version: 66.06
glider: 108
mission: 14
dive: 456
start: 9 13 110 0 59 43
data:
$ID,108
$MISSION,14
$DIVE,456
$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,-185036.48
$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,27
$R_STBD_OVSHOOT,20
$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
$GPS1,005255,6645.422,-6015.700,39,1.9,39,-38.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.88
$_SM_ANGLEo,-75.5
$GPS2,005919,6645.365,-6015.676,13,1.0,13,-38.1
$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,70.8,153488,-18.1,-10.000
$D_GRID,547
$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,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,63,0.00,0.00,-44.42,0.000,2,0.000,0.000,337,2241,1625,0,0,0,0,0,0
$GC,66,-0.78,-146.1,3.0,-0.3,9,173,10.50,0.00,-91.43,0.000,6,0.239,0.000,2934,2241,3656,0,0,0,0,0,0
$GC,513,-0.78,-146.1,53.8,-12.5,89,519,0.00,2.28,0.00,0.000,4,0.000,0.064,2934,832,3664,0,0,0,0,0,0
$GC,604,-0.78,-146.1,65.0,-12.0,105,610,0.00,2.38,0.00,0.000,6,0.000,0.069,2927,2257,3664,0,0,0,0,0,0
$GC,952,-0.78,-146.1,105.0,-11.5,163,956,0.00,2.17,0.00,0.000,4,0.000,0.079,2916,3596,3664,0,0,0,0,0,0
$GC,1046,-0.78,-146.1,117.4,-12.5,171,1054,0.10,2.15,0.00,0.000,6,0.160,0.055,2943,2246,3665,0,0,0,0,0,0
$GC,1372,-0.78,-146.1,150.4,-9.5,202,1376,0.00,2.25,0.00,0.000,4,0.000,0.065,2943,842,3664,0,0,0,0,0,0
$GC,1441,-0.78,-146.1,157.1,-9.9,208,1445,0.00,2.38,0.00,0.000,6,0.000,0.070,2936,2264,3665,0,0,0,0,0,0
$GC,1766,-0.78,-146.1,187.7,-9.1,238,1770,0.00,2.17,0.00,0.000,4,0.000,0.081,2926,3594,3664,0,0,0,0,0,0
$GC,1862,-0.78,-146.1,196.9,-9.3,246,1868,0.00,2.15,0.00,0.000,6,0.000,0.058,2926,2249,3664,0,0,0,0,0,0
$GC,2187,-0.78,-146.1,227.5,-9.6,277,2191,0.00,2.28,0.00,0.000,4,0.000,0.067,2926,844,3664,0,0,0,0,0,0
$GC,2239,-0.78,-146.1,232.6,-9.8,281,2244,0.10,2.35,0.00,0.000,6,0.154,0.071,2945,2258,3664,0,0,0,0,0,0
$GC,2564,-0.78,-146.1,260.6,-8.3,311,2568,0.00,2.20,0.00,0.000,4,0.000,0.082,2937,3597,3663,0,0,0,0,0,0
$GC,2622,-0.78,-146.1,265.4,-8.5,316,2626,0.00,2.15,0.00,0.000,6,0.000,0.058,2937,2243,3663,0,0,0,0,0,0
$GC,2952,-0.78,-146.1,290.7,-7.1,347,2956,0.00,2.25,0.00,0.000,4,0.000,0.068,2937,842,3662,0,0,0,0,0,0
$GC,3019,-0.78,-146.1,295.9,-7.6,352,3025,0.00,2.35,0.00,0.000,6,0.000,0.071,2928,2248,3662,0,0,0,0,0,0
