version: 66.06
glider: 108
mission: 14
dive: 455
start: 9 12 110 21 21 53
data:
$ID,108
$MISSION,14
$DIVE,455
$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,-185020.77
$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,26
$R_STBD_OVSHOOT,47
$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
$GPS1,211127,6647.066,-6013.132,23,2.2,42,-38.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.94
$_SM_ANGLEo,-74.0
$GPS2,212131,6646.898,-6013.028,14,1.0,14,-38.1
$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,294.4,10903,-18.1,-10.000
$D_GRID,557
$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,-146.1,0.0,0.0,0,33,0.00,0.00,-14.95,0.000,2,0.000,0.000,334,2277,929,0,0,0,0,0,0
$GC,37,-0.78,-146.1,3.0,-0.9,3,194,10.27,2.12,-135.48,0.000,4,0.227,0.090,2932,3568,3654,0,0,0,0,0,0
$GC,241,-0.78,-146.1,12.6,-18.1,40,246,0.00,2.12,0.00,0.000,6,0.000,0.055,2932,2239,3657,0,0,0,0,0,0
$GC,585,-0.78,-146.1,63.6,-14.0,101,590,0.00,2.25,0.00,0.000,4,0.000,0.063,2932,834,3661,0,0,0,0,0,0
$GC,636,-0.78,-146.1,70.2,-12.0,110,642,0.00,2.33,0.00,0.000,6,0.000,0.067,2925,2236,3661,0,0,0,0,0,0
$GC,983,-0.78,-146.1,110.7,-11.7,164,987,0.00,2.22,0.00,0.000,4,0.000,0.079,2914,3607,3662,0,0,0,0,0,0
$GC,1090,-0.78,-146.1,124.1,-12.2,173,1096,0.10,2.15,0.00,0.000,6,0.161,0.054,2941,2247,3662,0,0,0,0,0,0
$GC,1416,-0.78,-146.1,156.5,-9.1,204,1420,0.00,2.25,0.00,0.000,4,0.000,0.064,2940,844,3662,0,0,0,0,0,0
$GC,1461,-0.78,-146.1,160.8,-9.3,207,1468,0.00,2.35,0.00,0.000,6,0.000,0.069,2933,2261,3661,0,0,0,0,0,0
$GC,1787,-0.78,-146.1,191.1,-9.2,238,1791,0.00,2.20,0.00,0.000,4,0.000,0.081,2923,3606,3661,0,0,0,0,0,0
$GC,1855,-0.78,-146.1,197.7,-9.9,243,1861,0.00,2.15,0.00,0.000,6,0.000,0.055,2923,2251,3661,0,0,0,0,0,0
$GC,2180,-0.78,-146.1,228.5,-9.7,274,2184,0.00,2.30,0.00,0.000,4,0.000,0.067,2923,839,3660,0,0,0,0,0,0
$GC,2266,-0.78,-146.1,236.4,-8.9,281,2271,0.10,2.38,0.00,0.000,6,0.154,0.071,2941,2256,3660,0,0,0,0,0,0
$GC,2591,-0.78,-146.1,261.8,-8.2,311,2595,0.00,2.20,0.00,0.000,4,0.000,0.081,2933,3597,3659,0,0,0,0,0,0
$GC,2659,-0.78,-146.1,267.8,-8.9,316,2664,0.00,2.15,0.00,0.000,6,0.000,0.057,2933,2250,3659,0,0,0,0,0,0
$GC,2984,-0.78,-146.1,294.9,-7.5,347,2988,0.00,2.30,0.00,0.000,4,0.000,0.067,2933,834,3659,0,0,0,0,0,0
$GC,3065,-0.78,-146.1,301.1,-7.8,354,3069,0.00,2.38,0.00,0.000,6,0.000,0.071,2925,2254,3658,0,0,0,0,0,0
$GC,3395,-0.78,-146.1,327.1,-8.3,385,3399,0.00,2.20,0.00,0.000,4,0.000,0.080,2914,3600,3658,0,0,0,0,0,0
