version: 66.06
glider: 108
mission: 14
dive: 31
start: 6 12 110 7 17 38
data:
$ID,108
$MISSION,14
$DIVE,31
$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,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$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,300
$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,-179409.22
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3120
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$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,1.8
$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
$GPS1,070806,6708.456,-5708.687,29,1.1,29,-37.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-76.8
$GPS2,071719,6708.383,-5708.706,8,1.1,13,-37.7
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_test
$TGT_LATLONG,6700.000,-5705.000
$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,207.9,15755,-18.1,-10.000
$D_GRID,578
$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,-146.1,0.0,0.0,0,84,0.00,0.00,-64.53,0.000,2,0.000,0.000,340,2258,3228,0,0,0,0,0,0
$GC,88,-0.78,-146.1,3.2,-1.6,13,119,10.45,2.35,-11.80,0.000,4,0.249,0.071,2945,836,3658,0,0,0,0,0,0
$GC,384,-0.78,-146.1,33.8,-8.6,66,390,0.00,2.30,0.00,0.000,6,0.000,0.059,2938,2261,3662,0,0,0,0,0,0
$GC,730,-0.78,-146.1,64.2,-9.2,127,735,0.00,2.25,0.00,0.000,4,0.000,0.057,2938,842,3661,0,0,0,0,0,0
$GC,759,-0.78,-146.1,67.2,-9.7,132,764,0.00,2.25,0.00,0.000,6,0.000,0.060,2928,2249,3661,0,0,0,0,0,0
$GC,1103,-0.78,-146.1,100.0,-9.7,193,1109,0.10,2.25,0.00,0.000,4,0.175,0.058,2954,839,3661,0,0,0,0,0,0
$GC,1127,-0.78,-146.1,102.0,-8.8,196,1132,0.00,2.28,0.00,0.000,6,0.000,0.061,2947,2259,3661,0,0,0,0,0,0
$GC,1453,-0.78,-146.1,128.9,-8.7,226,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2259,3660,0,0,0,0,0,0
$GC,1773,-0.78,-146.1,155.1,-7.7,256,1777,0.00,2.22,0.00,0.000,4,0.000,0.058,2947,842,3660,0,0,0,0,0,0
$GC,1785,-0.78,-146.1,156.3,-7.9,256,1791,0.00,2.25,0.00,0.000,6,0.000,0.060,2937,2256,3660,0,0,0,0,0,0
$GC,2110,-0.78,-146.1,183.2,-8.0,287,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2256,3659,0,0,0,0,0,0
$GC,2431,-0.78,-146.1,206.3,-6.8,317,2435,0.00,2.22,0.00,0.000,4,0.000,0.058,2937,834,3659,0,0,0,0,0,0
$GC,2442,-0.78,-146.1,207.3,-6.7,317,2448,0.10,2.25,0.00,0.000,6,0.167,0.059,2954,2261,3659,0,0,0,0,0,0
$GC,2767,-0.78,-146.1,225.5,-5.7,348,2768,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2260,3659,0,0,0,0,0,0
$GC,3085,-0.78,-146.1,243.8,-5.9,378,3091,0.00,2.10,0.00,0.000,4,0.000,0.072,2946,3599,3659,0,0,0,0,0,0
$GC,3098,-0.78,-146.1,244.6,-5.9,379,3102,0.00,2.08,0.00,0.000,6,0.000,0.049,2946,2243,3659,0,0,0,0,0,0
$GC,3423,-0.78,-146.1,267.8,-7.7,409,3427,0.00,2.15,0.00,0.000,4,0.000,0.058,2946,840,3660,0,0,0,0,0,0
$GC,3434,-0.78,-146.1,268.8,-7.7,410,3439,0.00,2.22,0.00,0.000,6,0.000,0.058,2937,2251,3660,0,0,0,0,0,0
$GC,3759,-0.78,-146.1,296.4,-8.6,440,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2251,3660,0,0,0,0,0,0
$GC,4078,-0.78,-146.1,323.6,-8.3,470,4082,0.00,2.10,0.00,0.000,4,0.000,0.070,2926,3599,3660,0,0,0,0,0,0
$GC,4088,-0.78,-146.1,324.6,-8.3,470,4095,0.10,2.05,0.00,0.000,6,0.165,0.047,2953,2248,3660,0,0,0,0,0,0
$GC,4414,-0.78,-146.1,347.8,-6.9,501,4415,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2247,3660,0,0,0,0,0,0
$GC,4732,-0.78,-146.1,368.6,-6.0,531,4736,0.00,2.15,0.00,0.000,4,0.000,0.057,2953,840,3660,0,0,0,0,0,0
