version: 66.06
glider: 108
mission: 14
dive: 287
start: 8 5 110 13 4 6
data:
$ID,108
$MISSION,14
$DIVE,287
$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,-182120.73
$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,26
$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
$GPS1,125025,6650.589,-6008.365,40,0.9,40,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.83
$_SM_ANGLEo,-73.8
$GPS2,130344,6650.644,-6008.187,11,1.7,11,-38.2
$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,264.8,17924,-18.1,-10.000
$D_GRID,611
$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,-146.1,0.0,0.0,0,78,0.00,0.00,-59.35,0.000,2,0.000,0.000,336,2271,1951,0,0,0,0,0,0
$GC,82,-0.78,-146.1,3.1,-0.9,12,196,10.40,2.38,-94.60,0.000,4,0.242,0.076,2935,835,3654,0,0,0,0,0,0
$GC,259,-0.78,-146.1,13.8,-15.4,45,265,0.00,2.38,0.00,0.000,6,0.000,0.068,2928,2249,3658,0,0,0,0,0,0
$GC,603,-0.78,-146.1,61.6,-13.8,106,609,0.00,2.33,0.00,0.000,4,0.000,0.064,2928,838,3661,0,0,0,0,0,0
$GC,649,-0.78,-146.1,67.7,-13.6,114,656,0.10,2.35,0.00,0.000,6,0.165,0.068,2945,2254,3661,0,0,0,0,0,0
$GC,995,-0.78,-146.1,108.1,-10.5,169,999,0.00,2.17,0.00,0.000,4,0.000,0.080,2937,3595,3662,0,0,0,0,0,0
$GC,1068,-0.78,-146.1,116.2,-10.8,175,1074,0.00,2.15,0.00,0.000,6,0.000,0.057,2936,2248,3662,0,0,0,0,0,0
$GC,1394,-0.78,-146.1,149.6,-9.9,206,1395,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2248,3662,0,0,0,0,0,0
$GC,1714,-0.78,-146.1,179.2,-8.8,236,1718,0.00,2.22,0.00,0.000,4,0.000,0.079,2927,3597,3661,0,0,0,0,0,0
$GC,1765,-0.78,-146.1,184.3,-10.0,240,1770,0.00,2.15,0.00,0.000,6,0.000,0.058,2927,2250,3661,0,0,0,0,0,0
$GC,2090,-0.78,-146.1,216.1,-10.2,271,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2250,3661,0,0,0,0,0,0
$GC,2411,-0.78,-146.1,247.0,-8.6,301,2415,0.00,2.30,0.00,0.000,4,0.000,0.069,2927,838,3661,0,0,0,0,0,0
$GC,2444,-0.78,-146.1,250.3,-9.4,303,2451,0.10,2.35,0.00,0.000,6,0.157,0.071,2946,2248,3661,0,0,0,0,0,0
$GC,2769,-0.78,-146.1,272.8,-7.1,334,2773,0.00,2.22,0.00,0.000,4,0.000,0.083,2937,3608,3660,0,0,0,0,0,0
$GC,2871,-0.78,-146.1,281.2,-8.1,342,2877,0.00,2.17,0.00,0.000,6,0.000,0.058,2937,2245,3659,0,0,0,0,0,0
$GC,3197,-0.78,-146.1,309.3,-8.5,373,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2245,3659,0,0,0,0,0,0
$GC,3519,-0.78,-146.1,335.7,-8.3,403,3523,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2244,3659,0,0,0,0,0,0
$GC,3848,-0.78,-146.1,360.5,-7.2,434,3853,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2244,3659,0,0,0,0,0,0