$GC,3492,-0.78,-146.1,335.7,-9.3,393,3496,0.10,2.15,0.00,0.000,6,0.151,0.056,2942,2250,3658,0,0,0,0,0,0
$GC,3817,-0.78,-146.1,358.5,-7.0,423,3821,0.00,2.28,0.00,0.000,4,0.000,0.066,2943,838,3658,0,0,0,0,0,0
$GC,3851,-0.78,-146.1,361.0,-7.8,425,3856,0.00,2.38,0.00,0.000,6,0.000,0.069,2936,2258,3658,0,0,0,0,0,0
$GC,4177,-0.78,-146.1,384.4,-6.9,456,4181,0.00,2.17,0.00,0.000,4,0.000,0.080,2926,3600,3658,0,0,0,0,0,0
$GC,4230,-0.78,-146.1,388.4,-7.9,460,4234,0.00,2.15,0.00,0.000,6,0.000,0.055,2925,2249,3658,0,0,0,0,0,0
$GC,4555,-0.78,-146.1,414.6,-8.6,490,4559,0.00,2.28,0.00,0.000,4,0.000,0.065,2926,836,3658,0,0,0,0,0,0
$GC,4586,-0.78,-146.1,417.2,-9.6,492,4591,0.10,2.38,0.00,0.000,6,0.150,0.069,2945,2255,3658,0,0,0,0,0,0
$GC,4911,-0.78,-146.1,441.1,-7.2,522,4915,0.00,2.17,0.00,0.000,4,0.000,0.079,2937,3602,3658,0,0,0,0,0,0
$GC,4940,-0.78,-146.1,443.1,-7.2,524,4944,0.00,2.12,0.00,0.000,6,0.000,0.053,2937,2246,3658,0,0,0,0,0,0
$GC,5265,-0.78,-146.1,466.3,-6.8,554,5269,0.00,2.25,0.00,0.000,4,0.000,0.064,2936,843,3658,0,0,0,0,0,0
$GC,5317,-0.78,-146.1,470.1,-7.4,558,5321,0.00,2.35,0.00,0.000,6,0.000,0.067,2928,2260,3658,0,0,0,0,0,0
$GC,5647,-0.78,-146.1,494.6,-7.2,589,5651,0.00,2.17,0.00,0.000,4,0.000,0.078,2918,3596,3658,0,0,0,0,0,0
$GC,5704,-0.78,-146.1,499.1,-7.8,594,5709,0.10,2.15,0.00,0.000,6,0.146,0.054,2946,2241,3658,0,0,0,0,0,0
$GC,6031,-0.78,-146.1,520.0,-6.7,624,6035,0.00,2.22,0.00,0.000,4,0.000,0.064,2946,842,3658,0,0,0,0,0,0
$GC,6072,-0.78,-146.1,522.9,-7.1,627,6076,0.00,2.35,0.00,0.000,6,0.000,0.067,2940,2252,3658,0,0,0,0,0,0
$GC,6397,-0.78,-146.1,546.5,-7.0,657,6401,0.00,2.20,0.00,0.000,4,0.000,0.077,2930,3599,3658,0,0,0,0,0,0
$GC,6453,-0.78,-146.1,551.0,-8.2,661,6459,0.00,2.15,0.00,0.000,6,0.000,0.052,2930,2238,3658,0,0,0,0,0,0
$STATE,6542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6542,begin apogee
$GC,6549,-0.17,0.0,557.5,7.6,670,6676,0.43,0.00,123.15,1.164,6,0.109,0.000,3074,2238,3058,0,0,0,0,0,0
$STATE,6676,end apogee,CONTROL_FINISHED_OK
$STATE,6677,begin climb
$GC,6679,0.78,146.1,561.1,0.0,683,6818,0.60,2.58,128.05,1.101,4,0.065,0.062,3301,798,2461,0,0,0,0,0,0
$GC,6846,0.83,184.1,552.2,8.3,698,6887,0.00,2.53,34.95,1.045,6,0.000,0.064,3301,2204,2307,0,0,1,0,0,0
$GC,7207,0.85,204.0,518.6,9.1,732,7231,0.00,2.40,17.52,1.025,4,0.000,0.075,3300,3606,2226,0,0,0,0,0,0
$GC,7301,0.85,204.0,508.2,11.8,740,7306,0.00,2.28,0.00,0.000,6,0.000,0.052,3309,2197,2225,0,0,0,0,0,0
