE,8019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8019,begin apogee
$GC,8026,-0.17,0.0,643.9,6.3,774,8154,0.43,0.00,124.60,1.226,6,0.107,0.000,3083,2170,3058,0,0,0,0,0,0
$STATE,8155,end apogee,CONTROL_FINISHED_OK
$STATE,8155,begin climb
$GC,8158,0.78,146.1,648.0,0.0,778,8294,0.57,2.50,128.52,1.156,4,0.061,0.063,3301,811,2463,0,0,0,0,0,0
$GC,8318,0.86,211.3,642.1,7.0,783,8383,0.00,2.53,59.70,1.115,6,0.000,0.063,3301,2202,2196,0,0,1,0,0,0
$GC,8701,0.86,211.3,604.3,10.3,796,8705,0.00,2.33,0.00,0.000,4,0.000,0.074,3301,3595,2192,0,0,0,0,0,0
$GC,8741,0.86,211.3,599.9,11.3,797,8745,0.00,2.25,0.00,0.000,6,0.000,0.050,3310,2212,2191,0,0,0,0,0,0
$GC,9067,0.86,211.3,564.1,11.3,827,9071,0.00,2.28,0.00,0.000,4,0.000,0.062,3321,791,2191,0,0,0,0,0,0
$GC,9114,0.86,211.3,559.2,10.3,831,9119,0.10,2.35,0.00,0.000,6,0.164,0.064,3296,2210,2191,0,0,0,0,0,0
$GC,9439,0.88,222.8,527.9,9.5,861,9454,0.00,2.22,10.18,1.005,4,0.000,0.072,3296,3592,2149,0,0,0,0,0,0
$GC,9488,0.88,222.8,522.8,11.3,865,9493,0.00,2.22,0.00,0.000,6,0.000,0.050,3304,2189,2149,0,0,0,0,0,0
$GC,9813,0.88,228.5,490.4,9.7,895,9825,0.00,2.22,6.25,0.884,4,0.000,0.060,3314,790,2126,0,0,0,0,0,0
$GC,9860,0.88,228.6,485.7,10.0,899,9865,0.00,2.33,0.00,0.000,6,0.000,0.062,3314,2201,2128,0,0,0,0,0,0
$GC,10185,0.88,228.6,452.1,10.6,929,10189,0.00,2.25,0.00,0.000,4,0.000,0.073,3314,3601,2128,0,0,0,0,0,0
$GC,10214,0.88,228.6,448.7,12.0,931,10218,0.00,2.20,0.00,0.000,6,0.000,0.051,3323,2198,2127,0,0,0,0,0,0
$GC,10539,0.88,228.6,411.3,11.4,961,10543,0.00,2.25,0.00,0.000,4,0.000,0.061,3334,784,2127,0,0,0,0,0,0
$GC,10560,0.88,228.6,408.8,10.8,962,10566,0.12,2.33,0.00,0.000,6,0.159,0.062,3300,2206,2128,0,0,0,0,0,0
$GC,10885,0.93,267.2,380.8,8.2,993,10925,0.00,2.33,34.15,1.055,4,0.000,0.059,3307,795,1968,0,0,0,0,0,0
$GC,10949,0.99,313.6,375.5,7.9,999,10995,0.00,2.35,40.78,1.026,6,0.000,0.063,3307,2202,1779,0,0,0,0,0,0
$GC,11314,1.00,323.6,341.1,9.5,1033,11329,0.08,2.30,8.65,0.877,4,0.129,0.074,3350,3593,1738,0,0,0,0,0,0
$GC,11370,1.00,323.6,333.7,14.7,1038,11375,0.12,2.22,0.00,0.000,6,0.163,0.051,3326,2196,1737,0,0,0,0,0,0
$GC,11695,1.00,323.6,296.3,10.9,1068,11699,0.00,2.25,0.00,0.000,4,0.000,0.061,3334,787,1737,0,0,0,0,0,0
$GC,11758,1.00,323.6,289.6,10.6,1073,11762,0.00,2.33,0.00,0.000,6,0.000,0.063,3334,2201,1736,0,0,0,0,0,0
$GC,12082,1.00,323.6,253.1,11.1,1103,12087,0.00,2.20,0.00,0.000,4,0.000,0.074,3334,3590,1736,0,0,0,0,0,0
$GC,12117,1.00,323.6,249.1,12.7,1106,12121,0.00,2.20,0.00,0.000,6,0.000,0.051,3344,2196,1734,0,0,0,0,0,0
$GC,12447,1.00,323.6,212.0,10.3,1137,12452,0.00,2.25,0.00,0.000,4,0.000,0.062,3355,783,1734,0,0,0,0,0,0
$GC,12493,1.01,333.9,207.6,9.5,1140,12510,0.10,2.35,9.62,0.864,6,0.163,0.064,3328,2212,1696,0,0,0,0,0,0
$GC,12830,1.05,360.1,177.8,8.8,1172,12861,0.00,2.30,24.02,0.929,4,0.000,0.076,3328,3590,1590,0,0,0,0,0,0
$GC,12896,1.05,360.1,171.4,10.9,1178,12900,0.00,2.22,0.00,0.000,6,0.000,0.053,3335,2202,1589,0,0,0,0,0,0
