version: 66.06
glider: 108
mission: 14
dive: 294
start: 8 6 110 15 49 16
data:
$ID,108
$MISSION,14
$DIVE,294
$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,-182243.17
$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
$GPS1,153906,6649.220,-6009.095,24,1.8,24,-38.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-71.8
$GPS2,154858,6649.232,-6009.111,11,2.4,30,-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,118.2,147453,-18.1,-10.000
$D_GRID,609
$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,17,-0.78,-146.1,0.0,0.0,0,73,0.00,0.00,-54.53,0.000,2,0.000,0.000,332,2266,1855,0,0,0,0,0,0
$GC,77,-0.78,-146.1,3.0,-0.6,11,191,10.45,2.28,-91.35,0.000,4,0.241,0.091,2929,3603,3657,0,0,0,0,0,0
$GC,299,-0.78,-146.1,24.0,-13.1,52,305,0.00,2.17,0.00,0.000,6,0.000,0.054,2929,2247,3661,0,0,0,0,0,0
$GC,643,-0.78,-146.1,71.0,-12.4,113,648,0.00,2.25,0.00,0.000,4,0.000,0.067,2929,839,3664,0,0,0,0,0,0
$GC,722,-0.78,-146.1,80.9,-12.6,127,728,0.10,2.35,0.00,0.000,6,0.160,0.068,2946,2252,3664,0,0,0,0,0,0
$GC,1065,-0.78,-146.1,114.8,-8.8,174,1069,0.00,2.20,0.00,0.000,4,0.000,0.081,2938,3599,3665,0,0,0,0,0,0
$GC,1127,-0.78,-146.1,120.5,-9.6,179,1131,0.00,2.17,0.00,0.000,6,0.000,0.057,2938,2241,3664,0,0,0,0,0,0
$GC,1452,-0.78,-146.1,152.6,-10.4,209,1456,0.00,2.22,0.00,0.000,4,0.000,0.067,2938,844,3664,0,0,0,0,0,0
$GC,1548,-0.78,-146.1,162.2,-9.0,217,1552,0.00,2.35,0.00,0.000,6,0.000,0.071,2929,2254,3664,0,0,0,0,0,0
$GC,1873,-0.78,-146.1,194.0,-9.9,247,1877,0.00,2.17,0.00,0.000,4,0.000,0.082,2919,3594,3664,0,0,0,0,0,0
$GC,1911,-0.78,-146.1,198.1,-11.0,250,1917,0.10,2.15,0.00,0.000,6,0.159,0.058,2946,2249,3664,0,0,0,0,0,0
$GC,2236,-0.78,-146.1,226.7,-7.8,281,2241,0.00,2.25,0.00,0.000,4,0.000,0.069,2946,837,3663,0,0,0,0,0,0
$GC,2277,-0.78,-146.1,230.0,-7.9,284,2281,0.00,2.35,0.00,0.000,6,0.000,0.072,2939,2247,3663,0,0,0,0,0,0
$GC,2604,-0.78,-146.1,255.5,-7.7,314,2608,0.00,2.20,0.00,0.000,4,0.000,0.083,2929,3597,3663,0,0,0,0,0,0
$GC,2636,-0.78,-146.1,258.0,-8.6,316,2640,0.00,2.17,0.00,0.000,6,0.000,0.058,2929,2237,3663,0,0,0,0,0,0
$GC,2961,-0.78,-146.1,287.4,-9.4,346,2965,0.00,2.25,0.00,0.000,4,0.000,0.070,2929,842,3662,0,0,0,0,0,0
$GC,3027,-0.78,-146.1,293.8,-9.9,351,3033,0.10,2.35,0.00,0.000,6,0.156,0.071,2947,2258,3662,0,0,0,0,0,0
$GC,3352,-0.78,-146.1,318.5,-7.4,382,3353,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2258,3662,0,0,0,0,0,0
$GC,3671,-0.78,-146.1,341.5,-7.2,412,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2257,3661,0,0,0,0,0,0
