version: 66.06
glider: 108
mission: 14
dive: 411
start: 9 2 110 12 6 35
data:
$ID,108
$MISSION,14
$DIVE,411
$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,-184297.8
$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,43
$R_STBD_OVSHOOT,35
$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
$GPS1,115507,6702.832,-5649.469,30,1.8,30,-37.5
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-66.9
$GPS2,120613,6702.857,-5649.646,14,1.7,14,-37.5
$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,295.1,162084,-18.1,-10.000
$D_GRID,555
$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,-146.1,0.0,0.0,0,84,0.00,0.00,-64.97,0.000,2,0.000,0.000,332,2269,2276,0,0,0,0,0,0
$GC,88,-0.78,-146.1,3.0,-1.0,13,161,10.18,2.20,-56.85,0.000,4,0.229,0.081,2923,3595,3656,0,0,0,0,0,0
$GC,307,-0.78,-146.1,25.9,-14.3,53,313,0.00,2.08,0.00,0.000,6,0.000,0.042,2924,2247,3662,0,0,0,0,0,0
$GC,651,-0.78,-146.1,62.9,-9.3,114,656,0.00,2.17,0.00,0.000,4,0.000,0.050,2923,842,3664,0,0,0,0,0,0
$GC,765,-0.78,-146.1,74.3,-10.2,134,771,0.10,2.25,0.00,0.000,6,0.151,0.053,2943,2257,3664,0,0,0,0,0,0
$GC,1116,-0.78,-146.1,105.1,-9.1,191,1120,0.00,2.10,0.00,0.000,4,0.000,0.063,2935,3596,3665,0,0,0,0,0,0
$GC,1155,-0.78,-146.1,109.3,-10.2,194,1159,0.00,2.08,0.00,0.000,6,0.000,0.042,2934,2241,3665,0,0,0,0,0,0
$GC,1482,-0.78,-146.1,137.7,-7.8,224,1486,0.00,2.15,0.00,0.000,4,0.000,0.051,2934,846,3665,0,0,0,0,0,0
$GC,1520,-0.78,-146.1,141.4,-8.9,227,1526,0.00,2.25,0.00,0.000,6,0.000,0.054,2925,2249,3664,0,0,0,0,0,0
$GC,1846,-0.78,-146.1,169.4,-8.5,258,1850,0.00,2.12,0.00,0.000,4,0.000,0.065,2915,3597,3664,0,0,0,0,0,0
$GC,1902,-0.78,-146.1,174.7,-9.1,262,1908,0.10,2.08,0.00,0.000,6,0.150,0.043,2943,2244,3664,0,0,0,0,0,0
$GC,2227,-0.78,-146.1,200.6,-7.7,293,2231,0.00,2.17,0.00,0.000,4,0.000,0.051,2943,842,3663,0,0,0,0,0,0
$GC,2300,-0.78,-146.1,206.5,-8.4,299,2304,0.00,2.28,0.00,0.000,6,0.000,0.055,2936,2259,3663,0,0,0,0,0,0
$GC,2625,-0.78,-146.1,230.7,-7.2,329,2629,0.00,2.10,0.00,0.000,4,0.000,0.065,2926,3599,3663,0,0,0,0,0,0
$GC,2716,-0.78,-146.1,237.8,-8.1,337,2720,0.00,2.08,0.00,0.000,6,0.000,0.043,2926,2240,3663,0,0,0,0,0,0
$GC,3047,-0.78,-146.1,262.0,-7.2,368,3051,0.00,2.15,0.00,0.000,4,0.000,0.053,2926,845,3662,0,0,0,0,0,0
$GC,3076,-0.78,-146.1,264.1,-7.7,370,3080,0.10,2.28,0.00,0.000,6,0.149,0.055,2946,2259,3662,0,0,0,0,0,0
$GC,3401,-0.78,-146.1,283.9,-5.8,400,3404,0.00,2.10,0.00,0.000,4,0.000,0.065,2938,3593,3662,0,0,0,0,0,0
$GC,3469,-0.78,-146.1,288.2,-6.1,406,3473,0.00,2.08,0.00,0.000,6,0.000,0.043,2938,2241,3662,0,0,0,0,0,0
