version: 66.06
glider: 108
mission: 14
dive: 410
start: 9 2 110 8 42 51
data:
$ID,108
$MISSION,14
$DIVE,410
$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,-184281.25
$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,30
$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
$GPS1,083006,6703.696,-5650.204,38,1.5,38,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-62.7
$GPS2,084231,6703.696,-5650.719,9,1.7,14,-37.6
$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,160.9,2349,-20.3,-10.000
$D_GRID,495
$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,-0.82,-117.2,0.0,0.0,0,88,0.00,0.00,-69.18,0.000,2,0.000,0.000,333,2269,2373,0,0,0,0,0,0
$GC,92,-0.85,-146.1,3.1,-1.3,14,164,9.93,2.30,-52.92,0.000,4,0.221,0.064,2927,846,3657,0,0,0,0,0,0
$GC,328,-0.85,-146.1,25.5,-10.7,57,334,0.00,2.25,0.00,0.000,6,0.000,0.053,2920,2255,3660,0,0,0,0,0,0
$GC,672,-0.85,-146.1,60.5,-9.4,118,678,0.00,2.10,0.00,0.000,4,0.000,0.063,2910,3601,3662,0,0,0,0,0,0
$GC,701,-0.85,-146.1,63.7,-11.1,123,707,0.00,2.08,0.00,0.000,6,0.000,0.041,2910,2236,3662,0,0,0,0,0,0
$GC,1047,-0.85,-146.1,100.4,-10.6,184,1050,0.00,2.15,0.00,0.000,4,0.000,0.050,2910,845,3662,0,0,0,0,0,0
$GC,1119,-0.85,-146.1,108.4,-10.0,190,1126,0.10,2.25,0.00,0.000,6,0.157,0.054,2929,2252,3662,0,0,0,0,0,0
$GC,1445,-0.85,-146.1,137.6,-8.8,221,1448,0.00,2.10,0.00,0.000,4,0.000,0.064,2921,3603,3662,0,0,0,0,0,0
$GC,1479,-0.85,-146.1,140.8,-9.3,224,1483,0.00,2.05,0.00,0.000,6,0.000,0.041,2921,2245,3662,0,0,0,0,0,0
$GC,1810,-0.85,-146.1,173.4,-9.7,255,1811,0.00,0.00,0.00,0.000,6,0.000,0.000,2920,2244,3662,0,0,0,0,0,0
$GC,2131,-0.85,-146.1,202.5,-8.2,285,2134,0.00,2.15,0.00,0.000,4,0.000,0.051,2920,846,3662,0,0,0,0,0,0
$GC,2182,-0.85,-146.1,207.1,-8.7,289,2187,0.00,2.25,0.00,0.000,6,0.000,0.054,2911,2250,3662,0,0,0,0,0,0
$GC,2507,-0.85,-146.1,235.5,-8.5,320,2511,0.00,2.15,0.00,0.000,4,0.000,0.065,2901,3602,3661,0,0,0,0,0,0
$GC,2570,-0.85,-146.1,241.2,-9.0,325,2576,0.10,2.08,0.00,0.000,6,0.152,0.042,2930,2246,3661,0,0,0,0,0,0
$GC,2895,-0.85,-146.1,264.1,-6.7,356,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2245,3661,0,0,0,0,0,0
$GC,3217,-0.85,-146.1,287.9,-7.7,386,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2244,3660,0,0,0,0,0,0
$GC,3544,-0.85,-146.1,313.2,-7.7,417,3548,0.00,2.17,0.00,0.000,4,0.000,0.052,2930,848,3660,0,0,0,0,0,0
$GC,3575,-0.85,-146.1,315.7,-8.1,419,3580,0.00,2.25,0.00,0.000,6,0.000,0.055,2923,2262,3660,0,0,0,0,0,0
$GC,3900,-0.85,-146.1,341.2,-7.9,450,3904,0.00,2.08,0.00,0.000,4,0.000,0.065,2913,3593,3659,0,0,0,0,0,0
$GC,3940,-0.85,-146.1,344.6,-9.0,453,3945,0.00,2.08,0.00,0.000,6,0.000,0.042,2913,2240,3660,0,0,0,0,0,0
$GC,4265,-0.85,-146.1,371.6,-8.3,484,4269,0.00,2.17,0.00,0.000,4,0.000,0.052,2913,844,3659,0,0,0,0,0,0
$GC,4287,-0.85,-146.1,373.5,-8.3,485,4293,0.10,2.28,0.00,0.000,6,0.150,0.055,2932,2261,3659,0,0,0,0,0,0