$GC,4176,-0.78,-146.1,384.0,-6.9,465,4177,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2245,3659,0,0,0,0,0,0
$GC,4494,-0.78,-146.1,407.9,-8.0,495,4498,0.00,2.25,0.00,0.000,4,0.000,0.077,2928,3608,3658,0,0,0,0,0,0
$GC,4528,-0.78,-146.1,410.9,-8.4,497,4533,0.00,2.15,0.00,0.000,6,0.000,0.056,2928,2247,3659,0,0,0,0,0,0
$GC,4853,-0.78,-146.1,437.8,-8.1,528,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2246,3658,0,0,0,0,0,0
$GC,5175,-0.78,-146.1,464.5,-8.5,558,5180,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2246,3659,0,0,0,0,0,0
$GC,5503,-0.78,-146.1,492.2,-8.2,589,5508,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2246,3659,0,0,0,0,0,0
$GC,5831,-0.78,-146.1,518.0,-7.3,620,5832,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2246,3659,0,0,0,0,0,0
$GC,6149,-0.78,-146.1,541.6,-7.5,650,6153,0.00,2.20,0.00,0.000,4,0.000,0.076,2919,3598,3660,0,0,0,0,0,0
$GC,6178,-0.78,-146.1,544.0,-8.5,652,6183,0.10,2.15,0.00,0.000,6,0.151,0.054,2947,2239,3659,0,0,0,0,0,0
$GC,6503,-0.78,-146.1,564.4,-6.1,682,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2237,3660,0,0,0,0,0,0
$GC,6824,-0.78,-146.1,584.1,-6.3,712,6828,0.00,2.25,0.00,0.000,4,0.000,0.075,2941,3608,3660,0,0,0,0,0,0
$GC,6899,-0.78,-146.1,589.0,-6.4,718,6903,0.00,2.15,0.00,0.000,6,0.000,0.053,2941,2242,3660,0,0,0,0,0,0
$GC,7232,-0.78,-146.1,610.1,-6.3,739,7236,0.00,2.22,0.00,0.000,4,0.000,0.065,2941,846,3660,0,0,0,0,0,0
$STATE,7240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7240,begin apogee
$GC,7250,-0.17,0.0,611.1,6.1,739,7374,0.43,0.00,120.47,1.229,6,0.111,0.000,3079,2203,3058,0,0,0,0,0,0
$STATE,7375,end apogee,CONTROL_FINISHED_OK
$STATE,7375,begin climb
$GC,7378,0.78,146.1,616.3,0.0,743,7511,0.57,2.42,125.03,1.157,4,0.066,0.072,3287,3586,2461,0,0,0,0,0,0
$GC,7579,0.78,146.1,605.8,10.2,749,7583,0.00,2.38,0.00,0.000,6,0.000,0.050,3296,2201,2460,0,0,0,0,0,0
$GC,7901,0.80,159.7,575.3,9.4,775,7922,0.00,2.40,11.98,1.037,4,0.000,0.063,3307,789,2407,0,0,0,0,0,0
$GC,7950,0.82,177.7,570.7,9.2,779,7976,0.00,2.40,16.77,1.071,6,0.000,0.063,3307,2200,2333,0,0,0,0,0,0
$GC,8295,0.82,177.7,534.0,10.8,812,8299,0.00,2.30,0.00,0.000,4,0.000,0.073,3307,3595,2333,0,0,0,0,0,0
$GC,8357,0.82,177.7,526.4,12.4,817,8362,0.12,2.25,0.00,0.000,6,0.166,0.051,3284,2189,2332,0,0,0,0,0,0
$GC,8687,0.86,211.0,496.5,8.5,848,8722,0.00,2.33,28.08,1.114,4,0.000,0.061,3292,794,2197,0,0,0,0,0,0
$GC,8775,0.87,217.8,488.4,9.7,856,8788,0.00,2.35,7.22,0.912,6,0.000,0.062,3293,2202,2169,0,0,0,0,0,0
