version: 66.06
glider: 108
mission: 14
dive: 413
start: 9 2 110 20 14 10
data:
$ID,108
$MISSION,14
$DIVE,413
$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,-184327.23
$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,24
$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
$GPS1,195845,6704.723,-5701.055,41,2.3,60,-37.6
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,4
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-65.8
$GPS2,201350,6704.741,-5701.517,10,1.8,10,-37.6
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,293.2,154445,-18.1,-10.000
$D_GRID,608
$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,-146.1,0.0,0.0,0,83,0.00,0.00,-64.18,0.000,2,0.000,0.000,335,2259,2247,0,0,0,0,0,0
$GC,86,-0.78,-146.1,3.0,-1.0,13,173,9.77,2.28,-69.20,0.000,4,0.211,0.064,2938,832,3655,0,0,0,0,0,0
$GC,267,-0.78,-146.1,14.0,-13.6,46,272,0.00,2.30,0.00,0.000,6,0.000,0.053,2931,2262,3658,0,0,0,0,0,0
$GC,611,-0.78,-146.1,49.0,-8.9,107,616,0.00,2.22,0.00,0.000,4,0.000,0.048,2931,844,3660,0,0,0,0,0,0
$GC,865,-0.78,-146.1,72.6,-9.8,152,871,0.00,2.25,0.00,0.000,6,0.000,0.054,2922,2250,3662,0,0,0,0,0,0
$GC,1212,-0.78,-146.1,107.6,-10.4,207,1216,0.00,2.10,0.00,0.000,4,0.000,0.064,2911,3598,3662,0,0,0,0,0,0
$GC,1330,-0.78,-146.1,120.4,-10.8,217,1336,0.12,2.08,0.00,0.000,6,0.140,0.042,2948,2236,3662,0,0,0,0,0,0
$GC,1655,-0.78,-146.1,146.7,-7.6,248,1659,0.00,2.15,0.00,0.000,4,0.000,0.051,2948,834,3661,0,0,0,0,0,0
$GC,1710,-0.78,-146.1,151.0,-8.0,252,1716,0.00,2.28,0.00,0.000,6,0.000,0.054,2941,2253,3661,0,0,0,0,0,0
$GC,2036,-0.78,-146.1,175.2,-7.2,283,2040,0.00,2.12,0.00,0.000,4,0.000,0.066,2931,3599,3660,0,0,0,0,0,0
$GC,2076,-0.78,-146.1,178.5,-8.6,286,2079,0.00,2.08,0.00,0.000,6,0.000,0.043,2931,2246,3660,0,0,0,0,0,0
$GC,2407,-0.78,-146.1,204.0,-7.3,317,2408,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2246,3660,0,0,0,0,0,0
$GC,2725,-0.78,-146.1,229.6,-8.5,347,2726,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2246,3660,0,0,0,0,0,0
$GC,3047,-0.78,-146.1,255.4,-8.2,377,3051,0.00,2.17,0.00,0.000,4,0.000,0.052,2931,847,3659,0,0,0,0,0,0
$GC,3080,-0.78,-146.1,258.5,-8.5,379,3086,0.00,2.25,0.00,0.000,6,0.000,0.056,2922,2248,3659,0,0,0,0,0,0
$GC,3405,-0.78,-146.1,285.5,-8.2,410,3409,0.00,2.15,0.00,0.000,4,0.000,0.067,2911,3608,3659,0,0,0,0,0,0
$GC,3517,-0.78,-146.1,295.8,-9.7,419,3523,0.12,2.08,0.00,0.000,6,0.137,0.043,2948,2251,3659,0,0,0,0,0,0
$GC,3842,-0.78,-146.1,318.4,-7.3,450,3846,0.00,2.17,0.00,0.000,4,0.000,0.052,2948,838,3658,0,0,0,0,0,0