$GC,3799,-0.78,-146.1,307.7,-5.9,437,3803,0.00,2.17,0.00,0.000,4,0.000,0.053,2938,835,3662,0,0,0,0,0,0
$GC,3879,-0.78,-146.1,313.2,-6.8,444,3883,0.00,2.28,0.00,0.000,6,0.000,0.055,2929,2249,3662,0,0,0,0,0,0
$GC,4204,-0.78,-146.1,337.0,-7.7,474,4208,0.00,2.12,0.00,0.000,4,0.000,0.066,2919,3605,3662,0,0,0,0,0,0
$GC,4282,-0.78,-146.1,343.5,-8.3,480,4288,0.10,2.08,0.00,0.000,6,0.146,0.043,2947,2245,3662,0,0,0,0,0,0
$GC,4607,-0.78,-146.1,364.6,-6.3,511,4611,0.00,2.17,0.00,0.000,4,0.000,0.051,2947,846,3662,0,0,0,0,0,0
$GC,4652,-0.78,-146.1,367.8,-7.2,514,4658,0.00,2.28,0.00,0.000,6,0.000,0.055,2940,2264,3662,0,0,0,0,0,0
$GC,4977,-0.78,-146.1,389.9,-7.0,545,4981,0.00,2.08,0.00,0.000,4,0.000,0.065,2930,3593,3661,0,0,0,0,0,0
$GC,5039,-0.78,-146.1,394.4,-7.5,550,5045,0.00,2.08,0.00,0.000,6,0.000,0.042,2930,2237,3661,0,0,0,0,0,0
$GC,5364,-0.78,-146.1,416.4,-6.4,581,5368,0.00,2.17,0.00,0.000,4,0.000,0.051,2930,835,3661,0,0,0,0,0,0
$GC,5405,-0.78,-146.1,419.4,-7.7,584,5409,0.00,2.28,0.00,0.000,6,0.000,0.055,2921,2249,3661,0,0,0,0,0,0
$GC,5730,-0.78,-146.1,442.4,-6.7,614,5733,0.00,2.10,0.00,0.000,4,0.000,0.065,2911,3594,3661,0,0,0,0,0,0
$GC,5814,-0.78,-146.1,449.0,-7.9,621,5820,0.12,2.08,0.00,0.000,6,0.135,0.043,2949,2239,3661,0,0,0,0,0,0
$GC,6139,-0.78,-146.1,467.3,-5.6,652,6143,0.00,2.17,0.00,0.000,4,0.000,0.051,2948,841,3661,0,0,0,0,0,0
$GC,6179,-0.78,-146.1,469.7,-6.3,655,6183,0.00,2.28,0.00,0.000,6,0.000,0.054,2942,2259,3661,0,0,0,0,0,0
$GC,6504,-0.78,-146.1,488.7,-5.5,685,6507,0.00,2.08,0.00,0.000,4,0.000,0.064,2931,3593,3661,0,0,0,0,0,0
$GC,6577,-0.78,-146.1,493.2,-5.9,691,6582,0.00,2.05,0.00,0.000,6,0.000,0.041,2931,2248,3661,0,0,0,0,0,0
$GC,6902,-0.78,-146.1,511.8,-5.3,722,6906,0.00,2.15,0.00,0.000,4,0.000,0.051,2932,850,3661,0,0,0,0,0,0
$GC,6947,-0.78,-146.1,514.7,-6.4,726,6951,0.00,2.25,0.00,0.000,6,0.000,0.054,2923,2258,3661,0,0,0,0,0,0
$GC,7278,-0.78,-146.1,535.4,-6.8,757,7282,0.00,2.10,0.00,0.000,4,0.000,0.064,2913,3593,3661,0,0,0,0,0,0
$GC,7414,-0.78,-146.1,545.8,-7.5,769,7418,0.10,2.05,0.00,0.000,6,0.143,0.041,2941,2250,3661,0,0,0,0,0,0
$STATE,7672,end dive,NO_VERTICAL_VELOCITY
$STATE,7672,begin apogee
$GC,7679,-0.17,0.0,551.5,0.0,793,7805,0.35,0.00,120.43,1.108,6,0.092,0.000,3076,2246,3058,0,0,0,0,0,0
$STATE,7806,end apogee,CONTROL_FINISHED_OK
$STATE,7806,begin climb
$GC,7809,0.78,146.1,551.4,0.0,806,7944,0.57,2.40,122.85,1.057,4,0.070,0.058,3286,3590,2462,0,0,0,0,0,0
$GC,8080,0.78,146.1,534.7,11.2,831,8084,0.00,2.22,0.00,0.000,6,0.000,0.041,3295,2203,2462,0,0,0,0,0,0
