version: 66.06
glider: 108
mission: 14
dive: 407
start: 9 1 110 21 35 11
data:
$ID,108
$MISSION,14
$DIVE,407
$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,-184235.02
$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,29
$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
$GPS1,212737,6704.283,-5657.070,30,1.4,30,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.64
$_SM_ANGLEo,-65.3
$GPS2,213449,6704.337,-5657.200,11,1.4,16,-37.6
$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,148.0,7090,-18.1,-10.000
$D_GRID,539
$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,-146.1,0.0,0.0,0,77,0.00,0.00,-59.22,0.000,2,0.000,0.000,331,2221,2112,0,0,0,0,0,0
$GC,81,-0.78,-146.1,3.0,-0.7,12,180,10.00,2.28,-77.12,0.000,4,0.222,0.065,2937,838,3656,0,0,0,0,0,0
$GC,345,-0.78,-146.1,22.9,-12.3,60,351,0.00,2.28,0.00,0.000,6,0.000,0.054,2930,2248,3659,0,0,0,0,0,0
$GC,689,-0.78,-146.1,54.3,-9.6,121,694,0.00,2.12,0.00,0.000,4,0.000,0.064,2920,3596,3660,0,0,0,0,0,0
$GC,742,-0.78,-146.1,59.7,-10.9,130,748,0.10,2.08,0.00,0.000,6,0.152,0.043,2948,2241,3661,0,0,0,0,0,0
$GC,1088,-0.78,-146.1,90.5,-9.0,191,1093,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3662,0,0,0,0,0,0
$GC,1424,-0.78,-146.1,117.8,-7.5,232,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3662,0,0,0,0,0,0
$GC,1746,-0.78,-146.1,141.8,-7.8,262,1750,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2240,3661,0,0,0,0,0,0
$GC,2074,-0.78,-146.1,167.0,-7.3,293,2078,0.00,2.17,0.00,0.000,4,0.000,0.064,2940,3605,3660,0,0,0,0,0,0
$GC,2096,-0.78,-146.1,168.9,-7.2,294,2101,0.00,2.10,0.00,0.000,6,0.000,0.043,2940,2238,3660,0,0,0,0,0,0
$GC,2421,-0.78,-146.1,191.3,-6.4,325,2425,0.00,2.15,0.00,0.000,4,0.000,0.053,2940,845,3659,0,0,0,0,0,0
$GC,2444,-0.78,-146.1,192.9,-6.8,326,2449,0.00,2.28,0.00,0.000,6,0.000,0.056,2931,2259,3659,0,0,0,0,0,0
$GC,2769,-0.78,-146.1,215.2,-6.8,357,2773,0.00,2.10,0.00,0.000,4,0.000,0.067,2921,3602,3660,0,0,0,0,0,0
$GC,2803,-0.78,-146.1,217.7,-8.0,359,2808,0.00,2.08,0.00,0.000,6,0.000,0.043,2921,2244,3659,0,0,0,0,0,0
$GC,3128,-0.78,-146.1,242.3,-7.4,390,3132,0.00,2.17,0.00,0.000,4,0.000,0.053,2921,848,3659,0,0,0,0,0,0
$GC,3169,-0.78,-146.1,245.7,-8.1,393,3174,0.12,2.28,0.00,0.000,6,0.140,0.056,2948,2259,3659,0,0,0,0,0,0
$GC,3495,-0.78,-146.1,267.0,-6.8,423,3498,0.00,2.12,0.00,0.000,4,0.000,0.067,2941,3604,3659,0,0,0,0,0,0
$GC,3547,-0.78,-146.1,271.0,-8.1,427,3551,0.00,2.08,0.00,0.000,6,0.000,0.043,2941,2250,3659,0,0,0,0,0,0
