version: 66.06
glider: 108
mission: 14
dive: 291
start: 8 6 110 4 39 18
data:
$ID,108
$MISSION,14
$DIVE,291
$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,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,-182179.09
$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,30
$R_STBD_OVSHOOT,18
$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
$GPS1,042507,6648.545,-6021.271,38,0.9,38,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.70
$_SM_ANGLEo,-71.4
$GPS2,043856,6648.508,-6021.215,15,1.3,15,-38.2
$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,118.3,156294,-18.1,-10.000
$D_GRID,548
$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,-146.1,0.0,0.0,0,69,0.00,0.00,-50.08,0.000,2,0.000,0.000,334,2259,1744,0,0,0,0,0,0
$GC,73,-0.78,-146.1,3.0,-1.1,10,198,10.12,2.25,-104.80,0.000,4,0.229,0.091,2934,3607,3656,0,0,0,0,0,0
$GC,295,-0.78,-146.1,19.5,-13.8,51,300,0.00,2.17,0.00,0.000,6,0.000,0.054,2934,2248,3660,0,0,0,0,0,0
$GC,639,-0.78,-146.1,62.5,-12.0,112,645,0.00,2.25,0.00,0.000,4,0.000,0.064,2934,832,3663,0,0,0,0,0,0
$GC,685,-0.78,-146.1,68.3,-12.3,120,691,0.00,2.38,0.00,0.000,6,0.000,0.067,2925,2267,3663,0,0,0,0,0,0
$GC,1031,-0.78,-146.1,111.8,-13.0,174,1034,0.00,2.17,0.00,0.000,4,0.000,0.079,2915,3604,3663,0,0,0,0,0,0
$GC,1054,-0.78,-146.1,114.9,-13.2,176,1058,0.10,2.15,0.00,0.000,6,0.163,0.055,2942,2248,3663,0,0,0,0,0,0
$GC,1384,-0.78,-146.1,148.0,-8.2,207,1389,0.00,2.22,0.00,0.000,4,0.000,0.066,2942,842,3663,0,0,0,0,0,0
$GC,1446,-0.78,-146.1,153.4,-8.5,212,1452,0.00,2.33,0.00,0.000,6,0.000,0.068,2934,2248,3663,0,0,0,0,0,0
$GC,1771,-0.78,-146.1,182.7,-9.2,243,1773,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2248,3663,0,0,0,0,0,0
$GC,2093,-0.78,-146.1,213.0,-9.8,273,2097,0.00,2.17,0.00,0.000,4,0.000,0.081,2924,3596,3662,0,0,0,0,0,0
$GC,2126,-0.78,-146.1,217.0,-11.1,275,2132,0.00,2.15,0.00,0.000,6,0.000,0.058,2924,2251,3662,0,0,0,0,0,0
$GC,2451,-0.78,-146.1,250.4,-9.7,306,2455,0.00,2.28,0.00,0.000,4,0.000,0.069,2925,838,3661,0,0,0,0,0,0
$GC,2479,-0.78,-146.1,253.3,-10.6,308,2484,0.10,2.35,0.00,0.000,6,0.157,0.071,2943,2249,3661,0,0,0,0,0,0
$GC,2804,-0.78,-146.1,279.6,-7.9,338,2809,0.00,2.20,0.00,0.000,4,0.000,0.082,2935,3599,3661,0,0,0,0,0,0
$GC,2832,-0.78,-146.1,282.0,-8.7,340,2838,0.00,2.15,0.00,0.000,6,0.000,0.058,2935,2249,3661,0,0,0,0,0,0
$GC,3158,-0.78,-146.1,309.7,-8.6,371,3162,0.00,2.28,0.00,0.000,4,0.000,0.067,2935,830,3661,0,0,0,0,0,0
$GC,3198,-0.78,-146.1,313.4,-9.1,374,3202,0.00,2.35,0.00,0.000,6,0.000,0.070,2926,2249,3660,0,0,0,0,0,0
$GC,3523,-0.78,-146.1,342.6,-8.9,404,3527,0.00,2.20,0.00,0.000,4,0.000,0.081,2915,3601,3660,0,0,0,0,0,0
$GC,3562,-0.78,-146.1,346.5,-9.6,407,3569,0.10,2.15,0.00,0.000,6,0.156,0.057,2943,2249,3660,0,0,0,0,0,0
$GC,3888,-0.78,-146.1,371.9,-7.9,438,3892,0.00,2.25,0.00,0.000,4,0.000,0.067,2943,828,3660,0,0,0,0,0,0
$GC,3932,-0.78,-146.1,375.9,-8.8,441,3938,0.00,2.35,0.00,0.000,6,0.000,0.068,2937,2251,3660,0,0,0,0,0,0
$GC,4258,-0.78,-146.1,401.6,-7.6,472,4262,0.00,2.22,0.00,0.000,4,0.000,0.081,2926,3606,3660,0,0,0,0,0,0