$GC,9115,0.88,223.9,454.3,9.7,888,9126,0.00,2.28,6.50,0.887,4,0.000,0.071,3292,3595,2145,0,0,0,0,0,0
$GC,9154,0.88,223.9,449.8,11.9,891,9160,0.00,2.22,0.00,0.000,6,0.000,0.051,3302,2197,2144,0,0,0,0,0,0
$GC,9479,0.88,223.9,415.3,10.3,922,9483,0.00,2.25,0.00,0.000,4,0.000,0.061,3313,789,2145,0,0,0,0,0,0
$GC,9530,0.88,223.9,410.1,10.6,926,9534,0.00,2.33,0.00,0.000,6,0.000,0.062,3313,2202,2145,0,0,0,0,0,0
$GC,9855,0.88,223.9,375.2,10.8,956,9859,0.00,2.25,0.00,0.000,4,0.000,0.073,3313,3600,2145,0,0,0,0,0,0
$GC,9906,0.88,223.9,369.0,12.5,960,9910,0.00,2.22,0.00,0.000,6,0.000,0.051,3322,2192,2144,0,0,0,0,0,0
$GC,10231,0.88,223.9,331.6,12.1,990,10235,0.00,2.22,0.00,0.000,4,0.000,0.062,3333,796,2144,0,0,0,0,0,0
$GC,10309,0.88,223.9,322.4,11.6,996,10315,0.12,2.33,0.00,0.000,6,0.162,0.063,3299,2211,2145,0,0,0,0,0,0
$GC,10634,0.88,228.2,290.5,9.8,1027,10645,0.00,2.25,4.75,0.746,4,0.000,0.075,3299,3601,2127,0,0,0,0,0,0
$GC,10695,0.88,228.2,283.5,12.2,1032,10701,0.00,2.22,0.00,0.000,6,0.000,0.051,3306,2192,2128,0,0,0,0,0,0
$GC,11021,0.90,240.4,250.8,9.4,1063,11041,0.00,2.30,11.85,0.935,4,0.000,0.062,3316,788,2078,0,0,0,0,0,0
$GC,11087,0.90,243.6,244.5,9.9,1069,11100,0.00,2.33,4.35,0.684,6,0.000,0.063,3316,2207,2064,0,0,0,0,0,0
$GC,11417,0.92,259.6,212.4,9.3,1100,11438,0.00,2.28,14.68,0.930,4,0.000,0.075,3316,3598,1999,0,0,0,0,0,0
$GC,11468,0.92,259.6,207.3,11.7,1104,11473,0.00,2.25,0.00,0.000,6,0.000,0.051,3326,2189,1998,0,0,0,0,0,0
$GC,11793,0.95,285.9,175.9,8.8,1135,11824,0.00,2.30,23.25,0.939,4,0.000,0.063,3337,798,1892,0,0,0,0,0,0
$GC,11889,0.99,317.6,167.8,8.6,1143,11925,0.00,2.35,27.60,0.923,6,0.000,0.063,3337,2202,1763,0,0,0,0,0,0
$GC,12244,1.00,321.3,133.1,9.8,1177,12255,0.00,2.30,3.20,0.512,4,0.000,0.075,3337,3588,1748,0,0,0,0,0,0
$GC,12283,1.00,321.3,128.9,10.9,1180,12289,0.00,2.22,0.00,0.000,6,0.000,0.053,3346,2201,1748,0,0,0,0,0,0
$GC,12612,1.00,321.3,93.7,10.9,1216,12617,0.00,2.30,0.00,0.000,4,0.000,0.065,3356,786,1747,0,0,0,0,0,0
$GC,12720,1.01,331.1,82.7,9.6,1235,12736,0.10,2.35,9.80,0.839,6,0.163,0.065,3330,2202,1708,0,0,0,0,0,0
$GC,13074,1.09,395.9,55.4,7.0,1298,13136,0.00,2.35,55.70,0.910,4,0.000,0.077,3330,3597,1443,0,0,0,0,0,0
$GC,13151,1.18,466.1,50.3,6.8,1312,13218,0.12,2.30,58.83,0.855,6,0.094,0.055,3389,2198,1156,0,0,0,0,0,0
$FREEZE,8.90,2.993,-1.676,0,1,0
$FREEZE,8.53,3.087,-1.674,0,1,0
$FREEZE,8.11,3.186,-1.672,0,1,0
$FREEZE,7.80,3.247,-1.670,0,1,0
$FREEZE,7.40,3.255,-1.670,0,1,0
$FREEZE,7.00,3.270,-1.670,0,1,0
$FREEZE,6.67,3.290,-1.670,0,1,0
$FREEZE,6.32,3.297,-1.669,0,1,0