$GC,4612,-0.85,-146.1,396.4,-6.9,516,4616,0.00,2.08,0.00,0.000,4,0.000,0.064,2924,3593,3659,0,0,0,0,0,0
$GC,4641,-0.85,-146.1,398.6,-7.7,518,4646,0.00,2.08,0.00,0.000,6,0.000,0.042,2924,2238,3659,0,0,0,0,0,0
$GC,4966,-0.85,-146.1,422.8,-7.6,549,4970,0.00,2.17,0.00,0.000,4,0.000,0.051,2924,842,3659,0,0,0,0,0,0
$GC,4989,-0.85,-146.1,424.7,-7.7,551,4993,0.00,2.25,0.00,0.000,6,0.000,0.054,2915,2250,3659,0,0,0,0,0,0
$GC,5320,-0.85,-146.1,450.0,-7.7,582,5329,0.00,2.15,0.00,0.000,4,0.000,0.065,2905,3601,3659,0,0,0,0,0,0
$GC,5347,-0.85,-146.1,452.2,-7.9,584,5352,0.10,2.05,0.00,0.000,6,0.147,0.042,2933,2247,3659,0,0,0,0,0,0
$GC,5673,-0.85,-146.1,474.6,-5.8,614,5674,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2247,3659,0,0,0,0,0,0
$STATE,5990,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5991,begin apogee
$GC,5997,-0.17,0.0,495.4,6.4,644,6123,0.40,0.00,119.57,1.076,6,0.110,0.000,3073,2246,3058,0,0,0,0,0,0
$STATE,6124,end apogee,CONTROL_FINISHED_OK
$STATE,6124,begin climb
$GC,6128,0.85,146.1,499.3,0.0,657,6262,0.62,2.40,121.50,1.022,4,0.068,0.059,3300,3594,2461,0,0,0,0,0,0
$GC,6325,0.85,146.1,486.0,11.3,675,6331,0.00,2.28,0.00,0.000,6,0.000,0.041,3309,2198,2461,0,0,0,0,0,0
$GC,6650,0.85,146.1,452.6,10.0,706,6654,0.00,2.20,0.00,0.000,4,0.000,0.051,3320,794,2461,0,0,0,0,0,0
$GC,6706,0.85,146.1,446.9,10.3,710,6712,0.10,2.28,0.00,0.000,6,0.166,0.052,3295,2208,2461,0,0,0,0,0,0
$GC,7031,0.89,174.4,418.2,8.4,741,7062,0.00,2.25,23.70,0.974,4,0.000,0.062,3295,3597,2347,0,0,0,0,0,0
$GC,7102,0.89,174.4,411.2,11.0,747,7108,0.00,2.15,0.00,0.000,6,0.000,0.040,3302,2194,2347,0,0,0,0,0,0
$GC,7428,0.90,180.4,379.6,9.7,778,7439,0.00,2.20,6.30,0.775,4,0.000,0.048,3312,790,2322,0,0,0,0,0,0
$GC,7490,0.91,191.7,373.5,9.4,783,7506,0.00,2.28,10.85,0.877,6,0.000,0.051,3313,2212,2276,0,0,0,0,0,0
$GC,7826,0.91,191.7,338.8,10.6,815,7829,0.00,2.17,0.00,0.000,4,0.000,0.062,3312,3598,2276,0,0,0,0,0,0
$GC,7865,0.91,191.7,334.0,13.0,818,7870,0.00,2.15,0.00,0.000,6,0.000,0.041,3322,2194,2276,0,0,0,0,0,0
$GC,8190,0.91,191.7,298.2,10.8,849,8191,0.00,0.00,0.00,0.000,6,0.000,0.000,3322,2194,2276,0,0,0,0,0,0
$GC,8511,0.91,191.7,263.8,10.7,879,8515,0.00,2.17,0.00,0.000,4,0.000,0.050,3333,793,2276,0,0,0,0,0,0
$GC,8584,0.91,191.7,255.7,10.8,885,8590,0.10,2.25,0.00,0.000,6,0.163,0.052,3306,2204,2277,0,0,0,0,0,0
$GC,8909,0.94,212.7,226.6,8.8,916,8933,0.00,2.22,18.12,0.871,4,0.000,0.063,3307,3588,2190,0,0,0,0,0,0
$GC,8974,0.94,212.7,220.1,10.8,922,8978,0.00,2.15,0.00,0.000,6,0.000,0.041,3314,2191,2189,0,0,0,0,0,0
$GC,9304,0.97,242.7,189.5,8.3,953,9336,0.00,2.20,25.60,0.866,4,0.000,0.049,3324,798,2067,0,0,0,0,0,0
$GC,9411,1.00,266.3,180.5,8.7,962,9437,0.00,2.28,20.20,0.835,6,0.000,0.051,3324,2208,1972,0,0,0,0,0,0
$GC,9756,1.02,280.3,147.6,9.2,995,9777,0.00,2.25,12.50,0.785,4,0.000,0.063,3324,3593,1914,0,0,0,0,0,0
