version: 66.06
glider: 108
mission: 14
dive: 115
start: 6 28 110 17 55 17
data:
$ID,108
$MISSION,14
$DIVE,115
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$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,-180265.31
$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,29
$R_STBD_OVSHOOT,21
$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,2.5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,162707,6645.586,-6015.407,0,7109.0,0,-38.2
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,1.6
$GPS2,162707,6645.586,-6015.407,0,7109.0,0,-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,116.0,153211,-18.1,-10.000
$D_GRID,550
$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,-146.1,0.0,0.0,0,124,0.00,0.00,-104.30,0.000,2,0.000,0.000,3359,796,3291,0,0,0,0,0,0
$GC,129,-0.78,-146.1,3.2,-4.9,21,156,1.30,4.72,-14.88,0.000,4,0.136,0.084,2923,3598,3657,0,0,0,0,0,0
$GC,174,-0.78,-146.1,8.3,-11.9,29,180,0.00,2.20,0.00,0.000,6,0.000,0.061,2924,2252,3658,0,0,0,0,0,0
$GC,518,-0.78,-146.1,56.1,-11.4,90,523,0.00,2.30,0.00,0.000,4,0.000,0.071,2924,837,3661,0,0,0,0,0,0
$GC,546,-0.78,-146.1,59.4,-11.7,95,553,0.12,2.38,0.00,0.000,6,0.156,0.074,2948,2247,3661,0,0,0,0,0,0
$GC,891,-0.78,-146.1,92.3,-10.0,156,897,0.00,2.22,0.00,0.000,4,0.000,0.085,2940,3598,3662,0,0,0,0,0,0
$GC,910,-0.78,-146.1,94.1,-9.7,159,915,0.00,2.20,0.00,0.000,6,0.000,0.060,2940,2237,3662,0,0,0,0,0,0
$GC,1243,-0.78,-146.1,128.6,-10.0,195,1247,0.00,2.28,0.00,0.000,4,0.000,0.072,2940,829,3662,0,0,0,0,0,0
$GC,1282,-0.78,-146.1,132.7,-10.1,198,1286,0.00,2.38,0.00,0.000,6,0.000,0.074,2930,2251,3662,0,0,0,0,0,0
$GC,1607,-0.78,-146.1,162.6,-8.0,228,1611,0.00,2.22,0.00,0.000,4,0.000,0.087,2920,3606,3662,0,0,0,0,0,0
$GC,1681,-0.78,-146.1,169.2,-9.0,234,1686,0.10,2.20,0.00,0.000,6,0.168,0.061,2946,2240,3662,0,0,0,0,0,0
$GC,2006,-0.78,-146.1,192.4,-7.1,264,2010,0.00,2.28,0.00,0.000,4,0.000,0.073,2946,831,3662,0,0,0,0,0,0
$GC,2035,-0.78,-146.1,194.8,-8.6,266,2039,0.00,2.35,0.00,0.000,6,0.000,0.075,2939,2252,3662,0,0,0,0,0,0
$GC,2366,-0.78,-146.1,223.0,-9.1,297,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2251,3662,0,0,0,0,0,0
$GC,2687,-0.78,-146.1,251.3,-8.7,327,2691,0.00,2.17,0.00,0.000,4,0.000,0.086,2928,3598,3660,0,0,0,0,0,0
$GC,2706,-0.78,-146.1,253.1,-8.6,328,2710,0.00,2.17,0.00,0.000,6,0.000,0.061,2928,2243,3661,0,0,0,0,0,0
$GC,3031,-0.78,-146.1,282.9,-9.1,358,3035,0.00,2.22,0.00,0.000,4,0.000,0.072,2928,842,3660,0,0,0,0,0,0
$GC,3064,-0.78,-146.1,285.9,-9.2,360,3070,0.10,2.35,0.00,0.000,6,0.161,0.074,2947,2263,3660,0,0,0,0,0,0
