version: 66.06
glider: 108
mission: 14
dive: 454
start: 9 12 110 17 23 50
data:
$ID,108
$MISSION,14
$DIVE,454
$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,2
$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,-185004.22
$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,43
$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
$GPS1,171642,6649.658,-6012.597,32,1.9,38,-38.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.86
$_SM_ANGLEo,-69.5
$GPS2,172326,6649.662,-6012.569,11,1.5,11,-38.2
$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,216.3,14371,-18.1,-10.000
$D_GRID,582
$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,-146.1,0.0,0.0,0,22,0.00,0.00,-4.47,0.000,2,0.000,0.000,343,2273,680,0,0,0,0,0,0
$GC,26,-0.78,-146.1,3.1,-0.0,1,186,10.27,2.15,-140.80,0.000,4,0.229,0.093,2931,3574,3656,0,0,0,0,0,0
$GC,323,-0.78,-146.1,31.2,-16.4,55,328,0.00,2.12,0.00,0.000,6,0.000,0.054,2930,2241,3662,0,0,0,0,0,0
$GC,666,-0.78,-146.1,75.7,-13.2,116,672,0.00,2.25,0.00,0.000,4,0.000,0.064,2930,841,3665,0,0,0,0,0,0
$GC,758,-0.78,-146.1,86.4,-11.5,132,764,0.00,2.33,0.00,0.000,6,0.000,0.067,2921,2238,3665,0,0,0,0,0,0
$GC,1096,-0.78,-146.1,123.5,-9.6,173,1100,0.00,2.22,0.00,0.000,4,0.000,0.079,2910,3604,3665,0,0,0,0,0,0
$GC,1209,-0.78,-146.1,135.4,-10.7,182,1216,0.12,2.15,0.00,0.000,6,0.148,0.055,2945,2244,3665,0,0,0,0,0,0
$GC,1534,-0.78,-146.1,166.3,-10.1,213,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2244,3665,0,0,0,0,0,0
$GC,1855,-0.78,-146.1,196.9,-9.4,243,1859,0.00,2.28,0.00,0.000,4,0.000,0.066,2945,833,3664,0,0,0,0,0,0
$GC,1895,-0.78,-146.1,201.0,-9.5,246,1899,0.00,2.38,0.00,0.000,6,0.000,0.070,2938,2253,3664,0,0,0,0,0,0
$GC,2220,-0.78,-146.1,228.5,-7.6,276,2224,0.00,2.20,0.00,0.000,4,0.000,0.081,2928,3596,3663,0,0,0,0,0,0
$GC,2295,-0.78,-146.1,234.3,-7.5,282,2299,0.00,2.17,0.00,0.000,6,0.000,0.058,2928,2239,3663,0,0,0,0,0,0
$GC,2620,-0.78,-146.1,262.3,-8.8,312,2621,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2238,3663,0,0,0,0,0,0
$GC,2942,-0.78,-146.1,289.9,-8.2,342,2946,0.00,2.25,0.00,0.000,4,0.000,0.067,2928,835,3662,0,0,0,0,0,0
$GC,2981,-0.78,-146.1,293.7,-9.2,345,2986,0.10,2.38,0.00,0.000,6,0.153,0.071,2947,2252,3662,0,0,0,0,0,0
$GC,3308,-0.78,-146.1,316.7,-6.9,375,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2251,3662,0,0,0,0,0,0
$GC,3627,-0.78,-146.1,337.6,-6.3,405,3631,0.00,2.22,0.00,0.000,4,0.000,0.081,2939,3606,3662,0,0,0,0,0,0
