version: 66.06
glider: 108
mission: 14
dive: 408
start: 9 2 110 1 30 45
data:
$ID,108
$MISSION,14
$DIVE,408
$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,-184248.64
$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,38
$R_STBD_OVSHOOT,51
$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
$GPS1,012324,6703.901,-5654.368,87,1.0,87,-37.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.63
$_SM_ANGLEo,-65.8
$GPS2,013025,6703.878,-5654.364,11,2.0,11,-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,147.1,4875,-18.1,-10.000
$D_GRID,541
$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,17,-0.78,-146.1,0.0,0.0,0,84,0.00,0.00,-64.55,0.000,2,0.000,0.000,338,2284,2248,0,0,0,0,0,0
$GC,87,-0.78,-146.1,3.1,-0.9,13,165,10.15,2.28,-60.62,0.000,4,0.228,0.061,2945,840,3654,0,0,0,0,0,0
$GC,298,-0.78,-146.1,20.7,-11.2,51,304,0.00,2.22,0.00,0.000,6,0.000,0.054,2938,2228,3659,0,0,0,0,0,0
$GC,643,-0.78,-146.1,55.6,-9.1,112,648,0.00,2.12,0.00,0.000,4,0.000,0.064,2928,3594,3661,0,0,0,0,0,0
$GC,684,-0.78,-146.1,59.6,-9.8,119,690,0.00,2.08,0.00,0.000,6,0.000,0.041,2927,2237,3661,0,0,0,0,0,0
$GC,1029,-0.78,-146.1,93.1,-10.0,180,1034,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2237,3662,0,0,0,0,0,0
$GC,1357,-0.78,-146.1,123.9,-9.2,217,1361,0.00,2.15,0.00,0.000,4,0.000,0.051,2928,844,3662,0,0,0,0,0,0
$GC,1431,-0.78,-146.1,131.1,-9.8,223,1437,0.10,2.25,0.00,0.000,6,0.150,0.054,2947,2252,3662,0,0,0,0,0,0
$GC,1756,-0.78,-146.1,155.0,-6.8,254,1760,0.00,2.12,0.00,0.000,4,0.000,0.065,2939,3601,3662,0,0,0,0,0,0
$GC,1796,-0.78,-146.1,157.9,-7.5,257,1802,0.00,2.08,0.00,0.000,6,0.000,0.043,2939,2250,3661,0,0,0,0,0,0
$GC,2122,-0.78,-146.1,181.2,-7.2,288,2125,0.00,2.20,0.00,0.000,4,0.000,0.052,2939,834,3661,0,0,0,0,0,0
$GC,2172,-0.78,-146.1,185.1,-7.5,292,2178,0.00,2.28,0.00,0.000,6,0.000,0.055,2929,2247,3661,0,0,0,0,0,0
$GC,2497,-0.78,-146.1,210.1,-7.8,323,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2246,3661,0,0,0,0,0,0
$GC,2820,-0.78,-146.1,235.2,-7.5,353,2824,0.00,2.12,0.00,0.000,4,0.000,0.065,2919,3606,3660,0,0,0,0,0,0
$GC,2893,-0.78,-146.1,241.6,-8.1,359,2900,0.10,2.08,0.00,0.000,6,0.147,0.043,2948,2248,3660,0,0,0,0,0,0
$GC,3219,-0.78,-146.1,262.2,-6.1,390,3222,0.00,2.20,0.00,0.000,4,0.000,0.052,2948,833,3660,0,0,0,0,0,0
$GC,3258,-0.78,-146.1,264.7,-6.8,393,3264,0.00,2.28,0.00,0.000,6,0.000,0.054,2941,2252,3660,0,0,0,0,0,0