$GC,3389,-0.78,-146.1,308.6,-6.9,391,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2263,3660,0,0,0,0,0,0
$GC,3711,-0.78,-146.1,327.6,-5.7,421,3715,0.00,2.33,0.00,0.000,4,0.000,0.069,2946,831,3660,0,0,0,0,0,0
$GC,3733,-0.78,-146.1,329.2,-6.0,422,3739,0.00,2.35,0.00,0.000,6,0.000,0.073,2939,2263,3660,0,0,0,0,0,0
$GC,4059,-0.78,-146.1,348.8,-6.2,453,4063,0.00,2.17,0.00,0.000,4,0.000,0.084,2929,3605,3660,0,0,0,0,0,0
$GC,4098,-0.78,-146.1,351.6,-7.4,456,4102,0.00,2.17,0.00,0.000,6,0.000,0.058,2929,2236,3660,0,0,0,0,0,0
$GC,4423,-0.78,-146.1,374.7,-7.3,486,4427,0.00,2.22,0.00,0.000,4,0.000,0.070,2929,840,3661,0,0,0,0,0,0
$GC,4463,-0.78,-146.1,377.8,-7.9,489,4468,0.10,2.33,0.00,0.000,6,0.160,0.072,2948,2249,3661,0,0,0,0,0,0
$GC,4788,-0.78,-146.1,399.0,-6.2,519,4789,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2249,3661,0,0,0,0,0,0
$GC,5109,-0.78,-146.1,418.6,-5.9,549,5113,0.00,2.17,0.00,0.000,4,0.000,0.082,2940,3602,3662,0,0,0,0,0,0
$GC,5136,-0.78,-146.1,420.6,-6.4,551,5142,0.00,2.15,0.00,0.000,6,0.000,0.057,2940,2234,3661,0,0,0,0,0,0
$GC,5461,-0.78,-146.1,441.1,-6.2,582,5465,0.00,2.20,0.00,0.000,4,0.000,0.068,2940,835,3661,0,0,0,0,0,0
$GC,5490,-0.78,-146.1,443.2,-7.1,584,5494,0.00,2.33,0.00,0.000,6,0.000,0.071,2931,2251,3661,0,0,0,0,0,0
$GC,5815,-0.78,-146.1,465.8,-6.9,614,5819,0.00,2.17,0.00,0.000,4,0.000,0.081,2920,3603,3662,0,0,0,0,0,0
$GC,5844,-0.78,-146.1,468.0,-7.9,616,5849,0.10,2.15,0.00,0.000,6,0.160,0.055,2948,2238,3662,0,0,0,0,0,0
$GC,6170,-0.78,-146.1,488.4,-5.8,646,6174,0.00,2.22,0.00,0.000,4,0.000,0.069,2947,832,3662,0,0,0,0,0,0
$GC,6217,-0.78,-146.1,491.2,-6.3,650,6221,0.00,2.33,0.00,0.000,6,0.000,0.070,2941,2253,3662,0,0,0,0,0,0
$GC,6542,-0.78,-146.1,512.4,-6.9,680,6546,0.00,2.17,0.00,0.000,4,0.000,0.081,2930,3605,3662,0,0,0,0,0,0
$GC,6552,-0.78,-146.1,513.2,-6.7,680,6558,0.00,2.15,0.00,0.000,6,0.000,0.055,2930,2238,3662,0,0,0,0,0,0
$GC,6877,-0.78,-146.1,536.3,-7.0,711,6881,0.00,2.22,0.00,0.000,4,0.000,0.068,2930,835,3663,0,0,0,0,0,0
$GC,6889,-0.78,-146.1,537.1,-6.9,711,6894,0.00,2.33,0.00,0.000,6,0.000,0.069,2921,2258,3663,0,0,0,0,0,0
$STATE,7062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7062,begin apogee
$GC,7069,-0.17,0.0,550.1,7.3,728,7196,0.45,0.00,122.43,1.216,6,0.125,0.000,3072,2175,3058,0,0,0,0,0,0
$STATE,7196,end apogee,CONTROL_FINISHED_OK
$STATE,7196,begin climb
$GC,7200,0.78,146.1,552.8,0.0,741,7334,0.62,2.62,122.40,1.151,4,0.081,0.074,3287,3589,2461,0,0,0,0,0,0