$GC,7625,0.85,204.0,473.9,10.6,771,7629,0.00,2.25,0.00,0.000,4,0.000,0.063,3321,785,2225,0,0,0,0,0,0
$GC,7666,0.86,210.6,469.9,9.7,774,7679,0.00,2.35,6.80,0.874,6,0.000,0.064,3321,2204,2199,0,0,0,0,0,0
$GC,8005,0.86,210.6,432.4,11.1,806,8009,0.00,2.25,0.00,0.000,4,0.000,0.074,3321,3594,2200,0,0,0,0,0,0
$GC,8060,0.86,210.6,425.4,13.2,810,8066,0.12,2.20,0.00,0.000,6,0.163,0.051,3297,2196,2199,0,0,0,0,0,0
$GC,8385,0.89,230.1,394.9,9.1,841,8409,0.00,2.30,17.92,1.013,4,0.000,0.061,3306,793,2119,0,0,0,0,0,0
$GC,8434,0.91,252.9,390.5,9.0,845,8461,0.00,2.35,21.10,1.006,6,0.000,0.063,3306,2208,2026,0,0,0,0,0,0
$GC,8779,0.91,252.9,355.5,10.5,878,8783,0.00,2.25,0.00,0.000,4,0.000,0.074,3306,3595,2022,0,0,0,0,0,0
$GC,8842,0.91,252.9,348.1,12.4,883,8846,0.00,2.20,0.00,0.000,6,0.000,0.051,3315,2201,2020,0,0,0,0,0,0
$GC,9172,0.91,252.9,311.2,10.8,914,9176,0.00,2.22,0.00,0.000,4,0.000,0.061,3326,796,2020,0,0,0,0,0,0
$GC,9216,0.91,252.9,306.2,11.8,917,9221,0.00,2.33,0.00,0.000,6,0.000,0.064,3326,2206,2021,0,0,0,0,0,0
$GC,9541,0.91,252.9,270.4,10.4,948,9545,0.00,2.25,0.00,0.000,4,0.000,0.076,3326,3596,2020,0,0,0,0,0,0
$GC,9593,0.91,252.9,264.6,12.2,952,9598,0.10,2.20,0.00,0.000,6,0.173,0.052,3309,2202,2019,0,0,0,0,0,0
$GC,9918,0.94,271.6,236.1,9.1,982,9940,0.00,2.25,16.15,0.927,4,0.000,0.061,3317,793,1950,0,0,0,0,0,0
$GC,9975,0.95,282.4,230.7,9.5,987,9991,0.00,2.35,10.98,0.869,6,0.000,0.064,3317,2209,1906,0,0,0,0,0,0
$GC,10311,0.95,283.9,197.0,9.9,1018,10315,0.00,2.25,0.00,0.000,4,0.000,0.077,3317,3593,1904,0,0,0,0,0,0
$GC,10340,0.95,283.9,193.8,11.4,1020,10344,0.00,2.22,0.00,0.000,6,0.000,0.052,3326,2189,1903,0,0,0,0,0,0
$GC,10665,0.97,295.5,161.2,9.5,1050,10686,0.00,2.30,12.05,0.864,4,0.000,0.063,3337,793,1853,0,0,0,0,0,0
$GC,10715,0.97,300.0,156.5,9.8,1054,10725,0.00,2.35,5.30,0.706,6,0.000,0.065,3337,2207,1835,0,0,0,0,0,0
$GC,11045,1.00,323.0,125.7,8.9,1085,11072,0.00,2.28,21.20,0.890,4,0.000,0.078,3337,3600,1741,0,0,0,0,0,0
$GC,11085,1.02,336.1,122.0,9.4,1088,11106,0.00,2.25,13.32,0.837,6,0.000,0.054,3346,2195,1687,0,0,0,0,0,0
$GC,11433,1.06,374.8,89.3,8.2,1131,11476,0.00,2.35,33.55,0.879,4,0.000,0.066,3356,792,1530,0,0,0,0,0,0
$GC,11513,1.08,389.3,82.3,9.3,1145,11534,0.00,2.38,13.98,0.811,6,0.000,0.067,3356,2198,1471,0,0,0,0,0,0
$GC,11874,1.11,412.8,44.3,8.9,1209,11901,0.00,2.33,20.50,0.838,4,0.000,0.081,3356,3600,1375,0,0,0,0,0,0