$GC,3878,-0.78,-146.1,296.4,-7.4,458,3882,0.00,2.20,0.00,0.000,4,0.000,0.053,2941,838,3659,0,0,0,0,0,0
$GC,3918,-0.78,-146.1,299.5,-7.9,461,3922,0.00,2.28,0.00,0.000,6,0.000,0.056,2931,2250,3659,0,0,0,0,0,0
$GC,4243,-0.78,-146.1,324.9,-8.2,491,4247,0.00,2.15,0.00,0.000,4,0.000,0.067,2920,3595,3658,0,0,0,0,0,0
$GC,4316,-0.78,-146.1,331.2,-9.0,497,4322,0.00,2.08,0.00,0.000,6,0.000,0.044,2921,2247,3658,0,0,0,0,0,0
$GC,4641,-0.78,-146.1,357.1,-7.8,528,4645,0.00,2.17,0.00,0.000,4,0.000,0.053,2921,838,3658,0,0,0,0,0,0
$GC,4675,-0.78,-146.1,359.8,-8.1,530,4681,0.12,2.28,0.00,0.000,6,0.137,0.056,2949,2249,3658,0,0,0,0,0,0
$GC,5000,-0.78,-146.1,379.2,-5.9,561,5004,0.00,2.12,0.00,0.000,4,0.000,0.066,2941,3595,3658,0,0,0,0,0,0
$GC,5040,-0.78,-146.1,381.7,-6.3,564,5044,0.00,2.08,0.00,0.000,6,0.000,0.044,2941,2246,3658,0,0,0,0,0,0
$GC,5371,-0.78,-146.1,400.7,-5.3,595,5375,0.00,2.17,0.00,0.000,4,0.000,0.052,2941,848,3658,0,0,0,0,0,0
$GC,5405,-0.78,-146.1,402.8,-6.2,597,5411,0.00,2.25,0.00,0.000,6,0.000,0.055,2933,2259,3658,0,0,0,0,0,0
$GC,5731,-0.78,-146.1,422.8,-6.4,628,5735,0.00,2.12,0.00,0.000,4,0.000,0.065,2922,3605,3658,0,0,0,0,0,0
$GC,5776,-0.78,-146.1,425.9,-6.8,631,5782,0.00,2.08,0.00,0.000,6,0.000,0.042,2922,2249,3658,0,0,0,0,0,0
$GC,6101,-0.78,-146.1,448.0,-6.6,662,6105,0.00,2.17,0.00,0.000,4,0.000,0.051,2922,837,3658,0,0,0,0,0,0
$GC,6135,-0.78,-146.1,450.6,-8.0,664,6141,0.12,2.28,0.00,0.000,6,0.136,0.055,2950,2250,3658,0,0,0,0,0,0
$GC,6460,-0.78,-146.1,469.7,-6.1,695,6464,0.00,2.15,0.00,0.000,4,0.000,0.066,2943,3596,3658,0,0,0,0,0,0
$GC,6495,-0.78,-146.1,471.9,-6.7,698,6498,0.00,2.05,0.00,0.000,6,0.000,0.042,2944,2246,3658,0,0,0,0,0,0
$GC,6826,-0.78,-146.1,493.1,-6.4,729,6827,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2245,3658,0,0,0,0,0,0
$GC,7146,-0.78,-146.1,513.6,-6.3,759,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2245,3658,0,0,0,0,0,0
$GC,7467,-0.78,-146.1,533.1,-6.3,789,7471,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2245,3658,0,0,0,0,0,0
$STATE,7555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7555,begin apogee
$GC,7562,-0.17,0.0,539.3,6.4,798,7688,0.38,0.00,120.40,1.101,6,0.108,0.000,3074,2245,3058,0,0,0,0,0,0
$STATE,7689,end apogee,CONTROL_FINISHED_OK
$STATE,7689,begin climb
$GC,7693,0.78,146.1,543.1,0.0,811,7827,0.60,2.40,122.72,1.047,4,0.068,0.059,3291,3586,2462,0,0,0,0,0,0
$GC,7930,0.78,146.1,525.4,11.1,833,7935,0.00,2.22,0.00,0.000,6,0.000,0.041,3301,2202,2461,0,0,0,0,0,0