$GC,3344,-0.78,-146.1,320.0,-7.4,383,3348,0.00,2.20,0.00,0.000,4,0.000,0.083,2918,3599,3663,0,0,0,0,0,0
$GC,3395,-0.78,-146.1,324.1,-8.4,387,3400,0.10,2.15,0.00,0.000,6,0.150,0.058,2946,2243,3662,0,0,0,0,0,0
$GC,3720,-0.78,-146.1,344.4,-6.0,417,3724,0.00,2.28,0.00,0.000,4,0.000,0.067,2946,838,3663,0,0,0,0,0,0
$GC,3761,-0.78,-146.1,346.9,-6.4,420,3765,0.00,2.38,0.00,0.000,6,0.000,0.071,2940,2253,3662,0,0,0,0,0,0
$GC,4086,-0.78,-146.1,367.8,-6.5,450,4090,0.00,2.22,0.00,0.000,4,0.000,0.081,2930,3604,3662,0,0,0,0,0,0
$GC,4172,-0.78,-146.1,374.0,-7.7,457,4176,0.00,2.17,0.00,0.000,6,0.000,0.055,2930,2241,3662,0,0,0,0,0,0
$GC,4503,-0.78,-146.1,398.1,-7.1,488,4507,0.00,2.28,0.00,0.000,4,0.000,0.067,2929,834,3662,0,0,0,0,0,0
$GC,4560,-0.78,-146.1,402.6,-7.6,492,4566,0.00,2.38,0.00,0.000,6,0.000,0.069,2921,2255,3662,0,0,0,0,0,0
$GC,4885,-0.78,-146.1,427.3,-7.8,523,4890,0.10,2.20,0.00,0.000,4,0.160,0.080,2941,3596,3663,0,0,0,0,0,0
$GC,4943,-0.78,-146.1,431.5,-7.6,528,4946,0.00,2.15,0.00,0.000,6,0.000,0.054,2941,2245,3663,0,0,0,0,0,0
$GC,5273,-0.78,-146.1,455.0,-7.1,559,5278,0.00,2.28,0.00,0.000,4,0.000,0.064,2941,833,3663,0,0,0,0,0,0
$GC,5318,-0.78,-146.1,458.6,-8.4,562,5324,0.00,2.38,0.00,0.000,6,0.000,0.068,2932,2263,3663,0,0,0,0,0,0
$GC,5643,-0.78,-146.1,482.9,-7.6,593,5647,0.00,2.20,0.00,0.000,4,0.000,0.079,2922,3606,3663,0,0,0,0,0,0
$GC,5689,-0.78,-146.1,486.6,-8.9,597,5693,0.00,2.15,0.00,0.000,6,0.000,0.054,2922,2238,3663,0,0,0,0,0,0
$GC,6021,-0.78,-146.1,512.0,-7.7,628,6025,0.00,2.25,0.00,0.000,4,0.000,0.064,2922,840,3663,0,0,0,0,0,0
$GC,6050,-0.78,-146.1,514.3,-7.9,630,6055,0.12,2.35,0.00,0.000,6,0.140,0.067,2949,2259,3663,0,0,0,0,0,0
$GC,6375,-0.78,-146.1,533.9,-5.8,660,6379,0.00,2.20,0.00,0.000,4,0.000,0.078,2941,3604,3664,0,0,0,0,0,0
$GC,6448,-0.78,-146.1,538.5,-7.1,666,6454,0.00,2.15,0.00,0.000,6,0.000,0.053,2941,2249,3664,0,0,0,0,0,0
$STATE,6568,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6569,begin apogee
$GC,6576,-0.17,0.0,547.3,6.7,678,6704,0.40,0.00,124.47,1.164,6,0.109,0.000,3078,2190,3058,0,0,0,0,0,0
$STATE,6705,end apogee,CONTROL_FINISHED_OK
$STATE,6705,begin climb
$GC,6708,0.78,146.1,553.0,0.0,691,6849,0.57,2.65,128.15,1.098,4,0.065,0.073,3287,3594,2461,0,0,0,0,0,0
$GC,6884,0.83,181.8,547.8,8.4,707,6926,0.00,2.42,33.28,1.041,6,0.000,0.051,3296,2199,2315,0,0,0,0,0,0