$GC,3667,-0.78,-146.1,340.5,-6.9,408,3671,0.00,2.17,0.00,0.000,6,0.000,0.055,2938,2242,3662,0,0,0,0,0,0
$GC,3992,-0.78,-146.1,363.7,-7.7,438,3993,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2241,3662,0,0,0,0,0,0
$GC,4314,-0.78,-146.1,388.2,-8.0,468,4318,0.00,2.28,0.00,0.000,4,0.000,0.066,2939,837,3662,0,0,0,0,0,0
$GC,4324,-0.78,-146.1,389.4,-8.0,468,4330,0.00,2.38,0.00,0.000,6,0.000,0.069,2930,2254,3662,0,0,0,0,0,0
$GC,4651,-0.78,-146.1,416.7,-8.1,499,4655,0.00,2.20,0.00,0.000,4,0.000,0.079,2920,3600,3662,0,0,0,0,0,0
$GC,4673,-0.78,-146.1,418.7,-8.3,500,4679,0.10,2.15,0.00,0.000,6,0.150,0.054,2948,2244,3662,0,0,0,0,0,0
$GC,4999,-0.78,-146.1,440.4,-6.5,531,5004,0.00,2.28,0.00,0.000,4,0.000,0.064,2948,830,3662,0,0,0,0,0,0
$GC,5040,-0.78,-146.1,443.3,-7.3,534,5044,0.00,2.38,0.00,0.000,6,0.000,0.067,2941,2253,3662,0,0,0,0,0,0
$GC,5365,-0.78,-146.1,463.7,-5.9,564,5369,0.00,2.20,0.00,0.000,4,0.000,0.079,2930,3600,3661,0,0,0,0,0,0
$GC,5399,-0.78,-146.1,465.9,-7.1,566,5406,0.00,2.15,0.00,0.000,6,0.000,0.054,2930,2246,3662,0,0,0,0,0,0
$GC,5724,-0.78,-146.1,488.7,-7.1,597,5725,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2245,3662,0,0,0,0,0,0
$GC,6048,-0.78,-146.1,511.1,-6.7,627,6052,0.00,2.28,0.00,0.000,4,0.000,0.064,2930,832,3661,0,0,0,0,0,0
$GC,6070,-0.78,-146.1,513.2,-7.5,628,6077,0.00,2.35,0.00,0.000,6,0.000,0.067,2921,2249,3662,0,0,0,0,0,0
$GC,6396,-0.78,-146.1,538.0,-7.7,659,6400,0.00,2.20,0.00,0.000,4,0.000,0.079,2911,3607,3661,0,0,0,0,0,0
$GC,6420,-0.78,-146.1,540.0,-8.1,660,6426,0.12,2.15,0.00,0.000,6,0.137,0.053,2948,2249,3662,0,0,0,0,0,0
$GC,6745,-0.78,-146.1,560.0,-6.2,691,6746,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2248,3662,0,0,0,0,0,0
$GC,7066,-0.78,-146.1,579.3,-5.2,721,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2248,3662,0,0,0,0,0,0
$STATE,7113,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7113,begin apogee
$GC,7121,-0.17,0.0,582.0,5.2,726,7248,0.38,0.00,123.78,1.177,6,0.110,0.000,3078,2189,3058,0,0,0,0,0,0
$STATE,7249,end apogee,CONTROL_FINISHED_OK
$STATE,7249,begin climb
$GC,7252,0.78,146.1,586.4,0.0,739,7391,0.57,2.53,129.18,1.116,4,0.064,0.063,3297,794,2462,0,0,0,0,0,0
$GC,7442,0.85,200.6,579.4,7.5,756,7498,0.00,2.55,49.95,1.076,6,0.000,0.064,3298,2202,2240,0,0,0,0,0,0
$GC,7817,0.85,200.6,543.4,10.2,792,7821,0.00,2.30,0.00,0.000,4,0.000,0.076,3298,3604,2237,0,0,0,0,0,0
$GC,7906,0.85,200.6,533.2,11.6,799,7911,0.00,2.25,0.00,0.000,6,0.000,0.053,3307,2200,2235,0,0,0,0,0,0