$GC,8405,0.81,168.4,504.8,9.0,861,8430,0.00,2.28,18.95,0.997,4,0.000,0.051,3306,798,2371,0,0,0,0,0,0
$GC,8487,0.81,168.4,497.0,10.2,868,8493,0.00,2.28,0.00,0.000,6,0.000,0.052,3306,2202,2373,0,0,0,0,0,0
$GC,8812,0.82,176.1,465.3,9.6,899,8827,0.00,2.22,8.05,0.864,4,0.000,0.061,3306,3591,2339,0,0,0,0,0,0
$GC,8846,0.82,176.1,461.9,11.5,902,8851,0.10,2.15,0.00,0.000,6,0.171,0.041,3290,2196,2340,0,0,0,0,0,0
$GC,9171,0.85,200.5,432.1,8.9,932,9197,0.00,2.20,20.92,0.986,4,0.000,0.049,3298,789,2239,0,0,0,0,0,0
$GC,9255,0.86,206.9,424.3,9.7,939,9269,0.00,2.28,6.93,0.815,6,0.000,0.051,3298,2203,2214,0,0,0,0,0,0
$GC,9595,0.86,206.9,389.4,10.8,971,9599,0.00,2.17,0.00,0.000,4,0.000,0.061,3298,3603,2214,0,0,0,0,0,0
$GC,9635,0.86,206.9,384.7,13.0,974,9639,0.00,2.15,0.00,0.000,6,0.000,0.041,3308,2200,2214,0,0,0,0,0,0
$GC,9960,0.86,206.9,348.7,10.8,1004,9964,0.00,2.20,0.00,0.000,4,0.000,0.050,3318,797,2214,0,0,0,0,0,0
$GC,10050,0.86,206.9,338.8,11.8,1011,10055,0.00,2.25,0.00,0.000,6,0.000,0.052,3318,2204,2214,0,0,0,0,0,0
$GC,10375,0.86,206.9,301.5,11.2,1042,10379,0.00,2.17,0.00,0.000,4,0.000,0.062,3318,3596,2214,0,0,0,0,0,0
$GC,10410,0.86,206.9,297.2,13.5,1044,10417,0.12,2.15,0.00,0.000,6,0.162,0.041,3294,2186,2213,0,0,0,0,0,0
$GC,10735,0.88,226.1,265.6,9.1,1075,10757,0.00,2.22,16.80,0.887,4,0.000,0.051,3302,800,2136,0,0,0,0,0,0
$GC,10820,0.91,251.8,258.1,8.8,1082,10849,0.00,2.22,22.48,0.897,6,0.000,0.051,3302,2202,2031,0,0,0,0,0,0
$GC,11175,0.92,255.3,224.1,9.8,1116,11186,0.00,2.22,3.58,0.534,4,0.000,0.063,3302,3587,2017,0,0,0,0,0,0
$GC,11204,0.92,255.3,221.1,10.7,1118,11209,0.00,2.15,0.00,0.000,6,0.000,0.041,3311,2190,2017,0,0,0,0,0,0
$GC,11529,0.92,255.3,188.2,10.3,1149,11533,0.00,2.15,0.00,0.000,4,0.000,0.051,3322,793,2018,0,0,0,0,0,0
$GC,11619,0.92,255.3,178.7,10.7,1156,11625,0.00,2.25,0.00,0.000,6,0.000,0.053,3322,2198,2018,0,0,0,0,0,0
$GC,11944,0.92,255.3,141.9,11.2,1187,11948,0.00,2.17,0.00,0.000,4,0.000,0.064,3321,3596,2018,0,0,0,0,0,0
$GC,11978,0.92,255.3,137.9,12.1,1190,11982,0.00,2.15,0.00,0.000,6,0.000,0.042,3331,2188,2017,0,0,0,0,0,0
$GC,12309,0.92,255.3,103.0,10.4,1221,12313,0.00,2.15,0.00,0.000,4,0.000,0.052,3342,790,2017,0,0,0,0,0,0
$GC,12383,0.92,261.2,95.6,9.7,1230,12395,0.12,2.25,6.45,0.682,6,0.148,0.053,3306,2201,1993,0,0,0,0,0,0
$GC,12733,0.97,297.2,64.7,8.4,1292,12770,0.00,2.28,31.42,0.809,4,0.000,0.064,3306,3592,1845,0,0,0,0,0,0
$GC,12799,1.00,322.1,59.2,8.9,1304,12826,0.00,2.17,21.35,0.766,6,0.000,0.042,3312,2195,1745,0,0,0,0,0,0
