version: 66.06
glider: 108
mission: 14
dive: 37
start: 6 13 110 9 33 52
data:
$ID,108
$MISSION,14
$DIVE,37
$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,-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,-179498.97
$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,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,41
$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
$GPS1,092307,6658.860,-5701.973,31,0.8,31,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.41
$_SM_ANGLEo,-75.9
$GPS2,093332,6658.730,-5701.807,8,1.5,8,-37.5
$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,353.0,3296,-20.7,-10.000
$D_GRID,709
$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,-0.83,-112.1,0.0,0.0,0,78,0.00,0.00,-59.70,0.000,2,0.000,0.000,337,2248,3105,0,0,0,0,0,0
$GC,82,-0.87,-146.1,3.1,-0.9,12,119,10.20,2.28,-19.98,0.000,4,0.242,0.070,2918,849,3656,0,0,0,0,0,0
$GC,137,-0.87,-146.1,7.6,-10.3,22,143,0.00,2.30,0.00,0.000,6,0.000,0.060,2911,2257,3658,0,0,0,0,0,0
$GC,481,-0.87,-146.1,51.6,-12.7,83,486,0.00,2.15,0.00,0.000,4,0.000,0.071,2901,3598,3660,0,0,0,0,0,0
$GC,622,-0.87,-146.1,70.0,-12.6,108,628,0.10,2.10,0.00,0.000,6,0.176,0.049,2925,2240,3660,0,0,0,0,0,0
$GC,969,-0.87,-146.1,106.8,-9.8,164,973,0.00,2.17,0.00,0.000,4,0.000,0.059,2925,838,3660,0,0,0,0,0,0
$GC,1116,-0.87,-146.1,121.1,-10.1,176,1122,0.00,2.28,0.00,0.000,6,0.000,0.061,2918,2252,3661,0,0,0,0,0,0
$GC,1441,-0.87,-146.1,152.1,-9.0,207,1445,0.00,2.12,0.00,0.000,4,0.000,0.071,2907,3606,3660,0,0,0,0,0,0
$GC,1515,-0.87,-146.1,159.3,-10.2,213,1520,0.00,2.08,0.00,0.000,6,0.000,0.049,2907,2250,3660,0,0,0,0,0,0
$GC,1840,-0.87,-146.1,189.5,-9.0,244,1844,0.00,2.22,0.00,0.000,4,0.000,0.060,2907,834,3659,0,0,0,0,0,0
$GC,2020,-0.87,-146.1,206.8,-9.8,260,2025,0.10,2.28,0.00,0.000,6,0.170,0.061,2923,2259,3659,0,0,0,0,0,0
$GC,2345,-0.87,-146.1,233.0,-8.2,290,2349,0.00,2.12,0.00,0.000,4,0.000,0.072,2915,3606,3660,0,0,0,0,0,0
$GC,2452,-0.87,-146.1,242.5,-9.0,299,2457,0.00,2.08,0.00,0.000,6,0.000,0.049,2915,2244,3660,0,0,0,0,0,0
$GC,2777,-0.87,-146.1,269.0,-8.1,330,2781,0.00,2.17,0.00,0.000,4,0.000,0.059,2915,839,3660,0,0,0,0,0,0
$GC,2981,-0.87,-146.1,286.8,-8.6,348,2985,0.00,2.25,0.00,0.000,6,0.000,0.061,2905,2256,3660,0,0,0,0,0,0
$GC,3311,-0.87,-146.1,316.5,-9.3,379,3315,0.00,2.10,0.00,0.000,4,0.000,0.071,2895,3598,3659,0,0,0,0,0,0
$GC,3471,-0.87,-146.1,332.9,-10.5,393,3476,0.10,2.08,0.00,0.000,6,0.173,0.048,2920,2243,3660,0,0,0,0,0,0