$GC,4297,-0.78,-146.1,405.0,-8.6,475,4303,0.00,2.15,0.00,0.000,6,0.000,0.055,2926,2248,3660,0,0,0,0,0,0
$GC,4623,-0.78,-146.1,430.5,-7.7,506,4624,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2248,3660,0,0,0,0,0,0
$GC,4945,-0.78,-146.1,455.1,-7.9,536,4949,0.00,2.25,0.00,0.000,4,0.000,0.066,2926,838,3660,0,0,0,0,0,0
$GC,4996,-0.78,-146.1,459.6,-8.2,540,5001,0.10,2.35,0.00,0.000,6,0.153,0.068,2946,2264,3660,0,0,0,0,0,0
$GC,5321,-0.78,-146.1,480.7,-6.3,570,5325,0.00,2.15,0.00,0.000,4,0.000,0.079,2938,3596,3660,0,0,0,0,0,0
$GC,5355,-0.78,-146.1,483.2,-7.7,573,5359,0.00,2.12,0.00,0.000,6,0.000,0.054,2938,2249,3660,0,0,0,0,0,0
$GC,5686,-0.78,-146.1,505.2,-6.6,604,5690,0.00,2.25,0.00,0.000,4,0.000,0.064,2937,834,3660,0,0,0,0,0,0
$GC,5726,-0.78,-146.1,508.0,-7.0,607,5731,0.00,2.33,0.00,0.000,6,0.000,0.066,2929,2251,3660,0,0,0,0,0,0
$GC,6052,-0.78,-146.1,530.5,-7.2,637,6055,0.00,2.17,0.00,0.000,4,0.000,0.077,2919,3599,3661,0,0,0,0,0,0
$GC,6091,-0.78,-146.1,533.3,-7.5,640,6097,0.10,2.15,0.00,0.000,6,0.150,0.053,2947,2235,3661,0,0,0,0,0,0
$STATE,6352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6352,begin apogee
$GC,6358,-0.17,0.0,548.3,6.2,665,6484,0.38,0.00,119.03,1.185,6,0.114,0.000,3078,2235,3058,0,0,0,0,0,0
$STATE,6485,end apogee,CONTROL_FINISHED_OK
$STATE,6485,begin climb
$GC,6488,0.78,146.1,553.4,0.0,678,6623,0.57,2.47,123.60,1.118,4,0.067,0.071,3287,3594,2461,0,0,0,0,0,0
$GC,6681,0.79,151.8,543.5,9.7,696,6692,0.00,2.40,5.85,0.825,6,0.000,0.051,3296,2198,2439,0,0,0,0,0,0
$GC,7011,0.82,173.2,513.9,9.0,727,7033,0.00,0.00,19.48,1.056,6,0.000,0.000,3297,2198,2351,0,0,0,0,0,0
$GC,7351,0.85,197.6,482.8,8.9,759,7374,0.00,0.00,21.17,1.067,6,0.000,0.000,3297,2198,2252,0,0,0,0,0,0
$GC,7689,0.85,205.1,451.3,9.7,791,7703,0.00,2.35,7.30,0.910,4,0.000,0.064,3307,785,2222,0,0,0,0,0,0
$GC,7739,0.86,212.7,446.8,9.7,795,7755,0.00,2.38,8.32,0.936,6,0.000,0.064,3307,2210,2190,0,0,0,0,0,0
$GC,8074,0.86,212.7,413.9,10.0,827,8078,0.00,2.25,0.00,0.000,4,0.000,0.074,3307,3600,2190,0,0,0,0,0,0
$GC,8107,0.86,212.7,410.0,11.7,829,8113,0.00,2.22,0.00,0.000,6,0.000,0.051,3317,2195,2188,0,0,0,0,0,0
$GC,8433,0.86,212.7,375.3,10.3,860,8437,0.00,2.25,0.00,0.000,4,0.000,0.061,3328,784,2188,0,0,0,0,0,0
$GC,8473,0.86,212.7,371.0,10.2,863,8478,0.12,2.35,0.00,0.000,6,0.161,0.063,3294,2213,2189,0,0,0,0,0,0
$GC,8798,0.87,214.8,339.8,9.9,893,8802,0.00,2.22,0.00,0.000,4,0.000,0.073,3294,3597,2189,0,0,0,0,0,0
$GC,8838,0.87,214.8,335.4,11.7,896,8842,0.00,2.20,0.00,0.000,6,0.000,0.051,3301,2199,2188,0,0,0,0,0,0
$GC,9164,0.89,233.2,304.3,9.2,926,9188,0.00,2.33,17.62,0.995,4,0.000,0.061,3312,784,2107,0,0,0,0,0,0
$GC,9230,0.90,239.3,298.3,9.7,932,9244,0.00,2.35,6.90,0.838,6,0.000,0.061,3312,2209,2082,0,0,0,0,0,0
$GC,9570,0.91,247.0,266.4,9.6,964,9579,0.00,0.00,7.60,0.853,6,0.000,0.000,3312,2209,2051,0,0,0,0,0,0
$GC,9899,0.92,257.1,234.0,9.5,995,9914,0.00,2.25,10.10,0.892,4,0.000,0.073,3312,3593,2009,0,0,0,0,0,0
$GC,9937,0.92,257.1,229.9,11.4,998,9941,0.00,2.22,0.00,0.000,6,0.000,0.051,3321,2192,2008,0,0,0,0,0,0
