version: 66.06
glider: 108
mission: 14
dive: 44
start: 6 14 110 13 21 58
data:
$ID,108
$MISSION,14
$DIVE,44
$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,-179611.38
$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,30
$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
$GPS1,131124,6702.715,-5649.279,27,1.3,44,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.43
$_SM_ANGLEo,-76.6
$GPS2,132137,6702.711,-5649.391,8,1.4,13,-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,283.5,12361,-18.1,-10.000
$D_GRID,555
$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,-146.1,0.0,0.0,0,63,0.00,0.00,-44.62,0.000,2,0.000,0.000,334,2258,2844,0,0,0,0,0,0
$GC,67,-0.78,-146.1,3.0,-2.3,9,119,10.23,2.30,-34.42,0.000,4,0.242,0.073,2933,842,3657,0,0,0,0,0,0
$GC,373,-0.78,-146.1,30.4,-10.3,64,379,0.00,2.30,0.00,0.000,6,0.000,0.061,2926,2259,3660,0,0,0,0,0,0
$GC,716,-0.78,-146.1,65.9,-10.4,125,722,0.00,2.25,0.00,0.000,4,0.000,0.057,2925,843,3660,0,0,0,0,0,0
$GC,807,-0.78,-146.1,75.6,-10.2,141,813,0.10,2.28,0.00,0.000,6,0.165,0.061,2942,2256,3661,0,0,0,0,0,0
$GC,1148,-0.78,-146.1,105.3,-7.8,196,1152,0.00,2.12,0.00,0.000,4,0.000,0.071,2934,3595,3661,0,0,0,0,0,0
$GC,1239,-0.78,-146.1,113.3,-9.0,204,1243,0.00,2.10,0.00,0.000,6,0.000,0.049,2934,2242,3661,0,0,0,0,0,0
$GC,1569,-0.78,-146.1,142.1,-8.6,235,1573,0.00,2.17,0.00,0.000,4,0.000,0.059,2934,844,3661,0,0,0,0,0,0
$GC,1643,-0.78,-146.1,149.2,-9.9,241,1647,0.00,2.25,0.00,0.000,6,0.000,0.061,2925,2250,3660,0,0,0,0,0,0
$GC,1968,-0.78,-146.1,181.8,-10.1,271,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2249,3660,0,0,0,0,0,0
$GC,2289,-0.78,-146.1,212.6,-9.5,301,2293,0.00,2.10,0.00,0.000,4,0.000,0.072,2914,3594,3660,0,0,0,0,0,0
$GC,2346,-0.78,-146.1,218.5,-10.4,306,2351,0.10,2.08,0.00,0.000,6,0.165,0.049,2941,2246,3660,0,0,0,0,0,0
$GC,2671,-0.78,-146.1,244.4,-7.4,336,2675,0.00,2.15,0.00,0.000,4,0.000,0.059,2941,844,3659,0,0,0,0,0,0
$GC,2722,-0.78,-146.1,248.4,-7.6,340,2728,0.00,2.25,0.00,0.000,6,0.000,0.061,2933,2258,3660,0,0,0,0,0,0
$GC,3048,-0.78,-146.1,274.8,-8.5,371,3052,0.00,2.10,0.00,0.000,4,0.000,0.072,2923,3598,3660,0,0,0,0,0,0
$GC,3099,-0.78,-146.1,279.8,-9.4,375,3104,0.00,2.08,0.00,0.000,6,0.000,0.049,2923,2246,3660,0,0,0,0,0,0
$GC,3424,-0.78,-146.1,308.7,-8.1,406,3428,0.00,2.17,0.00,0.000,4,0.000,0.058,2923,837,3660,0,0,0,0,0,0
$GC,3588,-0.78,-146.1,323.2,-8.3,420,3592,0.10,2.25,0.00,0.000,6,0.162,0.061,2941,2252,3660,0,0,0,0,0,0
$GC,3913,-0.78,-146.1,343.4,-6.2,450,3916,0.00,2.10,0.00,0.000,4,0.000,0.071,2933,3594,3660,0,0,0,0,0,0
$GC,3986,-0.78,-146.1,348.3,-6.8,456,3992,0.00,2.08,0.00,0.000,6,0.000,0.048,2933,2235,3660,0,0,0,0,0,0
$GC,4312,-0.78,-146.1,369.8,-7.1,487,4315,0.00,2.15,0.00,0.000,4,0.000,0.058,2933,839,3660,0,0,0,0,0,0
$GC,4396,-0.78,-146.1,376.1,-7.6,494,4402,0.00,2.22,0.00,0.000,6,0.000,0.061,2924,2250,3660,0,0,0,0,0,0
