version: 66.06
glider: 108
mission: 14
dive: 40
start: 6 13 110 23 5 4
data:
$ID,108
$MISSION,14
$DIVE,40
$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,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,-179548.97
$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,38
$R_STBD_OVSHOOT,39
$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
$GPS1,225307,6701.971,-5655.413,24,1.8,24,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.48
$_SM_ANGLEo,-75.4
$GPS2,230444,6701.984,-5655.341,15,1.7,15,-37.5
$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,108.0,5625,-18.1,-10.000
$D_GRID,620
$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,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,78,0.00,0.00,-59.47,0.000,2,0.000,0.000,334,2274,3138,0,0,0,0,0,0
$GC,81,-0.78,-146.1,3.1,-0.3,12,118,10.25,2.17,-17.80,0.000,4,0.245,0.086,2925,3586,3657,0,0,0,0,0,0
$GC,372,-0.78,-146.1,33.6,-10.9,64,377,0.00,2.10,0.00,0.000,6,0.000,0.048,2925,2245,3662,0,0,0,0,0,0
$GC,715,-0.78,-146.1,66.7,-9.4,125,721,0.00,2.20,0.00,0.000,4,0.000,0.058,2925,841,3663,0,0,0,0,0,0
$GC,739,-0.78,-146.1,69.1,-10.3,129,745,0.10,2.25,0.00,0.000,6,0.163,0.060,2941,2237,3662,0,0,0,0,0,0
$GC,1083,-0.78,-146.1,99.6,-8.0,190,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2237,3663,0,0,0,0,0,0
$GC,1411,-0.78,-146.1,123.5,-7.2,221,1412,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2237,3663,0,0,0,0,0,0
$GC,1729,-0.78,-146.1,148.1,-7.8,251,1734,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2237,3663,0,0,0,0,0,0
$GC,2056,-0.78,-146.1,174.2,-7.6,282,2060,0.00,2.15,0.00,0.000,4,0.000,0.072,2933,3604,3662,0,0,0,0,0,0
$GC,2074,-0.78,-146.1,175.8,-7.7,283,2078,0.00,2.10,0.00,0.000,6,0.000,0.049,2933,2238,3663,0,0,0,0,0,0
$GC,2405,-0.78,-146.1,201.6,-7.0,314,2406,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2238,3663,0,0,0,0,0,0
$GC,2726,-0.78,-146.1,226.1,-8.2,344,2730,0.00,2.15,0.00,0.000,4,0.000,0.059,2933,848,3662,0,0,0,0,0,0
$GC,2760,-0.78,-146.1,229.1,-8.5,346,2765,0.00,2.25,0.00,0.000,6,0.000,0.061,2924,2264,3662,0,0,0,0,0,0
$GC,3085,-0.78,-146.1,258.0,-8.9,377,3089,0.00,2.10,0.00,0.000,4,0.000,0.072,2914,3601,3662,0,0,0,0,0,0
$GC,3153,-0.78,-146.1,264.4,-9.7,383,3158,0.10,2.08,0.00,0.000,6,0.167,0.049,2940,2249,3662,0,0,0,0,0,0
$GC,3479,-0.78,-146.1,289.4,-7.2,413,3483,0.00,2.17,0.00,0.000,4,0.000,0.058,2940,839,3662,0,0,0,0,0,0
$GC,3508,-0.78,-146.1,291.7,-7.4,415,3512,0.00,2.25,0.00,0.000,6,0.000,0.061,2932,2256,3662,0,0,0,0,0,0
$GC,3833,-0.78,-146.1,315.1,-7.0,445,3834,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2256,3662,0,0,0,0,0,0
$GC,4154,-0.78,-146.1,337.0,-7.0,475,4157,0.00,2.10,0.00,0.000,4,0.000,0.071,2922,3598,3662,0,0,0,0,0,0
$GC,4176,-0.78,-146.1,338.9,-7.4,476,4182,0.00,2.08,0.00,0.000,6,0.000,0.048,2922,2238,3662,0,0,0,0,0,0
$GC,4501,-0.78,-146.1,363.3,-7.3,507,4505,0.00,2.12,0.00,0.000,4,0.000,0.058,2922,840,3662,0,0,0,0,0,0
$GC,4546,-0.78,-146.1,366.9,-7.8,510,4553,0.12,2.25,0.00,0.000,6,0.153,0.060,2948,2264,3662,0,0,0,0,0,0
$GC,4872,-0.78,-146.1,386.8,-5.9,541,4873,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2264,3663,0,0,0,0,0,0
$GC,5190,-0.78,-146.1,406.4,-6.4,571,5194,0.00,2.08,0.00,0.000,4,0.000,0.071,2941,3595,3662,0,0,0,0,0,0