$GC,3584,-0.78,-146.1,287.1,-7.2,424,3588,0.00,2.12,0.00,0.000,4,0.000,0.065,2931,3598,3660,0,0,0,0,0,0
$GC,3641,-0.78,-146.1,291.5,-7.5,429,3645,0.00,2.08,0.00,0.000,6,0.000,0.043,2931,2247,3660,0,0,0,0,0,0
$GC,3973,-0.78,-146.1,316.3,-7.6,460,3976,0.00,2.17,0.00,0.000,4,0.000,0.051,2931,848,3660,0,0,0,0,0,0
$GC,4019,-0.78,-146.1,319.9,-8.2,464,4023,0.00,2.28,0.00,0.000,6,0.000,0.055,2922,2261,3659,0,0,0,0,0,0
$GC,4344,-0.78,-146.1,345.8,-7.5,494,4348,0.00,2.12,0.00,0.000,4,0.000,0.066,2912,3605,3660,0,0,0,0,0,0
$GC,4407,-0.78,-146.1,350.8,-8.2,499,4413,0.12,2.08,0.00,0.000,6,0.135,0.043,2949,2248,3660,0,0,0,0,0,0
$GC,4733,-0.78,-146.1,371.3,-6.2,530,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2248,3660,0,0,0,0,0,0
$GC,5053,-0.78,-146.1,391.3,-6.3,560,5056,0.00,2.17,0.00,0.000,4,0.000,0.052,2949,850,3660,0,0,0,0,0,0
$GC,5076,-0.78,-146.1,392.9,-6.3,562,5080,0.00,2.25,0.00,0.000,6,0.000,0.054,2942,2249,3659,0,0,0,0,0,0
$GC,5401,-0.78,-146.1,413.5,-6.2,592,5405,0.00,2.12,0.00,0.000,4,0.000,0.065,2932,3596,3659,0,0,0,0,0,0
$GC,5429,-0.78,-146.1,415.4,-7.0,594,5435,0.00,2.08,0.00,0.000,6,0.000,0.042,2932,2242,3659,0,0,0,0,0,0
$GC,5754,-0.78,-146.1,436.8,-6.7,625,5756,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2242,3659,0,0,0,0,0,0
$GC,6075,-0.78,-146.1,458.4,-6.7,655,6079,0.00,2.15,0.00,0.000,4,0.000,0.051,2932,847,3659,0,0,0,0,0,0
$GC,6115,-0.78,-146.1,461.4,-7.2,658,6121,0.00,2.25,0.00,0.000,6,0.000,0.054,2923,2249,3659,0,0,0,0,0,0
$GC,6440,-0.78,-146.1,484.8,-7.3,689,6444,0.00,2.10,0.00,0.000,4,0.000,0.064,2913,3595,3659,0,0,0,0,0,0
$GC,6481,-0.78,-146.1,487.7,-7.5,692,6487,0.10,2.08,0.00,0.000,6,0.144,0.042,2942,2239,3659,0,0,0,0,0,0
$GC,6806,-0.78,-146.1,507.0,-5.8,723,6807,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2239,3659,0,0,0,0,0,0
$STATE,6815,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6815,begin apogee
$GC,6822,-0.17,0.0,507.7,6.0,724,6949,0.38,0.00,119.68,1.078,6,0.107,0.000,3074,2239,3058,0,0,0,0,0,0
$STATE,6949,end apogee,CONTROL_FINISHED_OK
$STATE,6949,begin climb
$GC,6952,0.78,146.1,511.5,0.0,737,7088,0.57,2.42,121.97,1.027,4,0.063,0.060,3288,3589,2462,0,0,0,0,0,0
$GC,7122,0.78,146.1,501.6,10.3,753,7127,0.00,2.30,0.00,0.000,6,0.000,0.040,3297,2196,2463,0,0,0,0,0,0
$GC,7448,0.79,154.5,469.7,9.6,783,7463,0.00,2.25,7.97,0.841,4,0.000,0.051,3307,800,2429,0,0,0,0,0,0
$GC,7504,0.80,157.2,464.1,9.9,788,7516,0.10,2.30,4.15,0.640,6,0.163,0.054,3283,2215,2417,0,0,0,0,0,0
