version: 66.06
glider: 108
mission: 14
dive: 409
start: 9 2 110 5 8 58
data:
$ID,108
$MISSION,14
$DIVE,409
$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,-184265.14
$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,39
$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
$GPS1,045857,6703.975,-5651.050,35,6.4,54,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-67.8
$GPS2,050838,6703.935,-5651.298,14,1.2,14,-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,163.6,2944,-18.1,-10.000
$D_GRID,512
$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,-146.1,0.0,0.0,0,93,0.00,0.00,-74.32,0.000,2,0.000,0.000,335,2214,2499,0,0,0,0,0,0
$GC,97,-0.78,-146.1,3.2,-1.3,15,159,10.15,2.17,-45.88,0.000,4,0.229,0.061,2936,842,3655,0,0,0,0,0,0
$GC,329,-0.78,-146.1,25.7,-9.5,57,335,0.00,2.25,0.00,0.000,6,0.000,0.054,2929,2248,3660,0,0,0,0,0,0
$GC,674,-0.78,-146.1,60.7,-9.6,118,679,0.00,2.22,0.00,0.000,4,0.000,0.049,2929,835,3662,0,0,0,0,0,0
$GC,726,-0.78,-146.1,66.1,-10.1,127,732,0.10,2.28,0.00,0.000,6,0.152,0.054,2948,2255,3662,0,0,0,0,0,0
$GC,1072,-0.78,-146.1,92.9,-6.5,188,1076,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2254,3662,0,0,0,0,0,0
$GC,1403,-0.78,-146.1,116.4,-7.9,228,1404,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2254,3662,0,0,0,0,0,0
$GC,1724,-0.78,-146.1,141.2,-7.8,258,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2254,3662,0,0,0,0,0,0
$GC,2052,-0.78,-146.1,167.7,-8.6,289,2056,0.00,2.12,0.00,0.000,4,0.000,0.064,2940,3605,3662,0,0,0,0,0,0
$GC,2102,-0.78,-146.1,172.3,-8.6,293,2108,0.00,2.08,0.00,0.000,6,0.000,0.041,2940,2246,3662,0,0,0,0,0,0
$GC,2428,-0.78,-146.1,198.3,-7.2,324,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2246,3662,0,0,0,0,0,0
$GC,2748,-0.78,-146.1,221.6,-7.7,354,2751,0.00,2.17,0.00,0.000,4,0.000,0.051,2940,846,3661,0,0,0,0,0,0
$GC,2771,-0.78,-146.1,223.6,-8.2,356,2776,0.00,2.28,0.00,0.000,6,0.000,0.055,2931,2255,3661,0,0,0,0,0,0
$GC,3102,-0.78,-146.1,251.3,-8.4,387,3103,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2255,3660,0,0,0,0,0,0
$GC,3424,-0.78,-146.1,277.0,-8.1,417,3427,0.00,2.12,0.00,0.000,4,0.000,0.065,2920,3602,3660,0,0,0,0,0,0
$GC,3470,-0.78,-146.1,281.1,-8.3,421,3474,0.10,2.08,0.00,0.000,6,0.147,0.043,2949,2250,3660,0,0,0,0,0,0
$GC,3801,-0.78,-146.1,303.1,-6.3,452,3805,0.00,2.20,0.00,0.000,4,0.000,0.052,2949,834,3660,0,0,0,0,0,0
$GC,3841,-0.78,-146.1,305.9,-7.0,455,3845,0.00,2.30,0.00,0.000,6,0.000,0.055,2942,2264,3660,0,0,0,0,0,0
$GC,4166,-0.78,-146.1,327.4,-6.8,485,4170,0.00,2.10,0.00,0.000,4,0.000,0.066,2932,3606,3659,0,0,0,0,0,0
$GC,4213,-0.78,-146.1,330.6,-7.3,489,4217,0.00,2.08,0.00,0.000,6,0.000,0.043,2932,2250,3660,0,0,0,0,0,0
$GC,4544,-0.78,-146.1,354.9,-7.7,520,4547,0.00,2.20,0.00,0.000,4,0.000,0.052,2932,838,3659,0,0,0,0,0,0
$GC,4584,-0.78,-146.1,358.0,-8.2,523,4589,0.00,2.28,0.00,0.000,6,0.000,0.055,2922,2256,3659,0,0,0,0,0,0
$GC,4909,-0.78,-146.1,382.2,-7.0,554,4913,0.00,2.12,0.00,0.000,4,0.000,0.065,2912,3602,3659,0,0,0,0,0,0