$GC,8231,0.85,200.6,499.8,10.3,830,8235,0.00,2.28,0.00,0.000,4,0.000,0.063,3318,784,2235,0,0,0,0,0,0
$GC,8271,0.85,200.6,495.7,10.2,833,8275,0.00,2.35,0.00,0.000,6,0.000,0.064,3318,2204,2236,0,0,0,0,0,0
$GC,8596,0.85,204.2,463.4,9.8,863,8607,0.00,2.30,3.22,0.575,4,0.000,0.074,3318,3595,2226,0,0,0,0,0,0
$GC,8669,0.85,204.2,454.9,11.7,869,8675,0.12,2.20,0.00,0.000,6,0.166,0.051,3294,2198,2228,0,0,0,0,0,0
$GC,8994,0.87,217.1,425.1,9.4,900,9015,0.00,2.33,12.68,0.993,4,0.000,0.062,3302,788,2174,0,0,0,0,0,0
$GC,9077,0.88,221.8,417.0,9.8,907,9088,0.00,2.35,5.95,0.830,6,0.000,0.063,3301,2211,2153,0,0,0,0,0,0
$GC,9407,0.88,223.0,383.9,9.9,938,9411,0.00,2.25,0.00,0.000,4,0.000,0.074,3301,3604,2154,0,0,0,0,0,0
$GC,9484,0.88,223.0,375.0,11.7,944,9490,0.00,2.22,0.00,0.000,6,0.000,0.051,3310,2192,2152,0,0,0,0,0,0
$GC,9811,0.88,223.0,342.0,10.2,975,9815,0.00,2.22,0.00,0.000,4,0.000,0.061,3321,789,2152,0,0,0,0,0,0
$GC,9849,0.88,223.0,337.8,10.5,978,9855,0.00,2.33,0.00,0.000,6,0.000,0.064,3321,2200,2153,0,0,0,0,0,0
$GC,10174,0.88,223.0,304.6,10.0,1009,10178,0.00,2.28,0.00,0.000,4,0.000,0.075,3321,3605,2153,0,0,0,0,0,0
$GC,10229,0.88,223.0,298.1,12.3,1013,10235,0.12,2.22,0.00,0.000,6,0.162,0.052,3297,2194,2152,0,0,0,0,0,0
$GC,10554,0.93,262.9,269.8,8.2,1044,10595,0.00,2.30,35.60,0.986,4,0.000,0.061,3305,783,1986,0,0,0,0,0,0
$GC,10667,0.98,303.7,260.8,8.1,1054,10709,0.00,2.38,35.85,0.952,6,0.000,0.064,3306,2209,1819,0,0,0,0,0,0
$GC,11029,1.05,361.8,231.2,7.3,1088,11085,0.12,2.30,49.90,0.937,4,0.094,0.076,3368,3598,1582,0,0,0,0,0,0
$GC,11124,1.05,361.8,218.8,16.1,1096,11131,0.15,2.28,0.00,0.000,6,0.161,0.052,3338,2191,1579,0,0,0,0,0,0
$GC,11450,1.05,361.8,182.0,11.5,1127,11454,0.00,2.25,0.00,0.000,4,0.000,0.063,3346,790,1574,0,0,0,0,0,0
$GC,11546,1.05,361.8,171.4,10.7,1135,11550,0.00,2.35,0.00,0.000,6,0.000,0.064,3346,2211,1574,0,0,0,0,0,0
$GC,11871,1.05,365.2,137.3,9.8,1165,11875,0.00,2.22,0.00,0.000,4,0.000,0.077,3346,3593,1572,0,0,0,0,0,0
$GC,11910,1.05,365.2,133.0,11.1,1168,11914,0.00,2.22,0.00,0.000,6,0.000,0.054,3356,2189,1570,0,0,0,0,0,0
$GC,12235,1.05,365.2,100.0,10.3,1198,12239,0.00,2.25,0.00,0.000,4,0.000,0.065,3365,789,1569,0,0,0,0,0,0
$GC,12297,1.05,365.2,93.7,10.3,1208,12303,0.10,2.35,0.00,0.000,6,0.160,0.067,3339,2205,1570,0,0,0,0,0,0
$GC,12645,1.09,399.1,66.2,8.4,1269,12682,0.00,2.22,30.92,0.878,4,0.000,0.080,3339,3598,1431,0,0,0,0,0,0
$GC,12720,1.12,422.3,59.6,8.9,1282,12748,0.00,2.25,21.25,0.838,6,0.000,0.056,3345,2202,1336,0,0,0,0,0,0