$GC,7834,0.83,185.4,434.4,8.7,819,7864,0.00,2.20,24.17,0.999,4,0.000,0.061,3282,3603,2302,0,0,0,0,0,0
$GC,7881,0.85,201.1,429.8,9.3,823,7901,0.00,2.20,14.30,0.946,6,0.000,0.041,3290,2187,2237,0,0,0,0,0,0
$GC,8227,0.85,201.7,395.2,10.0,856,8230,0.00,2.17,0.00,0.000,4,0.000,0.051,3300,796,2237,0,0,0,0,0,0
$GC,8277,0.86,207.3,390.1,9.7,860,8288,0.00,2.25,6.40,0.782,6,0.000,0.052,3300,2200,2212,0,0,0,0,0,0
$GC,8607,0.86,207.3,356.4,10.2,891,8610,0.00,2.20,0.00,0.000,4,0.000,0.061,3300,3602,2213,0,0,0,0,0,0
$GC,8668,0.86,207.3,349.1,12.1,896,8674,0.00,2.15,0.00,0.000,6,0.000,0.041,3309,2197,2212,0,0,0,0,0,0
$GC,8993,0.86,207.3,311.9,11.3,927,8994,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2197,2212,0,0,0,0,0,0
$GC,9314,0.86,207.3,276.3,10.5,957,9318,0.00,2.15,0.00,0.000,4,0.000,0.051,3320,800,2212,0,0,0,0,0,0
$GC,9360,0.86,207.3,271.3,11.1,961,9364,0.00,2.25,0.00,0.000,6,0.000,0.052,3320,2210,2213,0,0,0,0,0,0
$GC,9690,0.86,207.3,232.4,11.8,992,9694,0.00,2.15,0.00,0.000,4,0.000,0.063,3319,3596,2213,0,0,0,0,0,0
$GC,9711,0.86,207.3,229.7,12.1,993,9717,0.12,2.15,0.00,0.000,6,0.161,0.041,3295,2189,2212,0,0,0,0,0,0
$GC,10038,0.89,232.7,199.8,8.8,1024,10068,0.00,2.25,21.52,0.871,4,0.000,0.051,3304,795,2109,0,0,0,0,0,0
$GC,10126,0.91,247.5,191.7,9.3,1032,10147,0.00,2.28,13.77,0.824,6,0.000,0.052,3304,2208,2048,0,0,0,0,0,0
$GC,10470,0.92,260.4,158.6,9.4,1064,10486,0.00,2.25,11.50,0.791,4,0.000,0.064,3304,3593,1996,0,0,0,0,0,0
$GC,10537,0.92,260.4,151.1,11.3,1069,10543,0.00,2.15,0.00,0.000,6,0.000,0.042,3313,2202,1995,0,0,0,0,0,0
$GC,10863,0.94,273.9,119.0,9.4,1100,10884,0.00,2.25,12.38,0.781,4,0.000,0.051,3323,799,1941,0,0,0,0,0,0
$GC,10952,0.97,302.1,110.8,8.7,1108,10983,0.00,2.25,24.62,0.816,6,0.000,0.053,3323,2197,1826,0,0,0,0,0,0
$GC,11317,0.97,302.1,73.7,10.0,1163,11323,0.00,2.22,0.00,0.000,4,0.000,0.064,3323,3606,1821,0,0,0,0,0,0
$GC,11340,0.97,302.1,71.1,11.5,1167,11346,0.00,2.17,0.00,0.000,6,0.000,0.043,3333,2196,1819,0,0,0,0,0,0
$GC,11688,0.99,313.3,35.0,9.5,1228,11704,0.00,2.22,9.20,0.711,4,0.000,0.053,3342,801,1781,0,0,0,0,0,0
$GC,11785,1.00,325.9,25.5,9.4,1245,11805,0.00,2.22,12.35,0.733,6,0.000,0.054,3342,2199,1729,0,0,0,0,0,0
$FREEZE,8.92,7.167,-1.802,0,1,0
$FREEZE,8.57,7.167,-1.802,0,1,0
$FREEZE,8.32,7.167,-1.802,0,1,0
$FREEZE,8.09,7.167,-1.801,0,1,0
$FREEZE,7.65,7.167,-1.801,0,1,0
$FREEZE,7.30,7.166,-1.801,0,1,0
$FREEZE,6.87,7.163,-1.801,0,1,0
