version: 66.06
glider: 108
mission: 14
dive: 43
start: 6 14 110 9 48 15
data:
$ID,108
$MISSION,14
$DIVE,43
$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,-179595.5
$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,39
$R_STBD_OVSHOOT,40
$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
$GPS1,093524,6702.537,-5648.173,36,1.4,36,-37.5
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.40
$_SM_ANGLEo,-76.6
$GPS2,094755,6702.564,-5647.817,9,1.8,14,-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,286.6,13310,-18.1,-10.000
$D_GRID,534
$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,-0.78,-146.1,0.0,0.0,0,57,0.00,0.00,-39.33,0.000,2,0.000,0.000,334,2270,2726,0,0,0,0,0,0
$GC,61,-0.78,-146.1,3.0,-2.7,8,123,9.98,2.33,-43.00,0.000,4,0.229,0.071,2940,850,3657,0,0,0,0,0,0
$GC,360,-0.78,-146.1,28.7,-10.3,62,365,0.00,2.22,0.00,0.000,6,0.000,0.059,2933,2237,3660,0,0,0,0,0,0
$GC,703,-0.78,-146.1,59.6,-8.4,123,708,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2237,3661,0,0,0,0,0,0
$GC,1047,-0.78,-146.1,89.5,-9.4,184,1052,0.00,2.20,0.00,0.000,4,0.000,0.057,2933,846,3661,0,0,0,0,0,0
$GC,1099,-0.78,-146.1,94.4,-9.5,193,1104,0.00,2.25,0.00,0.000,6,0.000,0.059,2924,2262,3661,0,0,0,0,0,0
$GC,1427,-0.78,-146.1,122.7,-8.1,229,1431,0.00,2.12,0.00,0.000,4,0.000,0.071,2914,3605,3661,0,0,0,0,0,0
$GC,1507,-0.78,-146.1,129.5,-8.5,236,1511,0.10,2.10,0.00,0.000,6,0.169,0.048,2940,2247,3661,0,0,0,0,0,0
$GC,1832,-0.78,-146.1,151.6,-7.0,266,1835,0.00,2.17,0.00,0.000,4,0.000,0.058,2940,845,3661,0,0,0,0,0,0
$GC,1894,-0.78,-146.1,156.2,-7.7,271,1899,0.00,2.25,0.00,0.000,6,0.000,0.061,2932,2253,3661,0,0,0,0,0,0
$GC,2219,-0.78,-146.1,181.9,-7.6,302,2222,0.00,2.12,0.00,0.000,4,0.000,0.071,2922,3604,3661,0,0,0,0,0,0
$GC,2253,-0.78,-146.1,184.7,-8.5,305,2257,0.00,2.10,0.00,0.000,6,0.000,0.048,2922,2239,3661,0,0,0,0,0,0
$GC,2584,-0.78,-146.1,212.0,-8.9,336,2588,0.00,2.15,0.00,0.000,4,0.000,0.059,2922,847,3661,0,0,0,0,0,0
$GC,2641,-0.78,-146.1,217.3,-9.0,341,2646,0.12,2.25,0.00,0.000,6,0.153,0.061,2948,2260,3661,0,0,0,0,0,0
$GC,2966,-0.78,-146.1,240.8,-7.0,371,2970,0.00,2.08,0.00,0.000,4,0.000,0.071,2940,3594,3661,0,0,0,0,0,0
$GC,3024,-0.78,-146.1,245.1,-8.0,376,3028,0.00,2.08,0.00,0.000,6,0.000,0.049,2939,2240,3661,0,0,0,0,0,0
$GC,3354,-0.78,-146.1,268.4,-6.8,407,3358,0.00,2.15,0.00,0.000,4,0.000,0.058,2940,846,3661,0,0,0,0,0,0