$GC,3796,-0.87,-146.1,361.7,-8.6,423,3800,0.00,2.15,0.00,0.000,4,0.000,0.058,2920,845,3660,0,0,0,0,0,0
$GC,3946,-0.87,-146.1,374.7,-8.4,436,3950,0.00,2.22,0.00,0.000,6,0.000,0.060,2913,2265,3660,0,0,0,0,0,0
$GC,4271,-0.87,-146.1,402.1,-8.2,466,4275,0.00,2.08,0.00,0.000,4,0.000,0.071,2903,3593,3661,0,0,0,0,0,0
$GC,4407,-0.87,-146.1,413.8,-8.5,478,4411,0.00,2.03,0.00,0.000,6,0.000,0.048,2903,2248,3661,0,0,0,0,0,0
$GC,4738,-0.87,-146.1,440.4,-8.0,509,4741,0.00,2.15,0.00,0.000,4,0.000,0.057,2903,844,3662,0,0,0,0,0,0
$GC,4904,-0.87,-146.1,453.7,-8.1,523,4910,0.12,2.22,0.00,0.000,6,0.161,0.059,2927,2259,3662,0,0,0,0,0,0
$GC,5229,-0.87,-146.1,474.8,-6.1,554,5233,0.00,2.08,0.00,0.000,4,0.000,0.070,2919,3594,3662,0,0,0,0,0,0
$GC,5365,-0.87,-146.1,484.7,-7.0,566,5369,0.00,2.05,0.00,0.000,6,0.000,0.047,2919,2242,3662,0,0,0,0,0,0
$GC,5696,-0.87,-146.1,507.7,-6.8,597,5700,0.00,2.12,0.00,0.000,4,0.000,0.056,2919,849,3663,0,0,0,0,0,0
$GC,5887,-0.87,-146.1,522.0,-7.7,614,5891,0.00,2.20,0.00,0.000,6,0.000,0.058,2910,2249,3663,0,0,0,0,0,0
$GC,6212,-0.87,-146.1,545.6,-7.0,644,6216,0.00,2.10,0.00,0.000,4,0.000,0.069,2899,3604,3663,0,0,0,0,0,0
$GC,6337,-0.87,-146.1,555.5,-8.0,655,6341,0.10,2.03,0.00,0.000,6,0.168,0.047,2926,2250,3664,0,0,0,0,0,0
$GC,6667,-0.87,-146.1,577.1,-6.7,686,6670,0.00,2.17,0.00,0.000,4,0.000,0.056,2926,837,3664,0,0,0,0,0,0
$GC,6792,-0.87,-146.1,585.9,-6.8,697,6796,0.00,2.22,0.00,0.000,6,0.000,0.058,2918,2265,3665,0,0,0,0,0,0
$GC,7119,-0.87,-146.1,609.2,-7.4,720,7123,0.00,2.08,0.00,0.000,4,0.000,0.070,2908,3585,3665,0,0,0,0,0,0
$GC,7248,-0.87,-146.1,619.8,-8.1,723,7254,0.00,2.03,0.00,0.000,6,0.000,0.047,2908,2248,3665,0,0,0,0,0,0
$GC,7561,-0.87,-146.1,643.9,-7.8,734,7564,0.00,2.15,0.00,0.000,4,0.000,0.057,2908,841,3665,0,0,0,0,0,0
$GC,7704,-0.87,-146.1,655.9,-8.5,738,7709,0.10,2.20,0.00,0.000,6,0.168,0.059,2924,2250,3665,0,0,0,0,0,0
$GC,8034,-0.87,-146.1,678.0,-6.6,749,8038,0.00,2.08,0.00,0.000,4,0.000,0.071,2916,3595,3665,0,0,0,0,0,0
$GC,8163,-0.87,-146.1,687.6,-7.2,752,8168,0.00,2.03,0.00,0.000,6,0.000,0.048,2916,2243,3664,0,0,0,0,0,0
$STATE,8472,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8473,begin apogee
$GC,8479,-0.17,0.0,710.3,7.0,763,8606,0.50,0.00,123.55,1.295,6,0.123,0.000,3080,2241,3058,0,0,0,0,0,0
$STATE,8606,end apogee,CONTROL_FINISHED_OK
$STATE,8606,begin climb
$GC,8609,0.87,146.1,712.7,0.0,767,8743,0.65,2.35,123.68,1.226,4,0.078,0.067,3305,3585,2460,0,0,0,0,0,0
$GC,8749,0.87,146.1,701.7,11.9,771,8753,0.00,2.30,0.00,0.000,6,0.000,0.047,3315,2209,2459,0,0,0,0,0,0