$GC,3870,-0.78,-146.1,320.6,-7.6,452,3875,0.00,2.28,0.00,0.000,6,0.000,0.055,2941,2252,3658,0,0,0,0,0,0
$GC,4196,-0.78,-146.1,344.1,-7.0,482,4200,0.00,2.12,0.00,0.000,4,0.000,0.066,2931,3595,3658,0,0,0,0,0,0
$GC,4276,-0.78,-146.1,350.1,-8.2,488,4281,0.00,2.08,0.00,0.000,6,0.000,0.043,2931,2242,3658,0,0,0,0,0,0
$GC,4601,-0.78,-146.1,373.0,-7.0,519,4605,0.00,2.17,0.00,0.000,4,0.000,0.052,2931,846,3657,0,0,0,0,0,0
$GC,4646,-0.78,-146.1,376.4,-7.2,522,4651,0.00,2.25,0.00,0.000,6,0.000,0.056,2923,2248,3658,0,0,0,0,0,0
$GC,4972,-0.78,-146.1,400.2,-7.1,553,4976,0.00,2.12,0.00,0.000,4,0.000,0.066,2912,3605,3658,0,0,0,0,0,0
$GC,5062,-0.78,-146.1,407.3,-7.5,560,5068,0.12,2.08,0.00,0.000,6,0.134,0.042,2949,2248,3658,0,0,0,0,0,0
$GC,5387,-0.78,-146.1,425.6,-5.6,591,5391,0.00,2.17,0.00,0.000,4,0.000,0.051,2950,834,3658,0,0,0,0,0,0
$GC,5416,-0.78,-146.1,427.2,-5.4,593,5420,0.00,2.28,0.00,0.000,6,0.000,0.055,2943,2258,3658,0,0,0,0,0,0
$GC,5747,-0.78,-146.1,447.4,-6.1,624,5751,0.00,2.10,0.00,0.000,4,0.000,0.065,2933,3597,3658,0,0,0,0,0,0
$GC,5820,-0.78,-146.1,452.3,-6.8,630,5826,0.00,2.08,0.00,0.000,6,0.000,0.042,2933,2240,3658,0,0,0,0,0,0
$GC,6145,-0.78,-146.1,473.4,-6.7,661,6146,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2240,3658,0,0,0,0,0,0
$GC,6467,-0.78,-146.1,494.3,-6.7,691,6472,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2240,3658,0,0,0,0,0,0
$GC,6794,-0.78,-146.1,516.1,-6.8,722,6798,0.00,2.17,0.00,0.000,4,0.000,0.051,2933,842,3658,0,0,0,0,0,0
$GC,6823,-0.78,-146.1,518.2,-7.7,724,6827,0.00,2.28,0.00,0.000,6,0.000,0.054,2925,2255,3658,0,0,0,0,0,0
$GC,7148,-0.78,-146.1,542.2,-7.4,754,7152,0.00,2.12,0.00,0.000,4,0.000,0.064,2915,3602,3658,0,0,0,0,0,0
$GC,7210,-0.78,-146.1,547.3,-7.7,759,7215,0.10,2.08,0.00,0.000,6,0.146,0.041,2944,2246,3658,0,0,0,0,0,0
$GC,7535,-0.78,-146.1,568.2,-6.5,789,7537,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2245,3658,0,0,0,0,0,0
$GC,7858,-0.78,-146.1,588.5,-6.9,819,7863,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2245,3658,0,0,0,0,0,0
$STATE,8036,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8036,begin apogee
$GC,8043,-0.17,0.0,600.3,6.1,836,8166,0.40,0.00,120.65,1.147,6,0.107,0.000,3080,2245,3058,0,0,0,0,0,0
$STATE,8167,end apogee,CONTROL_FINISHED_OK
$STATE,8167,begin climb
$GC,8170,0.78,146.1,604.5,0.0,840,8305,0.57,2.50,124.90,1.096,4,0.061,0.049,3304,796,2461,0,0,0,0,0,0
$GC,8323,0.85,198.5,597.8,7.6,845,8377,0.00,2.45,47.00,1.049,6,0.000,0.053,3304,2208,2248,0,0,1,0,0,0
$GC,8703,0.85,198.5,559.4,10.6,881,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,2208,2245,0,0,0,0,0,0