$GC,4724,-0.78,-146.1,400.1,-7.4,525,4727,0.00,2.10,0.00,0.000,4,0.000,0.071,2913,3607,3660,0,0,0,0,0,0
$GC,4797,-0.78,-146.1,406.2,-8.1,531,4803,0.10,2.08,0.00,0.000,6,0.162,0.048,2941,2244,3661,0,0,0,0,0,0
$GC,5122,-0.78,-146.1,426.9,-5.9,562,5126,0.00,2.15,0.00,0.000,4,0.000,0.058,2941,842,3661,0,0,0,0,0,0
$GC,5181,-0.78,-146.1,430.8,-7.0,567,5185,0.00,2.22,0.00,0.000,6,0.000,0.060,2933,2251,3661,0,0,0,0,0,0
$GC,5506,-0.78,-146.1,452.1,-6.3,597,5510,0.00,2.10,0.00,0.000,4,0.000,0.071,2923,3600,3661,0,0,0,0,0,0
$GC,5552,-0.78,-146.1,455.4,-7.6,601,5556,0.00,2.05,0.00,0.000,6,0.000,0.048,2923,2250,3661,0,0,0,0,0,0
$GC,5883,-0.78,-146.1,478.2,-7.0,632,5887,0.00,2.15,0.00,0.000,4,0.000,0.057,2923,846,3662,0,0,0,0,0,0
$GC,6019,-0.78,-146.1,488.3,-7.5,644,6024,0.10,2.22,0.00,0.000,6,0.160,0.059,2941,2258,3662,0,0,0,0,0,0
$GC,6345,-0.78,-146.1,507.6,-5.5,674,6348,0.00,2.08,0.00,0.000,4,0.000,0.070,2933,3591,3663,0,0,0,0,0,0
$GC,6379,-0.78,-146.1,509.8,-6.7,677,6383,0.00,2.05,0.00,0.000,6,0.000,0.047,2933,2241,3663,0,0,0,0,0,0
$STATE,6463,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6463,begin apogee
$GC,6470,-0.17,0.0,515.1,6.0,685,6596,0.40,0.00,119.35,1.144,6,0.115,0.000,3072,2238,3058,0,0,0,0,0,0
$STATE,6596,end apogee,CONTROL_FINISHED_OK
$STATE,6597,begin climb
$GC,6600,0.78,146.1,516.5,0.0,698,6729,0.60,2.45,120.28,1.091,4,0.076,0.054,3295,794,2461,0,0,0,0,0,0
$GC,6746,0.78,146.1,505.1,10.5,711,6752,0.00,2.40,0.00,0.000,6,0.000,0.056,3295,2202,2461,0,0,0,0,0,0
$GC,7071,0.78,146.1,468.5,11.0,742,7072,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,2202,2458,0,0,0,0,0,0
$GC,7392,0.78,146.1,431.6,11.6,772,7396,0.00,2.25,0.00,0.000,4,0.000,0.054,3305,797,2457,0,0,0,0,0,0
$GC,7409,0.78,146.1,429.4,11.8,773,7414,0.10,2.28,0.00,0.000,6,0.169,0.056,3280,2204,2457,0,0,0,0,0,0
$GC,7734,0.78,146.1,394.6,10.7,803,7738,0.00,2.20,0.00,0.000,4,0.000,0.067,3280,3602,2456,0,0,0,0,0,0
$GC,7768,0.78,146.1,390.8,11.6,806,7772,0.00,2.17,0.00,0.000,6,0.000,0.046,3288,2201,2456,0,0,0,0,0,0
$GC,8092,0.78,146.1,355.6,10.7,836,8096,0.00,2.20,0.00,0.000,4,0.000,0.055,3297,784,2456,0,0,0,0,0,0
$GC,8121,0.78,146.1,352.7,10.3,838,8125,0.00,2.28,0.00,0.000,6,0.000,0.055,3297,2212,2456,0,0,0,0,0,0
$GC,8446,0.78,146.1,317.1,10.7,868,8450,0.00,2.17,0.00,0.000,4,0.000,0.067,3297,3599,2456,0,0,0,0,0,0
$GC,8496,0.78,146.1,310.7,13.8,872,8502,0.10,2.15,0.00,0.000,6,0.185,0.046,3282,2199,2456,0,0,0,0,0,0
$GC,8821,0.80,163.3,278.4,9.2,903,8842,0.00,2.22,13.88,0.946,4,0.000,0.056,3290,798,2392,0,0,0,0,0,0
$GC,8882,0.81,169.4,272.5,9.7,908,8897,0.00,2.25,6.85,0.811,6,0.000,0.056,3290,2206,2367,0,0,0,0,0,0
$GC,9216,0.81,169.4,238.7,10.3,940,9220,0.00,2.20,0.00,0.000,4,0.000,0.067,3290,3602,2366,0,0,0,0,0,0
$GC,9244,0.81,169.4,235.5,11.8,942,9248,0.00,2.17,0.00,0.000,6,0.000,0.046,3299,2195,2365,0,0,0,0,0,0
$GC,9569,0.81,169.4,200.5,10.4,972,9573,0.00,2.17,0.00,0.000,4,0.000,0.056,3309,790,2365,0,0,0,0,0,0