$GC,7374,0.78,146.1,539.2,12.3,757,7379,0.00,2.38,0.00,0.000,6,0.000,0.051,3297,2211,2458,0,0,0,0,0,0
$GC,7699,0.78,146.1,504.5,10.7,788,7703,0.00,2.38,0.00,0.000,4,0.000,0.064,3307,783,2457,0,0,0,0,0,0
$GC,7743,0.78,146.1,499.5,11.3,791,7749,0.10,2.42,0.00,0.000,6,0.169,0.064,3284,2204,2456,0,0,0,0,0,0
$GC,8068,0.78,146.1,466.8,10.0,822,8072,0.00,2.30,0.00,0.000,4,0.000,0.074,3284,3599,2456,0,0,0,0,0,0
$GC,8112,0.78,146.1,461.8,11.7,825,8118,0.00,2.28,0.00,0.000,6,0.000,0.051,3292,2184,2455,0,0,0,0,0,0
$GC,8437,0.78,146.1,427.1,10.7,856,8441,0.00,2.22,0.00,0.000,4,0.000,0.063,3300,789,2455,0,0,0,0,0,0
$GC,8514,0.78,146.1,419.3,10.8,862,8518,0.00,2.33,0.00,0.000,6,0.000,0.064,3300,2206,2456,0,0,0,0,0,0
$GC,8838,0.78,146.1,383.8,10.7,892,8842,0.00,2.25,0.00,0.000,4,0.000,0.076,3300,3598,2455,0,0,0,0,0,0
$GC,8896,0.78,146.1,377.1,11.9,897,8900,0.12,2.22,0.00,0.000,6,0.172,0.051,3278,2198,2455,0,0,0,0,0,0
$GC,9221,0.81,170.7,346.9,8.9,927,9246,0.00,2.28,20.48,1.058,4,0.000,0.062,3286,797,2361,0,0,0,0,0,0
$GC,9321,0.82,174.4,337.6,9.8,935,9331,0.00,2.33,4.22,0.716,6,0.000,0.064,3286,2203,2347,0,0,0,0,0,0
$GC,9657,0.83,186.9,305.8,9.4,967,9678,0.00,2.30,11.80,0.979,4,0.000,0.074,3286,3605,2295,0,0,0,0,0,0
$GC,9705,0.83,186.9,300.4,11.5,971,9711,0.00,2.28,0.00,0.000,6,0.000,0.052,3295,2191,2293,0,0,0,0,0,0
$GC,10031,0.83,186.9,266.3,10.2,1002,10035,0.00,2.22,0.00,0.000,4,0.000,0.063,3306,790,2293,0,0,0,0,0,0
$GC,10115,0.83,186.9,257.5,10.7,1009,10120,0.00,2.35,0.00,0.000,6,0.000,0.064,3306,2211,2293,0,0,0,0,0,0
$GC,10439,0.83,186.9,225.0,10.0,1040,10443,0.00,2.25,0.00,0.000,4,0.000,0.077,3306,3599,2293,0,0,0,0,0,0
$GC,10513,0.83,186.9,216.6,12.4,1046,10517,0.10,2.22,0.00,0.000,6,0.178,0.054,3290,2196,2292,0,0,0,0,0,0
$GC,10843,0.89,233.1,188.9,7.9,1077,10887,0.00,2.35,38.25,0.988,4,0.000,0.065,3296,796,2107,0,0,0,0,0,0
$GC,10947,0.92,259.8,180.4,8.8,1086,10977,0.00,2.38,23.88,0.936,6,0.000,0.065,3296,2205,1998,0,0,0,0,0,0
$GC,11303,0.94,278.1,149.7,9.2,1120,11324,0.00,2.30,15.65,0.905,4,0.000,0.076,3296,3594,1923,0,0,0,0,0,0
$GC,11364,0.94,278.1,143.3,11.3,1125,11369,0.00,2.28,0.00,0.000,6,0.000,0.053,3305,2199,1920,0,0,0,0,0,0
$GC,11689,0.95,280.5,109.9,9.9,1156,11693,0.00,2.28,0.00,0.000,4,0.000,0.065,3314,794,1917,0,0,0,0,0,0
$GC,11756,0.97,296.8,103.7,9.3,1161,11777,0.00,2.35,16.42,0.903,6,0.000,0.067,3314,2201,1847,0,0,0,0,0,0
$GC,12115,1.02,340.6,74.1,8.0,1220,12161,0.00,2.40,38.03,0.917,4,0.000,0.080,3314,3590,1668,0,0,0,0,0,0