$GC,9026,0.85,198.5,526.4,10.1,911,9030,0.00,2.20,0.00,0.000,4,0.000,0.064,3304,3594,2244,0,0,0,0,0,0
$GC,9066,0.85,198.5,521.3,12.5,914,9070,0.00,2.15,0.00,0.000,6,0.000,0.042,3314,2201,2243,0,0,0,0,0,0
$GC,9391,0.85,198.5,485.3,11.0,944,9395,0.00,2.20,0.00,0.000,4,0.000,0.051,3325,792,2243,0,0,0,0,0,0
$GC,9447,0.85,198.5,478.8,11.7,949,9452,0.12,2.28,0.00,0.000,6,0.153,0.053,3290,2211,2244,0,0,0,0,0,0
$GC,9772,0.86,211.7,448.1,9.4,979,9788,0.00,2.20,11.15,0.954,4,0.000,0.063,3290,3595,2193,0,0,0,0,0,0
$GC,9817,0.86,211.7,443.6,10.6,982,9822,0.00,2.15,0.00,0.000,6,0.000,0.042,3297,2199,2194,0,0,0,0,0,0
$GC,10142,0.86,211.7,409.7,10.5,1013,10146,0.00,2.17,0.00,0.000,4,0.000,0.051,3308,793,2194,0,0,0,0,0,0
$GC,10209,0.86,211.7,402.8,10.1,1018,10215,0.00,2.25,0.00,0.000,6,0.000,0.053,3308,2198,2194,0,0,0,0,0,0
$GC,10534,0.86,211.7,366.6,11.4,1049,10538,0.00,2.20,0.00,0.000,4,0.000,0.064,3307,3599,2194,0,0,0,0,0,0
$GC,10579,0.86,211.7,361.0,13.2,1052,10585,0.00,2.15,0.00,0.000,6,0.000,0.042,3317,2198,2194,0,0,0,0,0,0
$GC,10904,0.86,211.7,323.8,10.8,1083,10908,0.00,2.17,0.00,0.000,4,0.000,0.051,3328,792,2194,0,0,0,0,0,0
$GC,10983,0.86,211.7,315.4,10.2,1089,10989,0.12,2.25,0.00,0.000,6,0.150,0.053,3293,2201,2194,0,0,0,0,0,0
$GC,11308,0.90,237.8,287.0,8.8,1120,11340,0.00,2.28,22.75,0.937,4,0.000,0.064,3293,3611,2088,0,0,0,0,0,0
$GC,11368,0.90,237.8,281.1,11.4,1125,11374,0.00,2.17,0.00,0.000,6,0.000,0.041,3300,2200,2088,0,0,0,0,0,0
$GC,11693,0.93,266.9,251.4,8.7,1156,11725,0.00,2.20,24.83,0.910,4,0.000,0.051,3310,793,1969,0,0,0,0,0,0
$GC,11801,0.95,280.5,242.0,9.4,1165,11820,0.00,2.28,13.02,0.843,6,0.000,0.053,3310,2200,1914,0,0,0,0,0,0
$GC,12147,0.95,280.5,207.1,10.2,1198,12149,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,2200,1911,0,0,0,0,0,0
$GC,12469,0.95,286.1,177.0,9.7,1228,12476,0.00,0.00,5.38,0.674,6,0.000,0.000,3310,2201,1891,0,0,0,0,0,0
$GC,12794,0.96,290.2,144.5,9.8,1259,12805,0.00,2.20,5.12,0.650,4,0.000,0.064,3310,3594,1874,0,0,0,0,0,0
$GC,12833,0.96,290.2,140.2,10.8,1262,12839,0.00,2.15,0.00,0.000,6,0.000,0.044,3319,2192,1874,0,0,0,0,0,0
$GC,13158,0.99,313.1,109.4,9.0,1293,13183,0.00,2.17,20.20,0.821,4,0.000,0.051,3329,792,1782,0,0,0,0,0,0
$GC,13275,1.01,328.6,98.9,9.3,1304,13296,0.00,2.25,14.48,0.780,6,0.000,0.054,3329,2201,1718,0,0,0,0,0,0
$GC,13637,1.02,336.3,63.2,9.6,1368,13653,0.00,2.30,7.45,0.693,4,0.000,0.052,3338,788,1686,0,0,0,0,0,0
$GC,13665,1.03,344.0,60.3,9.6,1373,13681,0.00,2.28,8.23,0.700,6,0.000,0.056,3338,2200,1655,0,0,0,0,0,0