$GC,4937,-0.78,-146.1,384.3,-7.5,556,4943,0.12,2.08,0.00,0.000,6,0.137,0.042,2949,2250,3659,0,0,0,0,0,0
$GC,5263,-0.78,-146.1,402.5,-5.3,587,5264,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2249,3659,0,0,0,0,0,0
$GC,5584,-0.78,-146.1,419.5,-5.7,617,5588,0.00,2.20,0.00,0.000,4,0.000,0.052,2949,837,3659,0,0,0,0,0,0
$GC,5606,-0.78,-146.1,421.0,-5.8,618,5611,0.00,2.25,0.00,0.000,6,0.000,0.054,2943,2250,3659,0,0,0,0,0,0
$GC,5931,-0.78,-146.1,440.9,-6.2,649,5935,0.00,2.12,0.00,0.000,4,0.000,0.065,2932,3594,3659,0,0,0,0,0,0
$GC,5970,-0.78,-146.1,443.7,-8.0,652,5975,0.00,2.08,0.00,0.000,6,0.000,0.042,2932,2242,3659,0,0,0,0,0,0
$GC,6295,-0.78,-146.1,465.2,-6.1,683,6298,0.00,2.17,0.00,0.000,4,0.000,0.051,2932,844,3659,0,0,0,0,0,0
$GC,6318,-0.78,-146.1,466.8,-6.7,685,6322,0.00,2.25,0.00,0.000,6,0.000,0.054,2924,2250,3659,0,0,0,0,0,0
$STATE,6597,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6597,begin apogee
$GC,6604,-0.17,0.0,485.7,6.9,711,6730,0.45,0.00,118.90,1.065,6,0.113,0.000,3076,2250,3058,0,0,0,0,0,0
$STATE,6731,end apogee,CONTROL_FINISHED_OK
$STATE,6731,begin climb
$GC,6734,0.78,146.1,488.7,0.0,724,6869,0.57,2.58,121.38,1.017,4,0.068,0.050,3296,803,2463,0,0,0,0,0,0
$GC,6916,0.82,174.1,478.6,8.7,741,6947,0.00,2.40,25.25,0.954,6,0.000,0.052,3296,2211,2348,0,0,0,0,0,0
$GC,7267,0.84,193.8,446.8,9.1,774,7288,0.00,2.28,16.85,0.941,4,0.000,0.063,3296,3595,2268,0,0,0,0,0,0
$GC,7323,0.84,193.8,441.0,11.1,779,7327,0.00,2.17,0.00,0.000,6,0.000,0.041,3305,2201,2268,0,0,0,0,0,0
$GC,7653,0.84,193.8,406.7,10.1,810,7657,0.00,2.20,0.00,0.000,4,0.000,0.051,3315,792,2269,0,0,0,0,0,0
$GC,7715,0.84,193.8,400.3,10.5,815,7720,0.00,2.28,0.00,0.000,6,0.000,0.051,3316,2213,2270,0,0,0,0,0,0
$GC,8040,0.84,193.8,365.9,10.4,846,8043,0.00,2.17,0.00,0.000,4,0.000,0.061,3316,3603,2269,0,0,0,0,0,0
$GC,8078,0.84,193.8,361.1,12.7,849,8085,0.12,2.15,0.00,0.000,6,0.165,0.041,3292,2190,2269,0,0,0,0,0,0
$GC,8404,0.87,221.4,331.3,8.7,880,8435,0.00,2.22,23.52,0.943,4,0.000,0.051,3300,802,2155,0,0,0,0,0,0
$GC,8493,0.91,251.4,323.4,8.6,888,8525,0.00,2.25,26.15,0.930,6,0.000,0.051,3300,2199,2032,0,0,0,0,0,0
$GC,8843,0.91,251.4,287.7,10.4,921,8847,0.00,2.20,0.00,0.000,4,0.000,0.062,3300,3597,2029,0,0,0,0,0,0
$GC,8882,0.91,251.4,283.1,12.6,924,8886,0.00,2.15,0.00,0.000,6,0.000,0.041,3309,2200,2027,0,0,0,0,0,0
$GC,9213,0.91,251.4,246.8,11.4,955,9217,0.00,2.20,0.00,0.000,4,0.000,0.051,3320,795,2027,0,0,0,0,0,0
$GC,9281,0.91,251.4,239.5,10.9,961,9285,0.00,2.25,0.00,0.000,6,0.000,0.052,3320,2210,2028,0,0,0,0,0,0
$GC,9612,0.91,251.4,201.9,11.3,992,9615,0.00,2.17,0.00,0.000,4,0.000,0.063,3320,3599,2027,0,0,0,0,0,0
$GC,9651,0.91,251.4,197.1,12.9,995,9656,0.00,2.15,0.00,0.000,6,0.000,0.042,3330,2194,2026,0,0,0,0,0,0
$GC,9977,0.91,251.4,158.7,11.8,1026,9980,0.00,2.17,0.00,0.000,4,0.000,0.051,3340,791,2027,0,0,0,0,0,0
$GC,10061,0.91,251.4,148.9,10.8,1033,10068,0.12,2.25,0.00,0.000,6,0.150,0.054,3304,2197,2027,0,0,0,0,0,0
$GC,10387,0.93,264.5,118.9,9.4,1064,10403,0.00,2.22,11.02,0.772,4,0.000,0.062,3304,3603,1979,0,0,0,0,0,0