$GC,3413,-0.78,-146.1,272.5,-7.2,412,3417,0.00,2.25,0.00,0.000,6,0.000,0.061,2930,2263,3661,0,0,0,0,0,0
$GC,3738,-0.78,-146.1,296.7,-7.8,442,3742,0.00,2.10,0.00,0.000,4,0.000,0.071,2920,3602,3660,0,0,0,0,0,0
$GC,3777,-0.78,-146.1,299.9,-8.1,445,3787,0.10,2.08,0.00,0.000,6,0.160,0.048,2947,2245,3660,0,0,0,0,0,0
$GC,4102,-0.78,-146.1,321.1,-6.6,476,4105,0.00,2.15,0.00,0.000,4,0.000,0.058,2947,848,3661,0,0,0,0,0,0
$GC,4164,-0.78,-146.1,325.6,-7.6,481,4169,0.00,2.22,0.00,0.000,6,0.000,0.060,2940,2253,3661,0,0,0,0,0,0
$GC,4489,-0.78,-146.1,348.1,-6.5,512,4493,0.00,2.10,0.00,0.000,4,0.000,0.071,2930,3595,3661,0,0,0,0,0,0
$GC,4550,-0.78,-146.1,352.8,-7.9,517,4556,0.00,2.05,0.00,0.000,6,0.000,0.048,2929,2248,3661,0,0,0,0,0,0
$GC,4876,-0.78,-146.1,373.9,-6.4,548,4879,0.00,2.15,0.00,0.000,4,0.000,0.058,2930,849,3661,0,0,0,0,0,0
$GC,5002,-0.78,-146.1,382.6,-7.2,559,5006,0.10,2.22,0.00,0.000,6,0.155,0.059,2948,2258,3660,0,0,0,0,0,0
$GC,5327,-0.78,-146.1,400.6,-5.0,589,5330,0.00,2.10,0.00,0.000,4,0.000,0.071,2940,3602,3661,0,0,0,0,0,0
$GC,5418,-0.78,-146.1,405.7,-5.9,597,5421,0.00,2.08,0.00,0.000,6,0.000,0.048,2940,2243,3661,0,0,0,0,0,0
$GC,5748,-0.78,-146.1,422.5,-5.4,628,5752,0.00,2.15,0.00,0.000,4,0.000,0.058,2940,841,3661,0,0,0,0,0,0
$GC,5810,-0.78,-146.1,426.2,-5.7,633,5816,0.00,2.22,0.00,0.000,6,0.000,0.059,2931,2251,3661,0,0,0,0,0,0
$GC,6135,-0.78,-146.1,444.2,-5.7,664,6139,0.00,2.10,0.00,0.000,4,0.000,0.071,2921,3598,3661,0,0,0,0,0,0
$GC,6226,-0.78,-146.1,449.9,-6.7,672,6235,0.00,2.08,0.00,0.000,6,0.000,0.047,2920,2234,3661,0,0,0,0,0,0
$GC,6560,-0.78,-146.1,471.5,-7.0,703,6565,0.10,2.15,0.00,0.000,4,0.155,0.058,2949,839,3661,0,0,0,0,0,0
$GC,6662,-0.78,-146.1,478.1,-6.7,712,6666,0.00,2.22,0.00,0.000,6,0.000,0.059,2941,2251,3662,0,0,0,0,0,0
$GC,6987,-0.78,-146.1,497.4,-5.7,742,6991,0.00,2.08,0.00,0.000,4,0.000,0.070,2931,3597,3662,0,0,0,0,0,0
$GC,7038,-0.78,-146.1,500.5,-6.3,746,7044,0.00,2.05,0.00,0.000,6,0.000,0.046,2931,2245,3662,0,0,0,0,0,0
$STATE,7052,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7053,begin apogee
$GC,7059,-0.17,0.0,501.6,6.5,748,7185,0.43,0.00,118.97,1.134,6,0.117,0.000,3076,2244,3058,0,0,0,0,0,0
$STATE,7186,end apogee,CONTROL_FINISHED_OK
$STATE,7186,begin climb
$GC,7189,0.78,146.1,503.3,0.0,761,7318,0.57,2.33,120.25,1.077,4,0.072,0.064,3284,3591,2461,0,0,0,0,0,0
$GC,7358,0.78,146.1,488.7,13.0,776,7363,0.00,2.28,0.00,0.000,6,0.000,0.044,3293,2199,2459,0,0,0,0,0,0