$GC,14019,1.10,406.7,27.5,7.1,1436,14075,0.00,0.00,53.35,0.788,6,0.000,0.000,3338,2200,1399,0,0,0,0,0,0
$FREEZE,8.51,7.205,-1.808,0,2,0
$FREEZE,8.03,7.200,-1.808,0,2,0
$FREEZE,7.46,7.200,-1.807,0,2,0
$FREEZE,6.83,7.199,-1.807,0,2,0
$FREEZE,6.58,7.201,-1.806,0,2,0
$FREEZE,6.22,7.201,-1.806,0,2,0
$FREEZE,6.10,7.199,-1.806,0,2,0
$FREEZE,5.80,7.202,-1.806,0,2,0
$FREEZE,5.35,7.203,-1.806,0,2,0
$FREEZE,4.93,7.200,-1.805,0,2,0
$FREEZE,4.67,7.200,-1.805,0,2,0
$FREEZE,4.39,7.200,-1.805,0,2,0
$FREEZE,3.58,7.203,-1.804,0,2,0
$STATE,14345,end climb,SURFACE_DEPTH_REACHED
$STATE,14345,begin surface coast
$FREEZE,2.99,7.203,-1.804,0,2,0
$FREEZE,2.53,7.204,-1.804,0,2,0
$FREEZE,2.07,7.203,-1.803,0,2,0
$FREEZE,2.08,7.160,-1.803,0,2,0
$FREEZE,1.87,7.177,-1.804,0,2,0
$FREEZE,1.87,7.167,-1.795,0,2,0
$FREEZE,1.98,7.179,-1.804,0,2,0
$FREEZE,2.08,7.197,-1.804,0,2,0
$FREEZE,2.25,7.149,-1.185,0,2,0
$FREEZE,2.00,7.121,-1.045,0,2,0
$FREEZE,1.95,7.180,-1.804,0,2,0
$FINISH,2.0,1.025751
$STATE,14413,end surface coast,CONTROL_FINISHED_OK
$STATE,14413,begin surface
$SM_CCo,14432,156.80,0.738,0,0,588,605.89
$SM_GC,2.76,0.00,0.00,156.80,0.000,0.000,0.738,332,2262,588,-12.78,0.34,605.89
$RAFOS_CLK,547
$RAFOS,0,1283472065,0.033333,0.018056,56,56,44,44,43,41,1127,1126,713,1751,1455,1920
$RAFOS,6,1283460546,20.833334,20.818333,116,111,47,44,41,39,789,790,1214,1829,799,1
$RAFOS,5,1283460070,20.700001,20.686111,114,108,52,52,43,40,601,602,310,1392,154,1530
$RAFOS,4,1283459585,20.566668,20.551390,61,60,44,43,41,41,855,856,1056,727,660,1246
$RAFOS,3,1283459104,20.433332,20.417778,50,45,44,42,40,40,594,300,1736,236,603,1428
$RAFOS,2,1283458630,20.299999,20.286112,50,43,42,42,41,41,1269,222,1004,1270,861,1664
$RAFOS_FIX,6706.433105,-5705.361328,020910,202044,3,97,2.33
$IRIDIUM_FIX,6636.54,-5704.59,271199,202032
$TT8_MAMPS,0.027612
$HUMID,42.75
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,17.50
$XPDR_PINGS,26
$ALTIM_TOP_PING,19.8,18.1
$ALTIM_BOTTOM_PING,600.3,8.2
$24V_AH,22.5,76.245
$10V_AH,10.1,39.316
$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,19.300,118.725,478.500,156.800,0.000,82.121,131.731,384.735,8.750,0.000,11.738,2441.177,8831.655,759.286,2422.512,1034.786,0.000,2028.381,0.000,2399.247,2520.000,20.650,0.000
$DEVICE_MAMPS,210.925,128.089,1147.432,737.854,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1108.399,1043.812,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135640
$DATA_FILE_SIZE,59807,1506
$CAP_FILE_SIZE,170813,0
$CFSIZE,260165632,212271104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1471.2
$GPS,030910,001901,6705.789,-5707.301,39,0.9,39,-37.7