$GC,9066,0.87,146.1,663.0,12.2,782,9067,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2209,2456,0,0,0,0,0,0
$GC,9373,0.87,146.1,625.8,12.0,792,9374,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2209,2454,0,0,0,0,0,0
$GC,9682,0.87,146.1,588.5,12.0,808,9683,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2208,2454,0,0,0,0,0,0
$GC,10001,0.87,146.1,549.9,12.0,838,10002,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2208,2453,0,0,0,0,0,0
$GC,10320,0.87,146.1,508.8,13.6,868,10321,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2208,2452,0,0,0,0,0,0
$GC,10641,0.87,146.1,466.3,13.4,898,10642,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2208,2451,0,0,0,0,0,0
$GC,10956,0.87,146.1,423.6,13.6,928,10957,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2208,2451,0,0,0,0,0,0
$GC,11275,0.87,146.1,379.8,13.9,958,11276,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2208,2450,0,0,0,0,0,0
$GC,11596,0.87,146.1,336.2,13.2,988,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2208,2451,0,0,0,0,0,0
$GC,11912,0.87,146.1,295.0,12.2,1018,11913,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2208,2451,0,0,0,0,0,0
$GC,12230,0.87,146.1,257.7,11.7,1048,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2208,2451,0,0,0,0,0,0
$GC,12551,0.87,146.1,222.2,11.3,1078,12555,0.00,2.17,0.00,0.000,4,0.000,0.058,3326,778,2453,0,0,0,0,0,0
$GC,12563,0.87,146.1,220.7,10.9,1078,12569,0.10,2.25,0.00,0.000,6,0.179,0.057,3301,2205,2453,0,0,0,0,0,0
$GC,12887,0.87,146.1,186.4,11.3,1109,12892,0.00,2.17,0.00,0.000,4,0.000,0.069,3300,3596,2453,0,0,0,0,0,0
$GC,12899,0.87,146.1,185.2,11.3,1110,12903,0.00,2.15,0.00,0.000,6,0.000,0.047,3308,2184,2453,0,0,0,0,0,0
$GC,13224,0.87,146.1,147.3,11.3,1140,13228,0.00,2.22,0.00,0.000,4,0.000,0.067,3308,3594,2453,0,0,0,0,0,0
$GC,13241,0.87,146.1,145.2,11.5,1141,13245,0.00,2.10,0.00,0.000,6,0.000,0.048,3318,2201,2453,0,0,0,0,0,0
$GC,13571,0.87,146.1,107.4,10.8,1172,13572,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,2200,2453,0,0,0,0,0,0
$GC,13905,0.88,150.5,73.4,9.7,1225,13915,0.00,2.20,3.90,0.600,4,0.000,0.058,3329,798,2444,0,0,0,0,0,0
$GC,13922,0.90,166.9,71.8,9.0,1228,13944,0.10,2.22,14.35,0.859,6,0.175,0.058,3303,2209,2377,0,0,0,0,0,0
$GC,14282,0.93,193.0,41.8,8.4,1292,14309,0.00,2.25,21.38,0.860,4,0.000,0.056,3309,797,2270,0,0,0,0,0,0
$GC,14316,0.95,213.9,38.9,8.8,1298,14342,0.00,2.28,18.17,0.822,6,0.000,0.058,3309,2203,2185,0,0,0,0,0,0
$FREEZE,8.55,1.746,-1.808,0,1,0