$GC,7245,0.86,209.6,518.1,8.7,741,7276,0.00,2.42,23.85,1.053,4,0.000,0.074,3296,3594,2203,0,0,0,0,0,0
$GC,7294,0.87,217.5,513.6,9.6,745,7310,0.00,2.28,8.65,0.914,6,0.000,0.051,3305,2196,2171,0,0,0,0,0,0
$GC,7629,0.88,227.7,481.5,9.5,777,7644,0.00,2.28,9.98,0.972,4,0.000,0.062,3316,787,2129,0,0,0,0,0,0
$GC,7661,0.91,248.1,478.3,9.1,779,7688,0.00,2.38,19.05,1.032,6,0.000,0.063,3316,2213,2046,0,0,0,0,0,0
$GC,8006,0.91,248.1,439.3,11.5,812,8010,0.00,2.25,0.00,0.000,4,0.000,0.074,3316,3602,2043,0,0,0,0,0,0
$GC,8046,0.91,248.1,434.0,13.2,815,8051,0.00,2.20,0.00,0.000,6,0.000,0.051,3326,2198,2041,0,0,0,0,0,0
$GC,8372,0.91,248.1,391.9,12.2,845,8376,0.00,2.25,0.00,0.000,4,0.000,0.062,3336,790,2041,0,0,0,0,0,0
$GC,8423,0.91,248.1,385.5,12.0,849,8428,0.12,2.33,0.00,0.000,6,0.156,0.064,3302,2201,2042,0,0,0,0,0,0
$GC,8748,0.92,257.8,352.1,9.6,879,8762,0.00,2.30,8.57,0.900,4,0.000,0.076,3302,3591,2007,0,0,0,0,0,0
$GC,8816,0.92,257.8,344.9,11.6,885,8820,0.00,2.17,0.00,0.000,6,0.000,0.052,3309,2201,2007,0,0,0,0,0,0
$GC,9141,0.95,282.4,313.7,8.9,915,9173,0.00,2.33,22.73,0.993,4,0.000,0.061,3319,794,1906,0,0,0,0,0,0
$GC,9224,0.98,305.1,306.2,9.0,922,9251,0.00,2.35,20.62,0.960,6,0.000,0.064,3319,2205,1814,0,0,0,0,0,0
$GC,9569,0.98,305.1,272.4,10.3,955,9573,0.00,2.28,0.00,0.000,4,0.000,0.076,3319,3603,1809,0,0,0,0,0,0
$GC,9602,0.98,305.1,268.4,12.0,957,9607,0.00,2.22,0.00,0.000,6,0.000,0.053,3329,2201,1808,0,0,0,0,0,0
$GC,9927,0.98,305.1,231.6,11.4,988,9931,0.00,2.28,0.00,0.000,4,0.000,0.062,3340,780,1807,0,0,0,0,0,0
$GC,10005,0.98,305.1,222.7,11.3,994,10011,0.00,2.35,0.00,0.000,6,0.000,0.065,3340,2200,1807,0,0,0,0,0,0
$GC,10330,0.98,305.1,182.9,11.8,1025,10334,0.00,2.30,0.00,0.000,4,0.000,0.077,3340,3600,1807,0,0,0,0,0,0
$GC,10370,0.98,305.1,177.6,14.4,1028,10375,0.10,2.22,0.00,0.000,6,0.171,0.054,3323,2194,1806,0,0,0,0,0,0
$GC,10697,1.02,338.8,145.1,8.5,1058,10732,0.00,2.33,29.27,0.918,4,0.000,0.064,3332,786,1676,0,0,0,0,0,0
$GC,10788,1.08,391.4,138.4,7.6,1066,10840,0.00,2.38,46.58,0.896,6,0.000,0.065,3332,2206,1462,0,0,0,0,0,0
$GC,11159,1.19,476.4,114.6,6.1,1101,11242,0.12,2.47,71.75,0.883,4,0.093,0.064,3401,785,1114,0,0,0,0,0,0
$GC,11250,1.19,476.4,105.7,10.9,1109,11257,0.10,2.40,0.00,0.000,6,0.120,0.067,3367,2191,1113,0,0,0,0,0,0
$GC,11593,1.19,476.4,69.2,12.5,1165,11599,0.00,2.33,0.00,0.000,4,0.000,0.081,3368,3601,1105,0,0,0,0,0,0