$GC,5241,-0.78,-146.1,409.8,-6.8,575,5246,0.00,2.05,0.00,0.000,6,0.000,0.047,2940,2246,3662,0,0,0,0,0,0
$GC,5566,-0.78,-146.1,429.3,-5.9,606,5567,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2245,3663,0,0,0,0,0,0
$GC,5885,-0.78,-146.1,446.7,-5.1,636,5889,0.00,2.12,0.00,0.000,4,0.000,0.057,2940,842,3663,0,0,0,0,0,0
$GC,5918,-0.78,-146.1,448.7,-5.9,638,5923,0.00,2.22,0.00,0.000,6,0.000,0.059,2931,2258,3663,0,0,0,0,0,0
$GC,6246,-0.78,-146.1,468.1,-6.1,669,6250,0.00,2.08,0.00,0.000,4,0.000,0.070,2921,3593,3663,0,0,0,0,0,0
$GC,6270,-0.78,-146.1,470.0,-6.9,671,6274,0.00,2.08,0.00,0.000,6,0.000,0.047,2921,2216,3663,0,0,0,0,0,0
$GC,6600,-0.78,-146.1,492.0,-6.7,702,6605,0.10,2.20,0.00,0.000,4,0.160,0.068,2941,3597,3664,0,0,0,0,0,0
$GC,6633,-0.78,-146.1,493.9,-5.5,704,6639,0.00,2.05,0.00,0.000,6,0.000,0.047,2940,2242,3664,0,0,0,0,0,0
$GC,6959,-0.78,-146.1,511.4,-5.6,735,6960,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2242,3664,0,0,0,0,0,0
$GC,7280,-0.78,-146.1,528.9,-5.6,765,7284,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2242,3665,0,0,0,0,0,0
$GC,7609,-0.78,-146.1,546.6,-5.4,796,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2241,3665,0,0,0,0,0,0
$GC,7936,-0.78,-146.1,565.5,-6.3,827,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2240,3665,0,0,0,0,0,0
$STATE,8016,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,8016,begin apogee
$GC,8023,-0.17,0.0,570.8,6.2,835,8149,0.40,0.00,121.28,1.186,6,0.117,0.000,3079,2238,3058,0,0,0,0,0,0
$STATE,8150,end apogee,CONTROL_FINISHED_OK
$STATE,8150,begin climb
$GC,8153,0.78,146.1,572.7,0.0,848,8279,0.60,0.00,121.70,1.124,6,0.077,0.000,3289,2237,2461,0,0,0,0,0,0
$GC,8598,0.78,146.1,529.0,11.2,891,8599,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2237,2456,0,0,0,0,0,0
$GC,8919,0.78,146.1,493.3,10.9,921,8920,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2237,2454,0,0,0,0,0,0
$GC,9237,0.78,146.1,457.4,11.7,951,9238,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2237,2453,0,0,0,0,0,0
$GC,9555,0.78,146.1,419.6,11.9,981,9556,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2237,2453,0,0,0,0,0,0
$GC,9873,0.78,146.1,383.0,10.9,1011,9878,0.00,2.25,0.00,0.000,4,0.000,0.058,3296,797,2453,0,0,0,0,0,0
$GC,9917,0.78,146.1,377.8,11.0,1014,9923,0.00,2.25,0.00,0.000,6,0.000,0.058,3296,2212,2454,0,0,0,0,0,0
$GC,10242,0.78,146.1,342.2,11.0,1045,10246,0.00,2.17,0.00,0.000,4,0.000,0.068,3297,3594,2453,0,0,0,0,0,0
$GC,10315,0.78,146.1,332.9,13.4,1051,10321,0.10,2.15,0.00,0.000,6,0.183,0.047,3281,2195,2453,0,0,0,0,0,0
$GC,10640,0.78,146.1,298.6,10.2,1082,10641,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2194,2453,0,0,0,0,0,0
$GC,10960,0.78,146.1,266.6,10.0,1112,10964,0.00,2.15,0.00,0.000,4,0.000,0.057,3289,797,2454,0,0,0,0,0,0
$GC,10995,0.79,152.4,263.1,9.7,1115,11006,0.00,2.22,5.43,0.770,6,0.000,0.057,3289,2206,2435,0,0,0,0,0,0
$GC,11325,0.79,152.4,230.2,10.2,1146,11329,0.00,2.15,0.00,0.000,4,0.000,0.067,3289,3597,2434,0,0,0,0,0,0
$GC,11382,0.79,152.4,223.8,11.1,1151,11386,0.00,2.15,0.00,0.000,6,0.000,0.048,3297,2191,2434,0,0,0,0,0,0
$GC,11713,0.79,152.4,191.0,10.2,1182,11716,0.00,2.15,0.00,0.000,4,0.000,0.056,3307,794,2435,0,0,0,0,0,0