$GC,4744,-0.78,-146.1,369.5,-6.2,531,4750,0.00,2.22,0.00,0.000,6,0.000,0.058,2946,2259,3660,0,0,0,0,0,0
$GC,5069,-0.78,-146.1,389.9,-6.3,562,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2259,3661,0,0,0,0,0,0
$GC,5388,-0.78,-146.1,408.6,-5.8,592,5389,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2259,3661,0,0,0,0,0,0
$GC,5709,-0.78,-146.1,425.9,-5.1,622,5710,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2259,3662,0,0,0,0,0,0
$GC,6025,-0.78,-146.1,443.0,-5.8,652,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2259,3662,0,0,0,0,0,0
$GC,6343,-0.78,-146.1,460.8,-5.8,682,6347,0.00,2.08,0.00,0.000,4,0.000,0.068,2936,3598,3663,0,0,0,0,0,0
$GC,6355,-0.78,-146.1,461.4,-5.3,683,6359,0.00,2.05,0.00,0.000,6,0.000,0.046,2936,2241,3663,0,0,0,0,0,0
$GC,6686,-0.78,-146.1,481.8,-6.0,714,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,2241,3663,0,0,0,0,0,0
$GC,7008,-0.78,-146.1,501.8,-6.8,744,7012,0.00,2.12,0.00,0.000,4,0.000,0.054,2936,840,3664,0,0,0,0,0,0
$GC,7020,-0.78,-146.1,502.9,-6.6,745,7025,0.10,2.20,0.00,0.000,6,0.157,0.056,2955,2251,3664,0,0,0,0,0,0
$GC,7346,-0.78,-146.1,521.2,-5.6,775,7347,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2250,3664,0,0,0,0,0,0
$GC,7667,-0.78,-146.1,539.8,-5.9,805,7671,0.00,2.10,0.00,0.000,4,0.000,0.068,2947,3605,3664,0,0,0,0,0,0
$GC,7678,-0.78,-146.1,540.5,-6.0,806,7682,0.00,2.05,0.00,0.000,6,0.000,0.044,2947,2239,3664,0,0,0,0,0,0
$GC,8009,-0.78,-146.1,560.7,-5.9,837,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2239,3664,0,0,0,0,0,0
$STATE,8208,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8208,begin apogee
$GC,8216,-0.17,0.0,571.8,5.8,856,8342,0.40,0.00,121.10,1.182,6,0.118,0.000,3084,2151,3058,0,0,0,0,0,0
$STATE,8343,end apogee,CONTROL_FINISHED_OK
$STATE,8343,begin climb
$GC,8346,0.78,146.1,573.3,0.0,869,8471,0.60,0.00,121.65,1.127,6,0.071,0.000,3299,2151,2462,0,0,0,0,0,0
$GC,8788,0.78,146.1,527.8,11.4,911,8792,0.00,2.30,0.00,0.000,4,0.000,0.065,3299,3557,2456,0,0,0,0,0,0
$GC,8863,0.78,146.1,517.9,13.9,917,8867,0.00,2.22,0.00,0.000,6,0.000,0.047,3309,2150,2455,0,0,0,0,0,0
$GC,9188,0.78,146.1,475.5,13.5,947,9192,0.00,2.22,0.00,0.000,4,0.000,0.056,3320,737,2454,0,0,0,0,0,0
$GC,9244,0.78,146.1,468.1,13.0,951,9250,0.12,2.28,0.00,0.000,6,0.170,0.056,3288,2151,2454,0,0,0,0,0,0
$GC,9568,0.78,146.1,429.0,12.6,982,9572,0.00,2.20,0.00,0.000,4,0.000,0.067,3287,3557,2453,0,0,0,0,0,0
$GC,9692,0.78,146.1,410.9,15.0,992,9697,0.00,2.20,0.00,0.000,6,0.000,0.048,3296,2137,2453,0,0,0,0,0,0
$GC,10017,0.78,146.1,366.7,13.6,1023,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3295,2136,2453,0,0,0,0,0,0
$GC,10338,0.78,146.1,323.4,13.3,1053,10342,0.00,2.25,0.00,0.000,4,0.000,0.066,3295,3557,2453,0,0,0,0,0,0
$GC,10393,0.78,146.1,314.8,14.8,1057,10398,0.00,2.17,0.00,0.000,6,0.000,0.046,3305,2141,2453,0,0,0,0,0,0
$GC,10718,0.78,146.1,272.6,12.5,1088,10719,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2141,2454,0,0,0,0,0,0
$GC,11040,0.78,146.1,235.6,11.2,1118,11044,0.00,2.22,0.00,0.000,4,0.000,0.066,3306,3558,2454,0,0,0,0,0,0
$GC,11095,0.78,146.1,228.0,12.9,1122,11101,0.10,2.15,0.00,0.000,6,0.186,0.047,3291,2149,2454,0,0,0,0,0,0
$GC,11420,0.83,182.4,198.3,8.3,1153,11455,0.00,2.25,28.40,0.950,4,0.000,0.057,3295,748,2314,0,0,0,0,0,0
$GC,11514,0.84,191.9,189.8,9.6,1161,11530,0.00,2.28,9.07,0.823,6,0.000,0.056,3296,2161,2274,0,0,0,0,0,0