$GC,9591,0.81,169.4,198.0,10.7,973,9597,0.00,2.25,0.00,0.000,6,0.000,0.056,3309,2209,2366,0,0,0,0,0,0
$GC,9918,0.81,169.4,161.1,11.1,1004,9919,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2208,2365,0,0,0,0,0,0
$GC,10237,0.81,169.4,126.3,10.6,1034,10238,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,2209,2366,0,0,0,0,0,0
$GC,10557,0.81,169.4,91.9,10.6,1070,10563,0.00,2.17,0.00,0.000,4,0.000,0.069,3309,3599,2366,0,0,0,0,0,0
$GC,10615,0.81,169.4,85.2,12.8,1080,10621,0.12,2.15,0.00,0.000,6,0.171,0.048,3286,2199,2365,0,0,0,0,0,0
$GC,10961,0.83,188.8,54.2,9.1,1141,10982,0.00,2.20,16.08,0.853,4,0.000,0.057,3292,798,2287,0,0,0,0,0,0
$GC,11017,0.88,221.5,49.1,8.5,1151,11052,0.00,2.25,26.83,0.853,6,0.000,0.058,3293,2203,2154,0,0,0,0,0,0
$GC,11393,0.92,261.8,16.6,8.2,1218,11434,0.00,2.35,32.95,0.834,4,0.000,0.057,3300,793,1990,0,0,0,0,0,0
$FREEZE,8.54,3.309,-1.817,0,1,0
$FREEZE,7.83,3.335,-1.817,0,1,0
$FREEZE,7.15,3.341,-1.816,0,1,0
$GC,11453,0.99,311.7,11.9,7.7,1229,11502,0.10,2.33,41.75,0.805,6,0.105,0.058,3350,2206,1787,0,0,0,0,0,0
$FREEZE,5.54,3.350,-1.815,0,1,0
$FREEZE,4.83,3.367,-1.814,0,1,0
$FREEZE,4.21,3.401,-1.813,0,1,0
$FREEZE,3.51,3.385,-1.814,0,1,0
$FREEZE,2.90,3.405,-1.813,0,1,0
$STATE,11530,end climb,SURFACE_DEPTH_REACHED
$STATE,11530,begin surface coast
$FREEZE,2.36,3.389,-1.812,0,1,0
$FREEZE,1.73,3.404,-1.812,0,1,0
$FREEZE,1.64,3.417,-1.811,0,1,0
$FREEZE,1.62,3.411,-1.812,0,1,0
$FREEZE,1.65,3.399,-1.812,0,1,0
$FINISH,1.6,1.026296
$STATE,11559,end surface coast,CONTROL_FINISHED_OK
$STATE,11560,begin surface
$SM_CCo,11639,0.00,0.000,0,0,1772,315.46
$SM_GC,2.38,8.27,0.00,0.00,0.048,0.000,0.000,345,2258,1772,-12.65,0.23,315.46
$RAFOS_CLK,435
$RAFOS,3,1276532704,16.433332,16.417778,43,43,43,42,42,40,403,1490,1829,812,1621,1925
$RAFOS,2,1276532223,16.299999,16.284166,41,41,41,39,39,39,159,746,777,112,1573,1845
$RAFOS,1,1276531748,16.166666,16.152222,45,42,41,40,40,37,1231,1215,1846,1146,1333,337
$RAFOS,0,1276531263,16.033333,16.017500,50,44,44,44,43,41,1095,207,1739,1533,1625,268
$RAFOS_FIX,6704.757324,-5651.536621,140610,121256,2,94,0.45
$IRIDIUM_FIX,6631.12,-5646.10,080999,131326
$TT8_MAMPS,0.029146
$HUMID,38.85
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.8
$ALTIM_BOTTOM_PING,500.3,29.4
$24V_AH,23.7,8.368
$10V_AH,10.3,4.296
$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,20.425,114.050,377.950,0.000,0.000,52.142,66.534,280.318,1.750,0.000,15.257,2028.693,7026.393,457.375,2018.143,710.038,0.000,1520.067,0.000,1986.156,1800.000,16.241,0.000
$DEVICE_MAMPS,241.605,129.623,1144.364,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,910.694,859.142,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135684
$DATA_FILE_SIZE,47354,1248
$CAP_FILE_SIZE,141581,0
$CFSIZE,260165632,245727232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.4
$GPS,140610,163724,6703.407,-5653.669,23,1.0,40,-37.6