$FREEZE,6.51,7.164,-1.800,0,1,0
$FREEZE,6.20,7.164,-1.800,0,1,0
$FREEZE,5.64,7.163,-1.800,0,1,0
$FREEZE,5.31,7.166,-1.800,0,1,0
$FREEZE,4.94,7.162,-1.799,0,1,0
$FREEZE,4.58,7.162,-1.799,0,1,0
$FREEZE,4.29,7.162,-1.799,0,1,0
$FREEZE,3.98,7.157,-1.799,0,1,0
$STATE,12052,end climb,SURFACE_DEPTH_REACHED
$STATE,12052,begin surface coast
$FREEZE,3.41,7.164,-1.798,0,1,0
$FREEZE,3.07,7.160,-1.798,0,1,0
$FREEZE,2.57,7.139,-1.799,0,1,0
$FREEZE,2.20,7.159,-1.797,0,1,0
$FREEZE,1.97,7.009,-0.829,0,1,0
$FREEZE,1.88,7.034,-1.536,0,1,0
$FREEZE,1.92,7.154,-1.797,0,1,0
$FREEZE,1.78,7.101,-1.106,0,1,0
$FREEZE,1.80,7.144,-1.798,0,1,0
$FREEZE,1.79,7.099,-1.798,0,1,0
$FREEZE,1.89,6.845,-1.704,0,1,0
$FREEZE,1.80,7.110,-0.773,0,1,0
$FREEZE,1.91,6.998,-0.874,0,1,0
$FREEZE,1.87,7.125,-0.605,0,1,0
$FINISH,1.9,1.008668
$STATE,12134,end surface coast,CONTROL_FINISHED_OK
$STATE,12134,begin surface
$SM_CCo,12153,222.80,0.736,0,0,588,605.89
$SM_GC,2.67,0.00,0.00,222.80,0.000,0.000,0.736,337,2214,588,-12.77,-1.02,605.89
$RAFOS_CLK,444
$RAFOS,5,1283402462,4.700000,4.683889,95,93,49,43,39,39,669,670,301,1378,92,1731
$RAFOS,4,1283401984,4.566667,4.551111,50,42,42,40,38,38,1077,491,490,1102,61,1106
$RAFOS,3,1283401508,4.433333,4.418889,84,62,45,45,42,42,985,986,224,1112,102,793
$RAFOS,2,1283401025,4.300000,4.284722,46,41,41,41,40,40,1236,240,1739,587,824,1540
$RAFOS,1,1283400541,4.166667,4.150278,51,50,47,46,45,40,1624,1186,1499,796,1500,1768
$RAFOS,0,1283400067,4.033333,4.018611,57,45,45,41,39,39,1168,1169,353,156,1,1628
$RAFOS_FIX,6706.695312,-5657.402832,020910,040412,2,90,0.51
$IRIDIUM_FIX,6636.54,-5652.31,261199,212158
$TT8_MAMPS,0.027612
$HUMID,41.92
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,17.40
$XPDR_PINGS,25
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,500.2,22.3
$24V_AH,22.8,75.322
$10V_AH,10.1,38.902
$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,19.675,113.925,404.000,222.800,0.000,23.537,34.849,205.359,8.250,0.000,12.992,2168.576,7162.962,750.957,2081.170,627.210,0.000,1858.806,0.000,2054.771,2520.000,17.077,0.000
$DEVICE_MAMPS,227.799,65.962,1078.402,735.553,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,964.801,894.082,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135584
$DATA_FILE_SIZE,50395,1307
$CAP_FILE_SIZE,145640,0
$CFSIZE,260165632,212701184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$GPS,020910,045857,6703.975,-5651.050,35,6.4,54,-37.6