$GC,10262,0.92,257.1,195.6,10.2,1028,10266,0.00,2.25,0.00,0.000,4,0.000,0.062,3332,783,2008,0,0,0,0,0,0
$GC,10285,0.92,257.1,193.2,10.5,1029,10291,0.00,2.35,0.00,0.000,6,0.000,0.063,3332,2208,2009,0,0,0,0,0,0
$GC,10610,0.92,259.0,160.2,9.9,1060,10614,0.00,2.25,0.00,0.000,4,0.000,0.075,3332,3606,2008,0,0,0,0,0,0
$GC,10656,0.92,259.0,155.0,12.4,1064,10661,0.12,2.22,0.00,0.000,6,0.165,0.053,3307,2199,2008,0,0,0,0,0,0
$GC,10981,1.00,319.3,130.0,7.2,1094,11042,0.00,2.38,51.97,0.943,4,0.000,0.064,3314,790,1756,0,0,0,0,0,0
$GC,11095,1.06,373.4,122.2,7.5,1104,11151,0.10,2.38,46.75,0.897,6,0.106,0.064,3368,2200,1535,0,0,0,0,0,0
$GC,11480,1.06,373.4,77.1,12.2,1157,11485,0.10,0.00,0.00,0.000,6,0.166,0.000,3342,2199,1525,0,0,0,0,0,0
$GC,11824,1.14,433.5,50.6,7.3,1218,11875,0.00,0.00,48.58,0.892,6,0.000,0.000,3342,2199,1290,0,0,0,0,0,0
$GC,12213,1.17,460.0,19.1,8.8,1288,12244,0.10,2.40,21.55,0.848,4,0.117,0.065,3384,798,1182,0,0,0,0,0,0
$GC,12273,1.24,515.6,14.0,7.5,1299,12325,0.00,2.38,45.97,0.848,6,0.000,0.067,3381,2203,956,0,0,0,0,0,0
$FREEZE,8.80,3.175,-1.600,0,1,0
$FREEZE,8.30,3.208,-1.597,0,1,0
$FREEZE,7.73,3.228,-1.594,0,1,0
$FREEZE,7.05,3.233,-1.596,0,1,0
$FREEZE,6.63,3.234,-1.600,0,1,0
$FREEZE,6.13,3.234,-1.603,0,1,0
$FREEZE,5.61,3.236,-1.606,0,1,0
$FREEZE,5.15,3.236,-1.609,0,1,0
$FREEZE,4.72,3.234,-1.616,0,1,0
$FREEZE,4.20,3.237,-1.626,0,1,0
$FREEZE,3.78,3.237,-1.627,0,1,0
$STATE,12392,end climb,SURFACE_DEPTH_REACHED
$STATE,12392,begin surface coast
$FREEZE,3.32,3.208,-1.643,0,1,0
$FREEZE,2.74,3.219,-1.637,0,1,0
$FREEZE,2.21,3.218,-1.657,0,1,0
$FREEZE,1.82,3.198,-1.664,0,1,0
$FREEZE,1.83,3.227,-0.110,0,1,0
$FREEZE,1.83,3.214,-1.015,0,1,0
$FREEZE,1.85,3.233,-1.662,0,1,0
$FREEZE,1.79,3.094,-0.904,0,1,0
$FREEZE,1.83,3.143,-1.651,0,1,0
$FINISH,1.8,1.024048
$STATE,12443,end surface coast,CONTROL_FINISHED_OK
$STATE,12445,begin surface
$SM_CCo,12465,71.22,0.825,0,0,588,605.89
$SM_GC,2.74,0.00,0.00,71.22,0.000,0.000,0.825,338,2250,588,-12.76,0.00,605.89
$RAFOS_CLK,525
$RAFOS,6,1281070144,4.833333,4.817778,140,133,46,42,40,40,821,822,1274,141,1270,1816
$RAFOS,5,1281069665,4.700000,4.684722,80,73,44,43,42,42,953,954,1834,459,1237,1536
$RAFOS,2,1281068224,4.300000,4.284444,45,42,41,40,39,38,996,972,1706,1610,1479,112
$RAFOS_FIX,6648.416504,-6017.998047,060810,040444,4,103,0.00
$IRIDIUM_FIX,6620.33,-6025.46,311099,040411
$TT8_MAMPS,0.027612
$HUMID,40.98
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.1
$24V_AH,22.7,50.353
$10V_AH,10.0,27.260
$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,20.400,117.875,561.800,71.225,0.000,90.419,153.104,295.489,1.500,0.000,16.612,2152.975,7451.892,726.551,2114.590,922.044,0.000,1885.502,0.000,2089.021,1080.000,11.435,0.000
$DEVICE_MAMPS,229.333,138.827,1185.015,825.292,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,968.733,937.315,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135640
$DATA_FILE_SIZE,53622,1330
$CAP_FILE_SIZE,152112,0
$CFSIZE,260165632,223690752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.4
$GPS,060810,081000,6648.534,-6017.557,36,0.9,41,-38.2