$GC,13164,1.07,379.7,30.2,7.4,1369,13221,0.10,2.28,48.20,0.779,4,0.104,0.052,3378,799,1510,0,0,0,0,0,0
$GC,13317,1.07,379.7,14.4,10.8,1397,13323,0.12,2.30,0.00,0.000,6,0.142,0.054,3342,2209,1506,0,0,0,0,0,0
$FREEZE,8.54,7.220,-1.808,0,1,0
$FREEZE,7.84,7.218,-1.807,0,1,0
$FREEZE,7.16,7.211,-1.807,0,1,0
$FREEZE,6.85,7.220,-1.806,0,1,0
$FREEZE,6.40,7.222,-1.806,0,1,0
$FREEZE,6.21,7.221,-1.806,0,1,0
$FREEZE,5.63,7.221,-1.805,0,1,0
$FREEZE,5.20,7.220,-1.805,0,1,0
$FREEZE,4.58,7.220,-1.805,0,1,0
$FREEZE,4.14,7.218,-1.804,0,1,0
$FREEZE,3.36,7.220,-1.804,0,1,0
$STATE,13459,end climb,SURFACE_DEPTH_REACHED
$STATE,13459,begin surface coast
$FREEZE,2.61,7.222,-1.803,0,1,0
$FREEZE,1.91,7.189,-1.804,0,1,0
$FREEZE,1.99,7.211,-1.803,0,1,0
$FREEZE,1.90,7.179,-1.805,0,1,0
$FREEZE,1.77,7.160,-1.804,0,1,0
$FREEZE,1.82,7.124,-1.742,0,1,0
$FREEZE,1.87,6.958,-0.370,0,1,0
$FREEZE,1.80,7.098,-0.990,0,1,0
$FINISH,1.8,1.014265
$STATE,13505,end surface coast,CONTROL_FINISHED_OK
$STATE,13505,begin surface
$SM_CCo,13524,178.15,0.736,0,0,587,605.89
$SM_GC,2.63,0.00,0.00,178.15,0.000,0.000,0.736,326,2253,587,-12.81,0.11,605.89
$RAFOS_CLK,496
$RAFOS,6,1283431743,12.833333,12.817500,63,56,49,48,48,45,842,841,832,698,831,1862
$RAFOS,5,1283431270,12.700000,12.686111,147,140,45,43,41,41,623,624,1548,1736,398,1225
$RAFOS,4,1283430783,12.566667,12.550834,56,45,45,44,41,41,888,888,1928,214,1086,1108
$RAFOS,3,1283430304,12.433333,12.417778,55,45,41,39,39,38,1000,1388,835,72,1001,1742
$RAFOS,2,1283429827,12.300000,12.285277,47,46,42,39,39,39,1886,218,1553,1056,432,495
$RAFOS,1,1283429342,12.166667,12.150556,54,54,52,49,48,48,1202,1061,1061,1894,585,630
$RAFOS_FIX,6703.255859,-5654.854004,020910,121256,2,105,1.57
$IRIDIUM_FIX,6636.54,-5652.31,271199,121215
$TT8_MAMPS,0.026845
$HUMID,42.87
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,17.30
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.8,17.3
$24V_AH,22.7,75.867
$10V_AH,10.1,39.139
$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,20.150,143.850,448.400,178.150,0.000,58.204,60.149,330.340,6.500,0.000,15.925,2355.271,8065.875,731.759,2368.318,847.489,0.000,1994.135,0.000,2336.869,2160.000,15.132,0.000
$DEVICE_MAMPS,229.333,160.303,1108.315,735.553,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1053.318,980.319,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135584
$DATA_FILE_SIZE,56788,1430
$CAP_FILE_SIZE,168916,0
$CFSIZE,260165632,212451328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1471.7
$GPS,020910,155636,6703.341,-5654.446,37,1.4,37,-37.6