$GC,11770,0.79,152.4,185.1,10.4,1187,11775,0.10,2.22,0.00,0.000,6,0.171,0.058,3281,2210,2435,0,0,0,0,0,0
$GC,12100,0.82,173.3,153.9,9.0,1218,12125,0.00,2.22,17.80,0.917,4,0.000,0.069,3281,3590,2352,0,0,0,0,0,0
$GC,12148,0.82,173.3,148.9,10.5,1222,12154,0.00,2.15,0.00,0.000,6,0.000,0.048,3289,2203,2349,0,0,0,0,0,0
$GC,12473,0.84,190.7,117.2,9.2,1253,12495,0.00,2.25,14.57,0.869,4,0.000,0.058,3296,784,2280,0,0,0,0,0,0
$GC,12568,0.88,224.7,108.7,8.4,1261,12605,0.00,2.28,28.67,0.884,6,0.000,0.057,3296,2198,2140,0,0,0,0,0,0
$GC,12940,0.90,242.1,74.1,9.2,1319,12962,0.00,2.28,14.62,0.828,4,0.000,0.070,3296,3598,2070,0,0,0,0,0,0
$GC,13008,0.90,242.1,66.9,11.5,1331,13014,0.00,2.22,0.00,0.000,6,0.000,0.048,3305,2189,2066,0,0,0,0,0,0
$GC,13353,0.92,255.1,31.5,9.4,1392,13369,0.00,2.20,11.43,0.791,4,0.000,0.057,3315,793,2017,0,0,0,0,0,0
$GC,13478,0.92,255.1,19.2,10.2,1414,13483,0.00,2.30,0.00,0.000,6,0.000,0.059,3315,2211,2015,0,0,0,0,0,0
$FREEZE,8.82,3.100,-1.835,0,2,0
$FREEZE,8.28,3.108,-1.834,0,2,0
$FREEZE,7.69,3.142,-1.833,0,2,0
$FREEZE,7.07,3.154,-1.832,0,2,0
$FREEZE,6.57,3.155,-1.831,0,2,0
$FREEZE,5.96,3.166,-1.831,0,2,0
$FREEZE,5.44,3.185,-1.830,0,2,0
$FREEZE,4.86,3.191,-1.829,0,2,0
$FREEZE,4.37,3.193,-1.829,0,2,0
$FREEZE,3.80,3.191,-1.829,0,2,0
$FREEZE,3.20,3.189,-1.828,0,2,0
$FREEZE,2.68,3.191,-1.828,0,2,0
$STATE,13640,end climb,SURFACE_DEPTH_REACHED
$STATE,13640,begin surface coast
$FREEZE,2.29,3.190,-1.828,0,2,0
$FREEZE,1.75,3.184,-1.827,0,2,0
$FREEZE,1.58,3.062,-1.668,0,2,0
$FREEZE,1.60,3.032,-1.071,0,2,0
$FREEZE,1.59,3.115,-1.102,0,2,0
$FREEZE,1.54,3.101,-1.629,0,2,0
$FINISH,1.5,1.023747
$STATE,13675,end surface coast,CONTROL_FINISHED_OK
$STATE,13675,begin surface
$SM_CCo,13694,269.88,0.785,0,0,588,605.89
$SM_GC,2.33,0.00,0.00,269.88,0.000,0.000,0.785,334,2249,588,-12.78,-0.03,605.89
$RAFOS_CLK,533
$RAFOS,6,1276476544,0.833333,0.817778,84,75,48,45,45,42,833,832,672,968,1160,1700
$RAFOS,5,1276476069,0.700000,0.685833,141,131,51,45,45,41,630,631,767,213,747,1591
$RAFOS,4,1276475591,0.566667,0.553056,45,43,42,41,41,41,854,500,853,61,935,1450
$RAFOS,3,1276475109,0.433333,0.419167,51,45,44,42,41,41,1708,1428,454,1132,145,1830
$RAFOS,2,1276474622,0.300000,0.283889,43,42,42,41,40,37,1844,72,1800,1,1069,706
$RAFOS,1,1276474144,0.166667,0.151111,46,44,43,43,43,42,1817,509,910,1120,1841,911
$RAFOS,0,1276473663,0.033333,0.017500,46,44,42,41,41,40,1575,388,1016,1911,1640,425
$RAFOS_FIX,6704.288086,-5657.054688,140610,000056,2,112,0.72
$IRIDIUM_FIX,6636.54,-5650.71,070999,232337
$TT8_MAMPS,0.027612
$HUMID,37.67
$INTERNAL_PRESSURE,10.1664
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,500.0,85.5
$24V_AH,23.6,7.859
$10V_AH,10.3,4.004
$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,19.825,91.225,335.500,269.875,0.000,89.213,191.632,123.565,1.750,0.000,17.435,2366.404,8593.080,715.140,2200.958,780.959,0.000,1841.817,0.000,2190.257,2520.000,14.335,0.000
$DEVICE_MAMPS,244.673,167.206,1185.782,785.408,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1071.553,1012.660,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135608
$DATA_FILE_SIZE,56675,1449
$CAP_FILE_SIZE,147991,0
$CFSIZE,260165632,245972992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.9
$GPS,140610,025925,6704.160,-5653.796,37,1.8,37,-37.6