$GC,11956,1.12,417.4,36.9,9.8,1223,11968,0.00,2.28,5.10,0.649,6,0.000,0.057,3365,2192,1356,0,0,0,0,0,0
$FREEZE,8.98,3.563,-1.683,0,1,0
$FREEZE,8.55,3.557,-1.683,0,1,0
$FREEZE,7.97,3.561,-1.682,0,1,0
$FREEZE,7.48,3.554,-1.682,0,1,0
$GC,12306,1.20,489.3,12.0,6.7,1285,12374,0.00,2.45,60.50,0.843,4,0.000,0.081,3365,3594,1063,0,0,0,0,0,0
$FREEZE,6.15,3.572,-1.680,0,1,0
$FREEZE,5.77,3.573,-1.680,0,1,0
$FREEZE,5.18,3.566,-1.680,0,1,0
$FREEZE,4.63,3.565,-1.679,0,1,0
$FREEZE,4.06,3.567,-1.679,0,1,0
$FREEZE,3.56,3.546,-1.680,0,1,0
$STATE,12408,end climb,SURFACE_DEPTH_REACHED
$STATE,12409,begin surface coast
$FREEZE,3.00,3.544,-1.679,0,1,0
$FREEZE,2.51,3.539,-1.679,0,1,0
$FREEZE,2.03,3.450,-1.683,0,1,0
$FREEZE,2.12,3.136,-0.065,0,1,0
$FREEZE,1.97,3.470,-1.682,0,1,0
$FREEZE,2.05,3.193,-1.696,0,1,0
$FREEZE,2.06,3.380,-1.686,0,1,0
$FINISH,2.1,1.024518
$STATE,12448,end surface coast,CONTROL_FINISHED_OK
$STATE,12448,begin surface
$SM_CCo,12470,93.32,0.802,0,0,587,605.89
$SM_GC,2.93,0.00,0.00,93.32,0.000,0.000,0.802,338,2244,587,-12.76,-0.17,605.89
$RAFOS_CLK,515
$RAFOS,5,1284338463,0.700000,0.684167,49,43,43,43,39,39,154,591,631,1496,1,61
$RAFOS,4,1284337985,0.566667,0.551389,49,47,43,42,41,40,1086,1385,1894,57,1619,386
$RAFOS,3,1284337502,0.433333,0.417222,86,68,49,49,46,44,801,802,1762,1482,1837,237
$RAFOS,2,1284337026,0.300000,0.285000,155,148,47,46,44,43,642,641,1591,274,151,1330
$RAFOS,1,1284336545,0.166667,0.151389,48,47,46,44,41,41,1712,433,1358,1519,61,1713
$RAFOS,0,1284336063,0.033333,0.017500,50,47,44,44,41,41,477,617,947,1622,1012,602
$RAFOS_FIX,6646.066895,-6011.946289,130910,000028,2,120,0.16
$IRIDIUM_FIX,6614.97,-6015.98,071299,212149
$TT8_MAMPS,0.029146
$HUMID,42.99
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,550.4,39.1
$24V_AH,22.0,85.522
$10V_AH,9.9,43.703
$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,20.225,145.150,562.125,93.325,0.000,63.026,63.251,247.224,2.000,0.000,15.921,2277.109,7189.899,764.959,2156.740,772.570,0.000,1956.398,0.000,2131.543,2520.000,15.963,0.000
$DEVICE_MAMPS,227.032,89.739,1164.306,802.282,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,950.240,929.798,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135556
$DATA_FILE_SIZE,50456,1310
$CAP_FILE_SIZE,159175,0
$CFSIZE,260165632,208158720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$SOUNDSPEED,1453.4
$CURRENT,0.200,169.4,1
$GPS,130910,005255,6645.422,-6015.700,39,1.9,39,-38.1