$GC,3989,-0.78,-146.1,364.1,-6.9,442,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2258,3662,0,0,0,0,0,0
$GC,4311,-0.78,-146.1,384.6,-6.4,472,4316,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2258,3662,0,0,0,0,0,0
$GC,4638,-0.78,-146.1,404.8,-6.3,503,4643,0.00,2.33,0.00,0.000,4,0.000,0.065,2948,829,3661,0,0,0,0,0,0
$GC,4684,-0.78,-146.1,408.3,-7.2,506,4689,0.00,2.35,0.00,0.000,6,0.000,0.068,2941,2253,3661,0,0,0,0,0,0
$GC,5009,-0.78,-146.1,431.2,-6.9,537,5013,0.00,2.20,0.00,0.000,4,0.000,0.080,2930,3606,3661,0,0,0,0,0,0
$GC,5042,-0.78,-146.1,433.9,-8.4,539,5048,0.00,2.15,0.00,0.000,6,0.000,0.055,2930,2243,3661,0,0,0,0,0,0
$GC,5367,-0.78,-146.1,459.0,-7.6,570,5371,0.00,2.25,0.00,0.000,4,0.000,0.067,2931,839,3661,0,0,0,0,0,0
$GC,5412,-0.78,-146.1,462.7,-7.9,573,5418,0.00,2.35,0.00,0.000,6,0.000,0.068,2922,2263,3661,0,0,0,0,0,0
$GC,5737,-0.78,-146.1,487.4,-7.4,604,5738,0.00,0.00,0.00,0.000,6,0.000,0.000,2921,2263,3662,0,0,0,0,0,0
$GC,6059,-0.78,-146.1,511.5,-7.5,634,6063,0.00,2.15,0.00,0.000,4,0.000,0.078,2911,3594,3662,0,0,0,0,0,0
$GC,6092,-0.78,-146.1,514.4,-8.3,636,6098,0.12,2.12,0.00,0.000,6,0.142,0.054,2948,2249,3661,0,0,0,0,0,0
$GC,6418,-0.78,-146.1,535.3,-6.8,667,6422,0.00,2.25,0.00,0.000,4,0.000,0.065,2948,839,3662,0,0,0,0,0,0
$GC,6462,-0.78,-146.1,538.7,-7.5,670,6468,0.00,2.33,0.00,0.000,6,0.000,0.067,2941,2248,3661,0,0,0,0,0,0
$GC,6788,-0.78,-146.1,561.4,-7.1,701,6792,0.00,2.20,0.00,0.000,4,0.000,0.079,2931,3606,3661,0,0,0,0,0,0
$GC,6817,-0.78,-146.1,563.5,-7.6,703,6821,0.00,2.12,0.00,0.000,6,0.000,0.054,2931,2246,3662,0,0,0,0,0,0
$GC,7142,-0.78,-146.1,587.2,-7.3,733,7146,0.00,2.25,0.00,0.000,4,0.000,0.066,2931,838,3663,0,0,0,0,0,0
$GC,7198,-0.78,-146.1,591.6,-7.6,737,7203,0.00,2.33,0.00,0.000,6,0.000,0.067,2922,2251,3662,0,0,0,0,0,0
$STATE,7430,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7430,begin apogee
$GC,7437,-0.17,0.0,609.7,7.7,752,7561,0.47,0.00,120.62,1.230,6,0.115,0.000,3078,2179,3058,0,0,0,0,0,0
$STATE,7562,end apogee,CONTROL_FINISHED_OK
$STATE,7562,begin climb
$GC,7565,0.78,146.1,613.5,0.0,756,7698,0.60,2.40,125.18,1.162,4,0.070,0.064,3300,815,2462,0,0,0,0,0,0
$GC,7727,0.83,187.7,606.7,8.1,761,7772,0.00,2.53,37.62,1.113,6,0.000,0.064,3300,2206,2292,0,0,0,0,0,0
$GC,8091,0.84,190.6,571.4,9.9,790,8095,0.00,2.33,0.00,0.000,4,0.000,0.074,3300,3602,2289,0,0,0,0,0,0
$GC,8142,0.84,190.6,565.5,12.1,794,8147,0.00,2.28,0.00,0.000,6,0.000,0.051,3310,2210,2287,0,0,0,0,0,0
$GC,8467,0.84,190.6,530.6,10.6,824,8471,0.00,2.28,0.00,0.000,4,0.000,0.061,3320,789,2287,0,0,0,0,0,0