$FREEZE,6.03,3.305,-1.669,0,1,0
$FREEZE,5.69,3.304,-1.669,0,1,0
$FREEZE,5.30,3.306,-1.669,0,1,0
$FREEZE,4.91,3.310,-1.669,0,1,0
$FREEZE,4.58,3.314,-1.669,0,1,0
$FREEZE,4.30,3.314,-1.669,0,1,0
$FREEZE,3.93,3.298,-1.669,0,1,0
$GC,13560,1.27,541.1,7.4,6.6,1385,13620,0.00,0.00,57.60,0.842,2,0.000,0.000,3388,2198,861,0,0,0,0,0,0
$STATE,13620,end climb,SURFACE_DEPTH_REACHED
$STATE,13621,begin surface coast
$FREEZE,3.24,3.307,-1.668,0,1,0
$FREEZE,2.88,3.298,-1.668,0,1,0
$FREEZE,2.54,3.298,-1.668,0,1,0
$FREEZE,2.06,3.295,-1.668,0,1,0
$FREEZE,2.02,3.099,-1.578,0,1,0
$FREEZE,1.80,3.250,-1.667,0,1,0
$FREEZE,1.88,3.337,-1.663,0,1,0
$FREEZE,1.96,3.359,-1.664,0,1,0
$FREEZE,1.97,3.282,-0.585,0,1,0
$FREEZE,1.91,3.310,-1.667,0,1,0
$FREEZE,1.91,3.231,-0.258,0,1,0
$FREEZE,1.86,3.090,-1.679,0,1,0
$FREEZE,1.94,3.305,-1.646,0,1,0
$FREEZE,1.87,3.371,-0.952,0,1,0
$FREEZE,2.04,2.901,-0.917,0,1,0
$FINISH,2.0,1.013482
$STATE,13706,end surface coast,CONTROL_FINISHED_OK
$STATE,13706,begin surface
$SM_CCo,13725,52.83,0.816,0,0,588,605.89
$SM_GC,2.79,0.00,0.00,52.83,0.000,0.000,0.816,336,2272,588,-12.77,0.62,605.89
$RAFOS_CLK,578
$RAFOS,5,1281026462,16.700001,16.683889,52,45,45,44,42,42,438,61,437,946,449,1621
$RAFOS,4,1281025988,16.566668,16.552221,78,76,47,46,46,44,685,684,1751,192,1860,825
$RAFOS,3,1281025506,16.433332,16.418333,120,116,50,45,44,40,785,786,509,1372,593,1891
$RAFOS,2,1281025024,16.299999,16.284445,142,121,50,50,46,46,681,680,457,1669,1213,1799
$RAFOS,1,1281024542,16.166666,16.150555,127,111,40,40,39,39,558,557,398,1499,936,1424
$RAFOS,0,1281024066,16.033333,16.018333,137,127,46,46,36,35,618,619,880,1830,1736,1855
$RAFOS_FIX,6648.563477,-6010.499512,050810,161637,5,121,0.36
$IRIDIUM_FIX,6620.33,-6010.56,301099,131309
$TT8_MAMPS,0.029913
$HUMID,42.75
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.9
$ALTIM_BOTTOM_PING,600.5,57.5
$24V_AH,22.6,49.544
$10V_AH,10.0,26.935
$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,20.525,113.950,587.650,52.825,0.000,84.427,144.980,285.687,2.250,0.000,12.855,2277.919,8385.519,748.791,2276.519,891.371,0.000,1977.535,0.000,2241.248,2520.000,20.345,0.000
$DEVICE_MAMPS,241.605,94.341,1228.734,816.088,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1015.992,1001.749,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135668
$DATA_FILE_SIZE,56702,1410
$CAP_FILE_SIZE,160114,0
$CFSIZE,260165632,224006144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1454.0
$GPS,050810,165530,6649.831,-6011.405,38,0.9,38,-38.2