$GC,8261,0.80,158.1,493.6,9.5,864,8277,0.00,2.22,11.05,0.920,4,0.000,0.050,3312,792,2412,0,0,0,0,0,0
$GC,8306,0.81,165.7,489.3,9.7,867,8323,0.10,2.30,8.20,0.867,6,0.163,0.052,3286,2215,2381,0,0,0,0,0,0
$GC,8641,0.82,180.0,458.9,9.3,899,8662,0.00,2.22,12.88,0.946,4,0.000,0.062,3286,3597,2324,0,0,0,0,0,0
$GC,8699,0.82,180.0,453.2,11.1,904,8703,0.00,2.15,0.00,0.000,6,0.000,0.041,3293,2194,2325,0,0,0,0,0,0
$GC,9029,0.82,180.0,418.5,10.6,935,9033,0.00,2.15,0.00,0.000,4,0.000,0.051,3304,797,2325,0,0,0,0,0,0
$GC,9103,0.82,180.0,410.6,10.4,941,9107,0.00,2.25,0.00,0.000,6,0.000,0.052,3304,2204,2325,0,0,0,0,0,0
$GC,9429,0.82,180.0,376.7,10.8,971,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2204,2325,0,0,0,0,0,0
$GC,9746,0.82,180.0,342.7,10.3,1001,9750,0.00,2.17,0.00,0.000,4,0.000,0.062,3304,3593,2325,0,0,0,0,0,0
$GC,9780,0.82,180.0,338.9,11.6,1003,9786,0.10,2.12,0.00,0.000,6,0.174,0.041,3288,2193,2324,0,0,0,0,0,0
$GC,10105,0.86,205.6,308.7,8.8,1034,10135,0.00,2.25,21.80,0.932,4,0.000,0.051,3296,797,2219,0,0,0,0,0,0
$GC,10175,0.86,205.6,302.2,10.2,1040,10181,0.00,2.28,0.00,0.000,6,0.000,0.051,3297,2211,2220,0,0,0,0,0,0
$GC,10500,0.88,223.2,271.4,9.2,1071,10522,0.00,2.20,15.77,0.886,4,0.000,0.061,3296,3597,2147,0,0,0,0,0,0
$GC,10569,0.88,223.2,264.6,10.8,1077,10573,0.00,2.15,0.00,0.000,6,0.000,0.041,3306,2199,2146,0,0,0,0,0,0
$GC,10899,0.88,228.1,230.8,9.8,1108,10910,0.00,2.17,5.40,0.686,4,0.000,0.049,3316,793,2126,0,0,0,0,0,0
$GC,10980,0.89,231.3,222.9,9.9,1115,10991,0.00,2.25,4.15,0.596,6,0.000,0.052,3317,2198,2115,0,0,0,0,0,0
$GC,11310,0.89,231.3,187.1,11.1,1146,11314,0.00,2.17,0.00,0.000,4,0.000,0.063,3316,3594,2116,0,0,0,0,0,0
$GC,11357,0.89,231.3,181.4,12.4,1150,11362,0.00,2.15,0.00,0.000,6,0.000,0.042,3326,2191,2114,0,0,0,0,0,0
$GC,11682,0.89,231.3,144.5,10.4,1180,11686,0.00,2.17,0.00,0.000,4,0.000,0.051,3337,790,2115,0,0,0,0,0,0
$GC,11728,0.89,231.3,140.0,10.2,1183,11734,0.12,2.25,0.00,0.000,6,0.151,0.053,3301,2200,2115,0,0,0,0,0,0
$GC,12053,0.94,278.1,114.3,7.9,1214,12098,0.00,2.28,39.42,0.840,4,0.000,0.064,3302,3599,1924,0,0,0,0,0,0
$GC,12121,1.00,321.8,108.9,8.0,1220,12167,0.08,2.17,36.72,0.808,6,0.124,0.041,3347,2202,1746,0,0,0,0,0,0
$GC,12501,1.00,321.8,67.0,11.1,1281,12507,0.00,2.20,0.00,0.000,4,0.000,0.052,3357,797,1738,0,0,0,0,0,0
$GC,12553,1.00,321.8,61.7,10.2,1290,12560,0.12,2.28,0.00,0.000,6,0.150,0.054,3323,2207,1738,0,0,0,0,0,0
$GC,12902,1.08,391.8,37.2,6.8,1351,12969,0.10,2.30,57.47,0.785,4,0.104,0.065,3374,3593,1459,0,0,0,0,0,0