$GC,10438,0.93,264.5,113.7,10.8,1068,10442,0.00,2.15,0.00,0.000,6,0.000,0.042,3311,2190,1979,0,0,0,0,0,0
$GC,10774,0.94,277.3,81.3,9.4,1115,10791,0.00,2.25,11.90,0.765,4,0.000,0.052,3322,789,1927,0,0,0,0,0,0
$GC,10884,0.95,286.4,70.9,9.6,1134,10900,0.00,2.28,9.23,0.726,6,0.000,0.054,3321,2203,1890,0,0,0,0,0,0
$GC,11237,0.97,302.0,37.9,9.3,1197,11258,0.00,2.22,13.95,0.754,4,0.000,0.067,3322,3585,1827,0,0,0,0,0,0
$GC,11291,0.97,302.0,33.1,10.3,1206,11297,0.00,2.12,0.00,0.000,6,0.000,0.043,3331,2200,1825,0,0,0,0,0,0
$FREEZE,8.68,7.182,-1.804,0,1,0
$FREEZE,8.30,7.177,-1.804,0,1,0
$FREEZE,7.85,7.180,-1.803,0,1,0
$FREEZE,7.33,7.188,-1.803,0,1,0
$FREEZE,6.93,7.188,-1.803,0,1,0
$FREEZE,6.62,7.188,-1.802,0,1,0
$FREEZE,6.15,7.187,-1.802,0,1,0
$FREEZE,6.05,7.187,-1.802,0,1,0
$FREEZE,5.81,7.186,-1.802,0,1,0
$FREEZE,5.83,7.187,-1.802,0,1,0
$FREEZE,5.64,7.190,-1.802,0,1,0
$FREEZE,5.08,7.189,-1.801,0,1,0
$FREEZE,4.36,7.193,-1.801,0,1,0
$FREEZE,3.89,7.186,-1.801,0,1,0
$GC,11638,1.08,385.1,6.1,6.2,1267,11675,0.00,0.00,35.38,0.772,2,0.000,0.000,3331,2199,1655,0,0,0,0,0,0
$STATE,11676,end climb,SURFACE_DEPTH_REACHED
$STATE,11676,begin surface coast
$FREEZE,3.09,7.190,-1.800,0,1,0
$FREEZE,2.63,7.184,-1.800,0,1,0
$FREEZE,2.46,7.188,-1.799,0,1,0
$FREEZE,2.05,7.184,-1.799,0,1,0
$FREEZE,1.97,7.181,-1.799,0,1,0
$FREEZE,2.09,7.140,-1.801,0,1,0
$FREEZE,1.95,7.162,-1.800,0,1,0
$FREEZE,1.87,7.120,-1.189,0,1,0
$FREEZE,1.93,7.185,-1.799,0,1,0
$FREEZE,2.00,6.942,-1.812,0,1,0
$FREEZE,1.82,6.981,-1.786,0,1,0
$FREEZE,1.89,7.134,-1.801,0,1,0
$FINISH,1.9,1.025710
$STATE,11745,end surface coast,CONTROL_FINISHED_OK
$STATE,11745,begin surface
$SM_CCo,11764,207.80,0.728,0,0,587,605.89
$SM_GC,2.68,0.00,0.00,207.80,0.000,0.000,0.728,334,2269,587,-12.77,0.54,605.89
$RAFOS_CLK,433
$RAFOS,2,1283415423,8.300000,8.284166,62,54,44,43,43,42,1075,1076,871,495,618,1488
$RAFOS,1,1283414944,8.166667,8.151111,45,43,43,42,42,38,1609,532,197,796,1745,1927
$RAFOS,0,1283414468,8.033334,8.018888,61,56,47,44,42,41,1158,1159,711,1757,1737,692
$RAFOS,6,1283402943,4.833333,4.817500,44,43,43,43,40,40,61,497,1584,1127,1288,1929
$RAFOS_FIX,6700.589844,-5651.849609,020910,080852,2,62,0.56
$IRIDIUM_FIX,6631.12,-5650.71,271199,050516
$TT8_MAMPS,0.026845
$HUMID,41.92
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,17.40
$XPDR_PINGS,29
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,450.4,49.8
$24V_AH,22.9,75.497
$10V_AH,10.1,38.979
$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,19.675,105.825,413.525,207.800,0.000,57.981,111.367,194.216,8.750,0.000,15.881,2096.622,6993.030,719.203,2023.470,717.798,0.000,1797.355,0.000,1999.778,1080.000,14.438,0.000
$DEVICE_MAMPS,228.566,102.778,1065.363,727.883,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.081,878.814,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135616
$DATA_FILE_SIZE,50421,1285
$CAP_FILE_SIZE,138835,0
$CFSIZE,260165632,212631552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.9
$GPS,020910,083006,6703.696,-5650.204,38,1.5,38,-37.6