$GC,11850,0.87,214.7,157.8,9.0,1193,11874,0.00,2.28,19.33,0.893,4,0.000,0.068,3296,3562,2181,0,0,0,0,0,0
$GC,11966,0.87,214.7,144.7,12.6,1203,11972,0.00,2.22,0.00,0.000,6,0.000,0.047,3306,2145,2176,0,0,0,0,0,0
$GC,12291,0.89,234.8,112.2,9.1,1234,12315,0.00,2.28,17.08,0.864,4,0.000,0.056,3317,744,2099,0,0,0,0,0,0
$GC,12361,0.91,249.7,105.7,9.3,1240,12380,0.00,2.28,14.05,0.831,6,0.000,0.056,3316,2161,2038,0,0,0,0,0,0
$GC,12719,0.91,249.7,68.1,10.9,1299,12724,0.00,2.22,0.00,0.000,4,0.000,0.069,3317,3558,2031,0,0,0,0,0,0
$GC,12827,0.91,249.7,53.9,13.2,1318,12832,0.00,2.20,0.00,0.000,6,0.000,0.048,3327,2149,2029,0,0,0,0,0,0
$GC,13173,0.91,249.7,13.8,10.7,1379,13178,0.00,2.20,0.00,0.000,4,0.000,0.058,3337,740,2029,0,0,0,0,0,0
$FREEZE,8.78,-0.318,-1.762,0,1,0
$FREEZE,8.23,-0.490,-1.761,0,1,0
$FREEZE,7.83,-0.505,-1.758,0,1,0
$FREEZE,7.38,-0.688,-1.758,0,1,0
$FREEZE,7.01,-0.843,-1.756,0,1,0
$FREEZE,6.56,-0.931,-1.751,0,1,0
$FREEZE,6.23,-0.878,-1.744,0,1,0
$FREEZE,5.85,-0.796,-1.741,0,1,0
$FREEZE,5.50,-0.747,-1.739,0,1,0
$FREEZE,5.13,-0.702,-1.737,0,1,0
$GC,13231,0.99,311.4,8.8,7.2,1389,13291,0.00,2.28,50.25,0.846,6,0.000,0.058,3336,2163,1787,0,0,0,0,0,0
$FREEZE,4.14,-0.693,-1.734,0,1,0
$FREEZE,3.76,-0.685,-1.733,0,1,0
$FREEZE,3.35,-0.693,-1.733,0,1,0
$FREEZE,2.95,-0.688,-1.733,0,1,0
$STATE,13315,end climb,SURFACE_DEPTH_REACHED
$STATE,13315,begin surface coast
$FREEZE,2.59,-0.669,-1.732,0,1,0
$FREEZE,2.27,-0.669,-1.732,0,1,0
$FREEZE,1.93,-0.678,-1.732,0,1,0
$FREEZE,1.47,-0.681,-1.731,0,1,0
$FREEZE,1.29,-0.369,-1.260,0,1,0
$FREEZE,1.30,-0.360,-1.713,0,1,0
$FREEZE,1.35,-0.602,-1.728,0,1,0
$FREEZE,1.31,-0.523,-1.724,0,1,0
$FINISH,1.3,1.025303
$STATE,13361,end surface coast,CONTROL_FINISHED_OK
$STATE,13361,begin surface
$SM_CCo,13441,0.00,0.000,0,0,1774,314.72
$SM_GC,2.40,8.20,0.00,0.00,0.049,0.000,0.000,338,2256,1774,-12.72,0.17,314.72
$RAFOS_CLK,508
$RAFOS,6,1276332549,8.833333,8.819167,83,81,42,41,41,38,766,765,433,112,1295,355
$RAFOS,5,1276332063,8.700000,8.684167,135,135,46,40,40,39,642,641,1148,264,348,227
$RAFOS,4,1276331586,8.566667,8.551666,74,56,41,41,39,39,845,846,969,1532,146,965
$RAFOS,3,1276331104,8.433333,8.417778,47,47,44,43,41,41,1551,1094,1829,1695,89,790
$RAFOS,2,1276330623,8.300000,8.284166,48,45,42,42,40,40,1721,1345,285,101,1,1025
$RAFOS,1,1276330147,8.166667,8.151944,48,48,47,43,42,40,1004,1491,1187,1203,282,107
$RAFOS,0,1276329663,8.033334,8.017500,47,45,44,43,43,40,1502,491,1396,984,1366,1572
$RAFOS_FIX,6709.155762,-5710.754395,120610,080822,3,97,0.40
$IRIDIUM_FIX,6641.98,-5716.88,060999,070712
$TT8_MAMPS,0.027612
$HUMID,38.65
$INTERNAL_PRESSURE,10.225
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.4
$ALTIM_BOTTOM_PING,450.2,136.3
$24V_AH,23.6,6.574
$10V_AH,10.3,3.230
$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,20.275,97.225,380.925,0.000,0.000,55.247,111.348,181.674,1.500,0.000,14.572,2307.838,8359.196,469.708,2160.512,692.950,0.000,1587.783,0.000,2143.127,2520.000,12.706,0.000
$DEVICE_MAMPS,249.275,106.613,1181.947,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1037.850,987.810,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135708
$DATA_FILE_SIZE,56699,1411
$CAP_FILE_SIZE,147081,0
$CFSIZE,260165632,246730752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.8
$GPS,120610,110315,6706.628,-5706.848,31,1.5,40,-37.7