$GC,13088,1.25,523.0,35.9,5.4,1347,13180,0.12,2.45,83.70,0.848,4,0.094,0.077,3402,3592,924,0,0,0,0,0,0
$FREEZE,8.63,4.388,-1.697,0,1,0
$FREEZE,8.25,4.386,-1.697,0,1,0
$FREEZE,7.63,4.390,-1.696,0,1,0
$FREEZE,7.00,4.391,-1.696,0,1,0
$FREEZE,6.35,4.383,-1.696,0,1,0
$FREEZE,5.66,4.381,-1.695,0,1,0
$FREEZE,5.05,4.383,-1.694,0,1,0
$FREEZE,4.45,4.383,-1.693,0,1,0
$GC,13411,1.25,523.0,4.5,11.4,1405,13417,0.00,2.25,0.00,0.000,6,0.000,0.058,3402,2202,915,0,0,0,0,0,0
$FREEZE,2.83,4.358,-1.694,0,1,0
$STATE,13422,end climb,SURFACE_DEPTH_REACHED
$STATE,13422,begin surface coast
$FREEZE,2.31,4.332,-1.694,0,1,0
$FREEZE,2.08,4.342,-0.840,0,1,0
$FREEZE,2.17,4.356,-0.851,0,1,0
$FREEZE,2.15,4.359,-1.682,0,1,0
$FREEZE,2.03,4.189,-0.126,0,1,0
$FREEZE,2.10,4.267,-0.143,0,1,0
$FREEZE,2.00,4.266,-0.629,0,1,0
$FINISH,2.0,1.009199
$STATE,13462,end surface coast,CONTROL_FINISHED_OK
$STATE,13465,begin surface
$SM_CCo,13484,65.30,0.806,0,0,587,605.89
$SM_GC,3.00,0.00,0.00,65.30,0.000,0.000,0.806,335,2277,587,-12.77,0.76,605.89
$RAFOS_CLK,549
$RAFOS,6,1284324542,20.833334,20.817223,105,92,43,42,41,39,829,830,246,1470,1214,1524
$RAFOS,5,1284324066,20.700001,20.684999,45,44,43,42,41,40,1229,625,1470,244,112,1546
$RAFOS,4,1284323592,20.566668,20.553333,48,47,46,43,43,42,151,1458,912,195,239,1102
$RAFOS,3,1284323106,20.433332,20.418333,83,81,49,46,44,42,768,771,320,1261,1484,1647
$RAFOS,2,1284322622,20.299999,20.283890,104,97,44,44,42,41,670,671,802,818,1561,150
$RAFOS,1,1284322146,20.166666,20.151667,43,41,41,38,38,37,1148,161,1373,337,884,1139
$RAFOS,0,1284321663,20.033333,20.017500,52,49,48,47,46,42,1577,1931,1932,750,576,820
$RAFOS_FIX,6647.731934,-6006.916016,120910,202038,3,97,0.48
$IRIDIUM_FIX,6614.97,-6008.55,071299,131357
$TT8_MAMPS,0.027612
$HUMID,43.62
$INTERNAL_PRESSURE,10.1176
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.3
$24V_AH,21.9,85.320
$10V_AH,10.0,43.621
$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,20.600,127.450,581.975,65.300,0.000,28.752,33.516,180.630,1.750,0.000,13.107,2459.410,7835.403,738.179,2269.555,651.370,0.000,1972.626,0.000,2250.335,2520.000,13.196,0.000
$DEVICE_MAMPS,229.333,130.390,1177.345,806.117,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1021.473,1010.491,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135624
$DATA_FILE_SIZE,56733,1414
$CAP_FILE_SIZE,158532,0
$CFSIZE,260165632,208236544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.2
$CURRENT,0.123,204.8,1
$GPS,120910,211127,6647.066,-6013.132,23,2.2,42,-38.1