$FREEZE,8.05,1.752,-1.802,0,1,0
$FREEZE,7.42,1.665,-1.806,0,1,0
$FREEZE,6.93,1.560,-1.805,0,1,0
$FREEZE,6.53,1.433,-1.805,0,1,0
$FREEZE,6.05,1.458,-1.804,0,1,0
$GC,14681,0.98,238.6,8.1,8.5,1363,14710,0.00,2.33,20.38,0.826,4,0.000,0.071,3309,3602,2083,0,0,0,0,0,0
$FREEZE,5.26,1.392,-1.802,0,1,0
$FREEZE,4.97,1.273,-1.799,0,1,0
$FREEZE,4.50,1.217,-1.798,0,1,0
$FREEZE,4.23,1.246,-1.798,0,1,0
$FREEZE,3.69,1.301,-1.797,0,1,0
$FREEZE,3.27,1.260,-1.796,0,1,0
$FREEZE,2.94,1.258,-1.801,0,1,0
$STATE,14753,end climb,SURFACE_DEPTH_REACHED
$STATE,14753,begin surface coast
$FREEZE,2.34,1.254,-1.793,0,1,0
$FREEZE,1.88,1.204,-1.790,0,1,0
$FREEZE,1.42,1.071,-1.790,0,1,0
$FREEZE,1.35,1.080,-1.737,0,1,0
$FREEZE,1.46,1.260,-1.769,0,1,0
$FREEZE,1.39,1.058,-0.203,0,1,0
$FREEZE,1.37,1.089,-0.267,0,1,0
$FINISH,1.4,1.003838
$STATE,14792,end surface coast,CONTROL_FINISHED_OK
$STATE,14792,begin surface
$SM_CCo,14814,49.15,0.830,0,0,1835,300.00
$SM_GC,2.46,0.00,0.00,49.15,0.000,0.000,0.830,338,2246,1835,-12.76,-0.11,300.00
$RAFOS_CLK,572
$RAFOS,6,1276433350,12.833333,12.819445,112,108,43,41,41,39,781,782,1060,1647,395,202
$RAFOS,5,1276432862,12.700000,12.683888,79,76,46,44,42,40,640,641,1195,221,1745,1
$RAFOS,4,1276432384,12.566667,12.551111,47,45,44,43,43,39,1489,1566,1272,1659,1718,1260
$RAFOS,3,1276431906,12.433333,12.418333,51,45,43,42,42,42,615,1522,1128,1909,262,1127
$RAFOS,2,1276431429,12.300000,12.285833,45,42,41,40,39,39,1247,1183,1646,249,1415,620
$RAFOS,1,1276430971,12.166667,12.158611,49,45,44,44,43,41,1880,880,668,1344,770,1879
$RAFOS,0,1276430481,12.033333,12.022500,45,43,43,43,42,39,1063,1,355,1855,453,1415
$RAFOS_FIX,6704.329590,-5704.706055,130610,121200,2,96,0.91
$IRIDIUM_FIX,6631.12,-5716.55,070999,090910
$TT8_MAMPS,0.027612
$HUMID,39.44
$INTERNAL_PRESSURE,10.225
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,650.1,80.1
$24V_AH,23.5,7.407
$10V_AH,10.3,3.747
$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,20.225,108.325,325.400,49.150,0.000,53.760,72.597,288.092,2.500,0.000,10.319,2365.195,9471.076,473.304,2381.856,796.344,0.000,1683.652,0.000,2358.696,2520.000,19.619,0.000
$DEVICE_MAMPS,242.372,72.098,1295.463,829.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1011.802,972.947,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135716
$DATA_FILE_SIZE,56741,1382
$CAP_FILE_SIZE,158340,0
$CFSIZE,260165632,246231040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.5
$GPS,130610,134307,6700.203,-5702.568,32,1.2,32,-37.5