$GC,7683,0.78,146.1,449.1,12.4,807,7687,0.00,2.22,0.00,0.000,4,0.000,0.055,3304,786,2457,0,0,0,0,0,0
$GC,7716,0.78,146.1,444.9,12.4,809,7722,0.10,2.33,0.00,0.000,6,0.170,0.056,3279,2215,2458,0,0,0,0,0,0
$GC,8041,0.78,146.1,409.6,10.8,840,8045,0.00,2.20,0.00,0.000,4,0.000,0.067,3280,3605,2458,0,0,0,0,0,0
$GC,8087,0.78,146.1,404.2,12.7,844,8091,0.00,2.20,0.00,0.000,6,0.000,0.045,3287,2192,2457,0,0,0,0,0,0
$GC,8412,0.78,146.1,366.6,11.6,874,8416,0.00,2.17,0.00,0.000,4,0.000,0.054,3298,788,2457,0,0,0,0,0,0
$GC,8434,0.78,146.1,364.0,11.0,876,8438,0.00,2.25,0.00,0.000,6,0.000,0.054,3297,2200,2458,0,0,0,0,0,0
$GC,8759,0.78,146.1,326.8,11.4,906,8763,0.00,2.22,0.00,0.000,4,0.000,0.066,3298,3598,2457,0,0,0,0,0,0
$GC,8788,0.78,146.1,323.4,12.1,908,8792,0.10,2.15,0.00,0.000,6,0.184,0.045,3283,2201,2458,0,0,0,0,0,0
$GC,9113,0.79,149.8,290.2,9.8,938,9124,0.00,2.22,3.83,0.629,4,0.000,0.055,3291,793,2448,0,0,0,0,0,0
$GC,9159,0.82,175.4,286.0,8.8,942,9189,0.00,2.25,21.90,0.975,6,0.000,0.056,3291,2208,2342,0,0,0,0,0,0
$GC,9508,0.82,175.4,250.4,10.2,975,9512,0.00,2.20,0.00,0.000,4,0.000,0.066,3291,3597,2340,0,0,0,0,0,0
$GC,9541,0.82,175.4,246.5,11.8,977,9547,0.00,2.17,0.00,0.000,6,0.000,0.046,3301,2194,2339,0,0,0,0,0,0
$GC,9866,0.82,175.4,210.0,11.2,1008,9867,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2193,2339,0,0,0,0,0,0
$GC,10187,0.82,175.4,176.7,10.2,1038,10188,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,2193,2339,0,0,0,0,0,0
$GC,10503,0.83,183.2,146.1,9.6,1068,10517,0.00,2.25,7.10,0.788,4,0.000,0.057,3311,785,2310,0,0,0,0,0,0
$GC,10546,0.83,183.2,141.9,10.1,1072,10551,0.00,2.25,0.00,0.000,6,0.000,0.057,3312,2200,2311,0,0,0,0,0,0
$GC,10872,0.83,183.2,107.8,10.6,1102,10876,0.00,2.20,0.00,0.000,4,0.000,0.069,3311,3596,2310,0,0,0,0,0,0
$GC,10905,0.83,183.2,103.8,11.8,1104,10911,0.12,2.15,0.00,0.000,6,0.172,0.048,3288,2199,2310,0,0,0,0,0,0
$GC,11249,0.85,204.5,72.9,9.0,1162,11275,0.00,2.25,17.85,0.862,4,0.000,0.058,3295,797,2224,0,0,0,0,0,0
$GC,11298,0.89,237.7,68.2,8.5,1171,11335,0.00,2.28,27.88,0.856,6,0.000,0.058,3295,2212,2088,0,0,0,0,0,0
$GC,11672,0.94,271.9,33.6,8.4,1238,11708,0.00,2.33,27.67,0.836,4,0.000,0.070,3294,3608,1948,0,0,0,0,0,0
$GC,11762,0.95,281.1,25.4,9.6,1254,11778,0.00,2.25,8.68,0.728,6,0.000,0.048,3304,2190,1912,0,0,0,0,0,0
$FREEZE,8.80,3.476,-1.842,0,1,0
$FREEZE,8.42,3.230,-1.836,0,1,0
$FREEZE,7.96,3.175,-1.835,0,1,0