$GC,11617,1.19,476.4,65.8,12.2,1169,11622,0.00,2.25,0.00,0.000,6,0.000,0.055,3374,2196,1104,0,0,0,0,0,0
$GC,11963,1.24,519.7,29.3,8.0,1230,12004,0.00,2.33,34.50,0.845,4,0.000,0.068,3383,795,938,0,0,0,0,0,0
$GC,12053,1.35,604.2,23.2,6.1,1246,12129,0.00,2.38,69.28,0.823,6,0.000,0.067,3383,2203,593,0,0,0,0,0,0
$FREEZE,8.97,3.948,-1.690,0,1,0
$FREEZE,8.28,3.958,-1.689,0,1,0
$FREEZE,7.71,3.966,-1.688,0,1,0
$FREEZE,7.03,4.002,-1.685,0,1,0
$FREEZE,6.47,4.011,-1.685,0,1,0
$FREEZE,5.75,4.013,-1.684,0,1,0
$FREEZE,5.03,4.011,-1.684,0,1,0
$FREEZE,4.40,4.011,-1.684,0,1,0
$FREEZE,3.72,4.005,-1.685,0,1,0
$STATE,12266,end climb,SURFACE_DEPTH_REACHED
$STATE,12270,begin surface coast
$FREEZE,2.65,4.000,-1.684,0,1,0
$FREEZE,2.13,3.834,-1.693,0,1,0
$FREEZE,2.00,3.842,-0.692,0,1,0
$FREEZE,2.04,3.521,-0.475,0,1,0
$FREEZE,2.02,3.606,-0.705,0,1,0
$FREEZE,2.07,3.591,-0.623,0,1,0
$FINISH,2.1,1.009122
$STATE,12303,end surface coast,CONTROL_FINISHED_OK
$STATE,12303,begin surface
$SM_CCo,12382,0.00,0.000,0,0,588,605.89
$SM_GC,2.95,8.15,0.00,0.00,0.041,0.000,0.000,333,2250,588,-12.69,0.00,605.89
$RAFOS_CLK,502
$RAFOS,2,1284351423,4.300000,4.284167,87,80,51,50,45,42,667,668,881,686,1891,1909
$RAFOS,1,1284350946,4.166667,4.151667,44,44,43,42,41,40,803,1249,1035,1158,1237,784
$RAFOS,0,1284350463,4.033333,4.017500,54,44,44,43,43,42,667,1216,1387,610,942,1290
$RAFOS,6,1284338942,0.833333,0.817222,51,50,42,41,41,41,1758,1757,212,794,101,1884
$RAFOS_FIX,6646.066895,-6011.946289,130910,000028,2,120,0.16
$IRIDIUM_FIX,6620.33,-6008.55,071299,212115
$TT8_MAMPS,0.026845
$HUMID,43.81
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,21.9,85.718
$10V_AH,9.9,43.780
$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,20.600,137.100,650.725,0.000,0.000,28.670,34.146,161.371,1.500,0.000,15.100,2273.257,7018.202,722.375,2144.060,595.223,0.000,1909.325,0.000,2113.239,1080.000,11.639,0.000
$DEVICE_MAMPS,238.537,140.361,1164.306,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,933.333,912.961,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135588
$DATA_FILE_SIZE,50466,1291
$CAP_FILE_SIZE,150044,0
$CFSIZE,260165632,208084992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.4
$CURRENT,0.160,318.0,1
$GPS,130910,042731,6647.595,-6014.919,38,1.4,38,-38.1