$GC,8512,0.84,190.6,525.7,11.1,827,8519,0.12,2.35,0.00,0.000,6,0.163,0.063,3288,2202,2288,0,0,0,0,0,0
$GC,8837,0.87,214.1,497.1,8.9,858,8868,0.00,2.35,21.75,1.112,4,0.000,0.074,3288,3600,2184,0,0,0,0,0,0
$GC,8915,0.87,214.1,489.8,10.8,865,8919,0.00,2.25,0.00,0.000,6,0.000,0.051,3295,2194,2183,0,0,0,0,0,0
$GC,9245,0.88,224.5,457.9,9.5,896,9257,0.00,0.00,9.60,0.988,6,0.000,0.000,3295,2193,2143,0,0,0,0,0,0
$GC,9574,0.90,238.2,426.6,9.4,927,9593,0.00,0.00,13.15,1.027,6,0.000,0.000,3295,2193,2086,0,0,0,0,0,0
$GC,9912,0.91,248.2,394.5,9.5,959,9924,0.00,0.00,9.35,0.960,6,0.000,0.000,3295,2194,2046,0,0,0,0,0,0
$GC,10241,0.92,260.9,363.3,9.4,990,10262,0.00,2.38,12.12,0.987,4,0.000,0.072,3295,3594,1994,0,0,0,0,0,0
$GC,10279,0.92,260.9,359.2,10.8,993,10284,0.00,2.22,0.00,0.000,6,0.000,0.051,3305,2199,1993,0,0,0,0,0,0
$GC,10603,0.92,260.9,324.5,10.5,1024,10605,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2199,1993,0,0,0,0,0,0
$GC,10925,0.92,260.9,291.4,10.1,1054,10930,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2199,1992,0,0,0,0,0,0
$GC,11252,0.93,268.2,258.9,9.7,1085,11266,0.00,2.35,7.18,0.854,4,0.000,0.073,3305,3595,1964,0,0,0,0,0,0
$GC,11301,0.93,268.2,253.5,11.9,1089,11306,0.00,2.20,0.00,0.000,6,0.000,0.051,3314,2200,1964,0,0,0,0,0,0
$GC,11626,0.93,268.2,220.4,10.4,1120,11630,0.00,2.25,0.00,0.000,4,0.000,0.062,3324,788,1964,0,0,0,0,0,0
$GC,11659,0.93,268.2,216.8,10.0,1122,11664,0.00,2.33,0.00,0.000,6,0.000,0.064,3325,2201,1965,0,0,0,0,0,0
$GC,11984,0.93,268.2,183.9,10.1,1153,11988,0.00,2.25,0.00,0.000,4,0.000,0.075,3325,3597,1965,0,0,0,0,0,0
$GC,12024,0.93,268.2,179.6,11.9,1156,12028,0.00,2.20,0.00,0.000,6,0.000,0.052,3334,2201,1964,0,0,0,0,0,0
$GC,12349,0.95,283.2,146.2,9.3,1186,12370,0.00,2.28,14.30,0.912,4,0.000,0.064,3345,791,1903,0,0,0,0,0,0
$GC,12410,0.97,301.7,140.7,9.2,1191,12435,0.00,2.35,17.05,0.904,6,0.000,0.064,3345,2209,1827,0,0,0,0,0,0
$GC,12754,0.99,314.3,106.5,9.4,1224,12770,0.00,2.25,11.23,0.855,4,0.000,0.076,3345,3593,1776,0,0,0,0,0,0
$GC,12795,1.00,319.8,102.5,9.7,1227,12807,0.12,2.25,6.00,0.736,6,0.163,0.054,3321,2194,1754,0,0,0,0,0,0
$GC,13143,1.09,395.0,77.9,6.6,1286,13215,0.10,2.33,64.72,0.912,4,0.110,0.066,3377,796,1447,0,0,0,0,0,0
$GC,13242,1.10,407.1,68.9,9.4,1304,13259,0.10,2.40,11.18,0.788,6,0.163,0.067,3352,2197,1398,0,0,0,0,0,0
$GC,13596,1.15,442.3,37.2,8.4,1367,13632,0.00,2.35,29.33,0.860,4,0.000,0.080,3352,3596,1254,0,0,0,0,0,0
$GC,13646,1.19,478.7,32.9,8.3,1376,13682,0.00,2.30,31.17,0.837,6,0.000,0.055,3358,2191,1106,0,0,0,0,0,0