$GC,13222,1.05,360.2,139.0,10.0,1208,13226,0.00,2.28,0.00,0.000,4,0.000,0.064,3346,787,1586,0,0,0,0,0,0
$GC,13283,1.05,360.2,132.4,10.8,1213,13288,0.00,2.35,0.00,0.000,6,0.000,0.065,3346,2205,1586,0,0,0,0,0,0
$GC,13609,1.05,362.2,97.3,9.9,1246,13613,0.00,0.00,0.00,0.000,6,0.000,0.000,3346,2205,1584,0,0,0,0,0,0
$GC,13952,1.10,402.8,65.7,8.1,1307,13993,0.00,0.00,37.10,0.897,6,0.000,0.000,3346,2205,1415,0,0,0,0,0,0
$GC,14332,1.18,473.3,36.9,6.8,1375,14399,0.10,2.38,59.60,0.862,4,0.104,0.081,3397,3601,1128,0,0,0,0,0,0
$GC,14419,1.18,473.3,28.2,10.6,1391,14425,0.15,2.30,0.00,0.000,6,0.143,0.057,3363,2203,1126,0,0,0,0,0,0
$FREEZE,8.55,1.667,-1.670,0,1,0
$FREEZE,8.02,1.668,-1.671,0,1,0
$FREEZE,7.37,1.668,-1.672,0,1,0
$FREEZE,6.90,1.668,-1.674,0,1,0
$FREEZE,6.23,1.669,-1.674,0,1,0
$FREEZE,5.72,1.669,-1.675,0,1,0
$FREEZE,5.07,1.669,-1.678,0,1,0
$FREEZE,4.47,1.669,-1.676,0,1,0
$FREEZE,3.83,1.669,-1.675,0,1,0
$STATE,14697,end climb,SURFACE_DEPTH_REACHED
$STATE,14697,begin surface coast
$FREEZE,3.29,1.656,-1.677,0,1,0
$FREEZE,2.55,1.639,-1.681,0,1,0
$FREEZE,1.97,1.635,-1.682,0,1,0
$FREEZE,1.98,1.709,-0.197,0,1,0
$FREEZE,2.04,1.659,-1.668,0,1,0
$FREEZE,1.95,1.627,-1.683,0,1,0
$FREEZE,1.92,1.631,-0.237,0,1,0
$FINISH,1.9,1.003406
$STATE,14737,end surface coast,CONTROL_FINISHED_OK
$STATE,14737,begin surface
$SM_CCo,14758,105.78,0.821,0,0,587,605.89
$SM_GC,2.84,0.00,0.00,105.78,0.000,0.000,0.821,335,2274,587,-12.77,0.68,605.89
$RAFOS_CLK,614
$RAFOS,6,1282697342,0.833333,0.817222,96,94,49,49,47,44,779,778,291,458,1243,1279
$RAFOS,5,1282696861,0.700000,0.683611,88,80,48,46,46,45,929,930,1434,1519,1502,1482
$RAFOS,4,1282696382,0.566667,0.550556,89,86,55,50,47,44,696,700,145,1033,1491,1349
$RAFOS,3,1282695903,0.433333,0.417500,84,62,46,45,44,43,814,815,1835,923,805,541
$RAFOS,2,1282695428,0.300000,0.285556,118,115,47,46,45,43,666,665,193,532,1834,1305
$RAFOS,1,1282694942,0.166667,0.150556,105,84,47,45,44,43,578,579,203,1830,863,864
$RAFOS,0,1282694464,0.033333,0.017778,45,42,42,41,41,41,1690,270,901,154,1919,1854
$RAFOS,5,1282682466,20.700001,20.684999,49,41,41,40,40,40,758,145,1854,1284,1596,1747
$RAFOS_FIX,6651.390137,-6002.048828,250810,000056,6,97,0.34
$IRIDIUM_FIX,6620.33,-6010.56,181199,161630
$TT8_MAMPS,0.027612
$HUMID,41.84
$INTERNAL_PRESSURE,10.0883
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.5
$24V_AH,22.1,67.937
$10V_AH,10.0,35.420
$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,20.425,109.425,543.175,105.775,0.000,23.711,38.823,185.550,2.000,0.000,16.525,2346.342,9250.136,745.440,2295.389,640.930,0.000,1973.402,0.000,2269.287,2520.000,14.978,0.000
$DEVICE_MAMPS,233.168,99.710,1226.433,820.690,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.213,1035.191,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135652
$DATA_FILE_SIZE,56720,1447
$CAP_FILE_SIZE,158372,0
$CFSIZE,260165632,215924736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1454.0
$GPS,250810,010324,6652.025,-6005.226,26,1.6,43,-38.2