$GC,12983,1.08,391.8,29.1,10.5,1366,12989,0.15,2.20,0.00,0.000,6,0.140,0.044,3340,2202,1456,0,0,0,0,0,0
$FREEZE,8.56,7.192,-1.802,0,1,0
$FREEZE,8.04,7.193,-1.802,0,1,0
$FREEZE,7.47,7.194,-1.801,0,1,0
$FREEZE,6.88,7.192,-1.801,0,1,0
$FREEZE,6.41,7.189,-1.801,0,1,0
$FREEZE,5.80,7.190,-1.800,0,1,0
$FREEZE,5.22,7.191,-1.800,0,1,0
$FREEZE,4.73,7.191,-1.799,0,1,0
$FREEZE,4.14,7.192,-1.799,0,1,0
$FREEZE,3.57,7.195,-1.798,0,1,0
$STATE,13309,end climb,SURFACE_DEPTH_REACHED
$STATE,13310,begin surface coast
$FREEZE,3.17,7.194,-1.798,0,1,0
$FREEZE,2.90,7.194,-1.798,0,1,0
$FREEZE,2.46,7.193,-1.798,0,1,0
$FREEZE,2.19,7.191,-1.798,0,1,0
$FREEZE,1.92,7.053,-0.803,0,1,0
$FREEZE,1.98,7.166,-0.153,0,1,0
$FREEZE,2.05,7.108,-1.802,0,1,0
$FREEZE,1.99,7.144,-0.996,0,1,0
$FINISH,2.0,1.014336
$STATE,13357,end surface coast,CONTROL_FINISHED_OK
$STATE,13357,begin surface
$SM_CCo,13377,167.80,0.740,0,0,588,605.89
$SM_GC,2.73,0.00,0.00,167.80,0.000,0.000,0.740,340,2284,588,-12.75,0.96,605.89
$RAFOS_CLK,493
$RAFOS,6,1283388548,0.833333,0.818889,86,73,46,44,42,41,809,810,1263,1350,1392,1520
$RAFOS,5,1283388069,0.700000,0.685833,106,97,46,46,44,43,629,630,1896,769,1295,1913
$RAFOS,4,1283387584,0.566667,0.551111,96,75,50,45,44,41,877,878,442,241,1605,237
$RAFOS,3,1283387111,0.433333,0.419722,52,52,51,45,42,42,1103,1512,647,1775,228,151
$RAFOS,2,1283386623,0.300000,0.284167,51,48,46,44,44,40,1076,1921,61,644,1920,1410
$RAFOS,1,1283386145,0.166667,0.151389,50,45,43,42,41,40,898,899,210,1443,850,222
$RAFOS,0,1283385661,0.033333,0.016944,50,45,45,45,42,40,1183,178,1184,138,700,819
$RAFOS_FIX,6705.612305,-5658.054688,020910,000022,3,96,0.22
$IRIDIUM_FIX,6631.12,-5658.34,261199,171721
$TT8_MAMPS,0.026845
$HUMID,42.47
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,17.40
$XPDR_PINGS,23
$ALTIM_TOP_PING,19.7,18.3
$24V_AH,22.7,75.150
$10V_AH,10.1,38.824
$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,20.150,122.700,456.000,167.800,0.000,29.188,36.776,199.796,7.250,0.000,17.576,2312.336,7967.342,748.379,2273.417,672.791,0.000,1967.559,0.000,2253.985,2520.000,11.451,0.000
$DEVICE_MAMPS,221.663,93.574,1101.412,740.155,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1062.312,979.520,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135576
$DATA_FILE_SIZE,56703,1432
$CAP_FILE_SIZE,158252,0
$CFSIZE,260165632,212766720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.1
$GPS,020910,012324,6703.901,-5654.368,87,1.0,87,-37.6