$FREEZE,7.42,2.998,-1.822,0,1,0
$FREEZE,6.98,2.916,-1.817,0,1,0
$FREEZE,6.55,2.928,-1.816,0,1,0
$FREEZE,6.08,2.936,-1.814,0,1,0
$FREEZE,5.58,2.919,-1.814,0,1,0
$FREEZE,5.14,2.954,-1.813,0,1,0
$FREEZE,4.60,2.988,-1.812,0,1,0
$FREEZE,4.19,2.988,-1.811,0,1,0
$FREEZE,3.81,2.992,-1.811,0,1,0
$FREEZE,3.38,2.972,-1.812,0,1,0
$FREEZE,2.98,2.990,-1.810,0,1,0
$STATE,12004,end climb,SURFACE_DEPTH_REACHED
$STATE,12004,begin surface coast
$FREEZE,2.48,2.985,-1.810,0,1,0
$FREEZE,2.09,2.987,-1.810,0,1,0
$FREEZE,1.59,2.988,-1.809,0,1,0
$FREEZE,1.47,2.963,-1.029,0,1,0
$FREEZE,1.48,2.919,-1.658,0,1,0
$FREEZE,1.55,2.935,-1.286,0,1,0
$FREEZE,1.58,2.960,-1.410,0,1,0
$FREEZE,1.58,2.966,-0.927,0,1,0
$FINISH,1.6,1.013627
$STATE,12050,end surface coast,CONTROL_FINISHED_OK
$STATE,12051,begin surface
$SM_CCo,12070,14.75,0.793,0,0,1835,300.00
$SM_GC,2.18,0.00,0.00,14.75,0.000,0.000,0.793,335,2258,1835,-12.77,0.23,300.00
$RAFOS_CLK,462
$RAFOS,6,1276519742,12.833333,12.817223,82,80,48,47,44,42,849,848,1590,1192,1896,196
$RAFOS,5,1276519268,12.700000,12.685555,105,95,49,45,44,44,642,643,1099,427,986,1656
$RAFOS,4,1276518790,12.566667,12.552778,53,49,48,47,47,44,854,1296,639,423,1295,151
$RAFOS,3,1276518305,12.433333,12.418056,50,43,41,41,41,41,383,1653,157,1183,195,677
$RAFOS,2,1276517824,12.300000,12.284445,50,45,41,41,39,39,1277,1658,1103,1657,157,1809
$RAFOS,1,1276517344,12.166667,12.151111,49,44,43,43,42,42,1352,1737,449,1062,1495,1441
$RAFOS,0,1276516871,12.033333,12.019722,47,43,43,41,39,39,532,140,1630,61,804,1469
$RAFOS_FIX,6704.757324,-5651.536621,140610,121256,2,94,0.45
$IRIDIUM_FIX,6636.54,-5650.71,080999,090954
$TT8_MAMPS,0.026845
$HUMID,39.84
$INTERNAL_PRESSURE,10.2641
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,450.3,66.1
$24V_AH,23.7,8.237
$10V_AH,10.3,4.223
$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,19.775,122.400,354.125,14.750,0.000,81.405,146.263,253.783,1.500,0.000,16.280,2172.702,7272.279,475.718,2109.622,808.169,0.000,1585.557,0.000,2080.026,2520.000,12.549,0.000
$DEVICE_MAMPS,229.333,109.681,1134.393,793.078,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.307,895.652,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135688
$DATA_FILE_SIZE,50468,1305
$CAP_FILE_SIZE,148624,0
$CFSIZE,260165632,245788672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.1
$GPS,140610,131124,6702.715,-5649.279,27,1.3,44,-37.5