$GC,12196,1.02,340.6,66.7,10.2,1235,12201,0.00,2.30,0.00,0.000,6,0.000,0.054,3324,2197,1664,0,0,0,0,0,0
$GC,12540,1.06,371.7,34.1,8.6,1296,12571,0.00,2.40,26.52,0.890,4,0.000,0.069,3332,794,1541,0,0,0,0,0,0
$GC,12662,1.21,496.7,26.9,4.3,1318,12777,0.15,2.38,104.10,0.867,6,0.083,0.069,3401,2201,1032,0,0,0,0,0,0
$FREEZE,8.77,-0.040,-1.676,2,26,0
$FREEZE,8.17,-0.039,-1.676,2,26,0
$FREEZE,7.64,-0.034,-1.676,2,26,0
$FREEZE,7.15,-0.026,-1.675,2,26,0
$FREEZE,6.53,-0.021,-1.675,2,26,0
$FREEZE,5.91,-0.013,-1.674,2,26,0
$FREEZE,5.44,0.019,-1.673,2,26,0
$FREEZE,4.97,0.011,-1.673,2,26,0
$FREEZE,4.39,0.015,-1.673,2,26,0
$FREEZE,3.84,0.093,-1.672,2,26,0
$FREEZE,3.30,0.124,-1.671,2,26,0
$FREEZE,2.79,0.131,-1.671,2,26,0
$STATE,12917,end climb,SURFACE_DEPTH_REACHED
$STATE,12917,begin surface coast
$FREEZE,2.38,0.215,-1.670,2,26,0
$FREEZE,1.95,0.303,-0.400,2,26,0
$FREEZE,2.00,0.366,-0.145,2,26,0
$FREEZE,1.99,0.419,-0.717,2,26,0
$FREEZE,2.01,0.459,-0.564,2,26,0
$FREEZE,1.99,0.517,-0.586,2,26,0
$FINISH,2.0,1.008604
$STATE,12954,end surface coast,CONTROL_FINISHED_OK
$STATE,12954,begin surface
$RAFOS_CLK,572
$RAFOS,6,1277758143,20.833334,20.817499,73,67,45,45,43,41,827,833,468,1712,375,938
$RAFOS,5,1277757670,20.700001,20.686111,114,94,48,48,41,41,909,908,571,1622,413,1621
$RAFOS,4,1277757191,20.566668,20.553055,114,107,47,45,43,42,675,676,1077,1207,808,1208
$RAFOS,3,1277756701,20.433332,20.416945,79,71,55,46,46,43,791,792,203,1123,1359,1169
$RAFOS,2,1277756225,20.299999,20.284721,87,80,52,45,44,42,643,643,1257,989,367,974
$RAFOS,1,1277755750,20.166666,20.152779,139,121,47,45,41,41,502,503,740,1107,1205,1563
$RAFOS,0,1277755264,20.033333,20.017778,104,102,45,44,43,39,620,620,1105,324,1902,1265
$RAFOS_FIX,6645.523926,-6011.691406,280610,202016,7,101,0.19
$IRIDIUM_FIX,6620.33,-6010.56,210999,232355
$TT8_MAMPS,0.026845
$HUMID,41.14
$INTERNAL_PRESSURE,10.1078
$TCM_TEMP,15.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,500.4,84.8
$24V_AH,23.1,18.963
$10V_AH,10.2,10.567
$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,3.375,143.975,544.175,0.000,0.000,0.000,0.000,0.000,2.000,0.000,0.000,2234.603,7827.574,608.510,2200.344,286.024,0.000,1822.261,0.000,2179.098,2520.000,14.332,0.000
$DEVICE_MAMPS,177.944,86.671,1215.695,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,987.807,971.959,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135908
$DATA_FILE_SIZE,53627,1371
$CAP_FILE_SIZE,151835,0
$CFSIZE,260165632,239542272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.0
$GPS,280610,202716,6645.524,-6011.691,0,7101.4,0,-38.2