$GC,9813,1.02,280.3,141.7,11.2,1000,9817,0.00,2.17,0.00,0.000,6,0.000,0.041,3334,2186,1914,0,0,0,0,0,0
$GC,10138,1.02,280.3,106.5,10.8,1030,10141,0.00,2.17,0.00,0.000,4,0.000,0.051,3344,790,1912,0,0,0,0,0,0
$GC,10195,1.02,280.3,100.5,10.7,1035,10200,0.00,2.28,0.00,0.000,6,0.000,0.053,3344,2209,1913,0,0,0,0,0,0
$GC,10539,1.02,280.3,62.1,10.8,1095,10545,0.00,2.17,0.00,0.000,4,0.000,0.064,3344,3590,1912,0,0,0,0,0,0
$GC,10602,1.02,280.3,54.4,12.7,1106,10608,0.00,2.12,0.00,0.000,6,0.000,0.043,3354,2192,1911,0,0,0,0,0,0
$GC,10949,1.07,323.4,19.3,7.5,1167,10990,0.00,2.22,35.83,0.787,4,0.000,0.051,3364,794,1738,0,0,0,0,0,0
$FREEZE,8.96,7.304,-1.807,0,1,0
$FREEZE,8.44,7.304,-1.806,0,1,0
$FREEZE,7.86,7.306,-1.806,0,1,0
$FREEZE,7.60,7.308,-1.806,0,1,0
$FREEZE,7.00,7.308,-1.805,0,1,0
$FREEZE,6.42,7.308,-1.805,0,1,0
$FREEZE,5.92,7.308,-1.804,0,1,0
$FREEZE,5.28,7.306,-1.804,0,1,0
$GC,11095,1.07,323.4,5.3,10.2,1193,11100,0.00,2.28,0.00,0.000,6,0.000,0.054,3364,2198,1735,0,0,0,0,0,0
$FREEZE,4.47,7.308,-1.803,0,1,0
$FREEZE,4.27,7.307,-1.803,0,1,0
$FREEZE,3.72,7.303,-1.803,0,1,0
$STATE,11116,end climb,SURFACE_DEPTH_REACHED
$STATE,11116,begin surface coast
$FREEZE,3.14,7.307,-1.802,0,1,0
$FREEZE,2.62,7.304,-1.802,0,1,0
$FREEZE,2.06,7.307,-1.801,0,1,0
$FREEZE,1.91,7.295,-1.802,0,1,0
$FREEZE,1.89,7.267,-1.027,0,1,0
$FREEZE,1.75,7.169,-1.807,0,1,0
$FREEZE,1.92,6.784,-1.257,0,1,0
$FREEZE,1.84,7.241,-1.768,0,1,0
$FREEZE,1.83,6.864,-1.597,0,1,0
$FREEZE,1.91,7.259,-1.797,0,1,0
$FREEZE,1.77,7.161,-0.535,0,1,0
$FREEZE,1.83,7.149,-1.807,0,1,0
$FREEZE,1.93,7.194,-1.107,0,1,0
$FREEZE,1.82,6.967,-1.230,0,1,0
$FREEZE,1.95,7.275,-1.796,0,1,0
$FINISH,1.9,1.025619
$STATE,11202,end surface coast,CONTROL_FINISHED_OK
$STATE,11202,begin surface
$SM_CCo,11222,223.98,0.733,0,0,587,605.89
$SM_GC,2.66,0.00,0.00,223.98,0.000,0.000,0.733,334,2268,587,-12.78,0.51,605.89
$RAFOS_CLK,411
$RAFOS,6,1283417343,8.833333,8.817500,79,67,44,41,41,41,845,846,1303,623,816,1089
$RAFOS_FIX,6703.562988,-5654.400391,020910,080818,3,67,0.00
$IRIDIUM_FIX,6636.54,-5655.33,271199,080824
$TT8_MAMPS,0.026078
$HUMID,42.04
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,17.40
$XPDR_PINGS,27
$ALTIM_TOP_PING,19.8,17.0
$ALTIM_BOTTOM_PING,450.5,60.6
$24V_AH,22.9,75.681
$10V_AH,10.1,39.053
$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,19.500,105.075,394.175,223.975,0.000,67.386,65.660,380.266,8.250,0.000,15.481,1974.434,6685.924,733.586,1925.219,870.040,0.000,1766.828,0.000,1903.874,360.000,12.517,0.000
$DEVICE_MAMPS,220.896,116.584,1076.101,733.252,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,896.243,828.610,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135572
$DATA_FILE_SIZE,47351,1212
$CAP_FILE_SIZE,137275,0
$CFSIZE,260165632,212566016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$GPS,020910,115507,6702.832,-5649.469,30,1.8,30,-37.5