$FREEZE,8.78,3.302,-1.677,0,1,0
$FREEZE,8.48,3.298,-1.677,0,1,0
$FREEZE,8.13,3.298,-1.677,0,1,0
$FREEZE,7.76,3.298,-1.677,0,1,0
$FREEZE,7.30,3.292,-1.677,0,1,0
$FREEZE,6.90,3.297,-1.677,0,1,0
$FREEZE,6.51,3.297,-1.676,0,1,0
$FREEZE,6.11,3.298,-1.676,0,1,0
$FREEZE,5.63,3.307,-1.676,0,1,0
$FREEZE,5.14,3.306,-1.675,0,1,0
$FREEZE,4.76,3.300,-1.674,0,1,0
$FREEZE,4.12,3.303,-1.674,0,1,0
$FREEZE,3.39,3.286,-1.675,0,1,0
$GC,14021,1.25,525.1,4.8,7.9,1443,14035,0.10,0.00,11.48,0.789,2,0.130,0.000,3393,2190,1045,0,0,0,0,0,0
$STATE,14036,end climb,SURFACE_DEPTH_REACHED
$STATE,14036,begin surface coast
$FREEZE,2.50,3.313,-1.674,0,1,0
$FREEZE,1.96,3.230,-1.679,0,1,0
$FREEZE,2.07,3.000,-1.321,0,1,0
$FREEZE,1.95,3.381,-1.485,0,1,0
$FREEZE,1.80,3.328,-0.274,0,1,0
$FREEZE,1.93,3.357,-1.624,0,1,0
$FREEZE,1.90,3.367,-1.084,0,1,0
$FREEZE,1.97,3.346,-0.867,0,1,0
$FINISH,2.0,1.012738
$STATE,14084,end surface coast,CONTROL_FINISHED_OK
$STATE,14084,begin surface
$SM_CCo,14103,90.40,0.831,0,0,587,605.89
$SM_GC,2.85,0.00,0.00,90.40,0.000,0.000,0.831,340,2280,587,-12.75,0.85,605.89
$RAFOS_CLK,589
$RAFOS,6,1281113350,16.833334,16.819445,132,112,49,49,48,46,757,758,1266,1918,407,1267
$RAFOS,5,1281112872,16.700001,16.686666,97,95,45,42,42,40,882,883,217,594,1361,112
$RAFOS,4,1281112386,16.566668,16.551666,93,92,46,44,43,42,685,684,399,1662,1677,1515
$RAFOS,3,1281111905,16.433332,16.418056,76,66,44,42,41,40,786,787,805,1318,1400,1687
$RAFOS,2,1281111424,16.299999,16.284445,106,84,49,44,41,41,665,666,384,1734,442,1529
$RAFOS,1,1281110950,16.166666,16.152779,169,160,47,47,43,42,513,512,1347,1696,1859,71
$RAFOS,0,1281110464,16.033333,16.017778,87,86,46,46,43,43,647,648,341,1685,141,1525
$RAFOS_FIX,6648.944824,-6006.771973,060810,161625,7,109,0.77
$IRIDIUM_FIX,6620.33,-6010.56,311099,151514
$TT8_MAMPS,0.026845
$HUMID,41.65
$INTERNAL_PRESSURE,10.098
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.6
$24V_AH,22.6,50.947
$10V_AH,10.0,27.503
$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,20.700,122.925,553.025,90.400,0.000,56.883,112.179,191.007,2.250,0.000,33.048,2366.650,8577.519,759.031,2334.027,758.227,0.000,2001.765,0.000,2291.003,2520.000,17.889,0.000
$DEVICE_MAMPS,240.838,93.574,1230.268,830.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1055.094,1037.777,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135664
$DATA_FILE_SIZE,56691,1453
$CAP_FILE_SIZE,162959,0
$CFSIZE,260165632,223453184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.6
$GPS,060810,194736,6650.136,-6004.917,34,1.5,34,-38.2