version: 66.06
glider: 108
mission: 14
dive: 51
start: 6 15 110 18 7 28
data:
$ID,108
$MISSION,14
$DIVE,51
$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,-179713.39
$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,36
$R_STBD_OVSHOOT,41
$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
$GPS1,180037,6701.917,-5655.718,27,1.0,27,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.57
$_SM_ANGLEo,-74.9
$GPS2,180708,6701.935,-5655.865,11,1.2,11,-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,108.3,6012,-18.1,-10.000
$D_GRID,628
$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,-146.1,0.0,0.0,0,58,0.00,0.00,-39.75,0.000,2,0.000,0.000,336,2267,2755,0,0,0,0,0,0
$GC,62,-0.78,-146.1,3.1,-1.7,8,120,10.10,2.22,-41.30,0.000,4,0.235,0.088,2927,3583,3656,0,0,0,0,0,0
$GC,351,-0.78,-146.1,31.6,-11.9,60,356,0.00,2.12,0.00,0.000,6,0.000,0.051,2927,2242,3661,0,0,0,0,0,0
$GC,694,-0.78,-146.1,69.4,-10.7,121,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2242,3662,0,0,0,0,0,0
$GC,1040,-0.78,-146.1,104.0,-9.5,179,1044,0.00,2.17,0.00,0.000,4,0.000,0.061,2927,845,3662,0,0,0,0,0,0
$GC,1084,-0.78,-146.1,108.4,-9.5,182,1091,0.10,2.25,0.00,0.000,6,0.165,0.064,2944,2233,3662,0,0,0,0,0,0
$GC,1409,-0.78,-146.1,134.3,-8.1,213,1413,0.00,2.17,0.00,0.000,4,0.000,0.075,2936,3595,3662,0,0,0,0,0,0
$GC,1432,-0.78,-146.1,136.2,-7.7,214,1438,0.00,2.10,0.00,0.000,6,0.000,0.051,2936,2245,3662,0,0,0,0,0,0
$GC,1757,-0.78,-146.1,162.9,-8.5,245,1761,0.00,2.17,0.00,0.000,4,0.000,0.062,2936,846,3662,0,0,0,0,0,0
$GC,1805,-0.78,-146.1,167.0,-8.4,249,1809,0.00,2.28,0.00,0.000,6,0.000,0.064,2926,2254,3662,0,0,0,0,0,0
$GC,2130,-0.78,-146.1,196.2,-9.0,279,2134,0.00,2.15,0.00,0.000,4,0.000,0.075,2916,3607,3661,0,0,0,0,0,0
$GC,2142,-0.78,-146.1,197.2,-8.4,280,2146,0.10,2.12,0.00,0.000,6,0.170,0.051,2941,2239,3662,0,0,0,0,0,0
$GC,2467,-0.78,-146.1,223.8,-8.5,310,2471,0.00,2.17,0.00,0.000,4,0.000,0.061,2941,844,3661,0,0,0,0,0,0
$GC,2484,-0.78,-146.1,225.3,-8.6,311,2488,0.00,2.25,0.00,0.000,6,0.000,0.064,2934,2251,3661,0,0,0,0,0,0
$GC,2814,-0.78,-146.1,252.4,-8.0,342,2815,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2251,3661,0,0,0,0,0,0
$GC,3135,-0.78,-146.1,277.7,-7.6,372,3139,0.00,2.12,0.00,0.000,4,0.000,0.075,2924,3595,3661,0,0,0,0,0,0
$GC,3175,-0.78,-146.1,281.2,-8.2,375,3180,0.00,2.10,0.00,0.000,6,0.000,0.051,2924,2239,3661,0,0,0,0,0,0
$GC,3500,-0.78,-146.1,307.3,-8.3,406,3501,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2238,3661,0,0,0,0,0,0
$GC,3821,-0.78,-146.1,331.8,-7.8,436,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2238,3661,0,0,0,0,0,0
$GC,4148,-0.78,-146.1,357.1,-7.6,467,4149,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2238,3661,0,0,0,0,0,0
$GC,4468,-0.78,-146.1,381.5,-7.6,497,4473,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2238,3661,0,0,0,0,0,0
$GC,4796,-0.78,-146.1,407.1,-7.8,528,4800,0.00,2.15,0.00,0.000,4,0.000,0.060,2924,830,3661,0,0,0,0,0,0
$GC,4880,-0.78,-146.1,414.7,-8.8,535,4886,0.10,2.25,0.00,0.000,6,0.165,0.062,2941,2254,3661,0,0,0,0,0,0
$GC,5205,-0.78,-146.1,438.5,-7.0,566,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2254,3662,0,0,0,0,0,0
$GC,5526,-0.78,-146.1,460.7,-6.9,596,5527,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2254,3662,0,0,0,0,0,0
$GC,5844,-0.78,-146.1,481.7,-6.3,626,5848,0.00,2.12,0.00,0.000,4,0.000,0.074,2933,3608,3662,0,0,0,0,0,0
$GC,5872,-0.78,-146.1,483.8,-7.3,628,5878,0.00,2.10,0.00,0.000,6,0.000,0.049,2933,2233,3662,0,0,0,0,0,0
$GC,6197,-0.78,-146.1,505.1,-6.4,659,6201,0.00,2.15,0.00,0.000,4,0.000,0.059,2933,833,3662,0,0,0,0,0,0
$GC,6230,-0.78,-146.1,507.4,-7.2,661,6236,0.00,2.25,0.00,0.000,6,0.000,0.061,2924,2255,3662,0,0,0,0,0,0
$GC,6556,-0.78,-146.1,531.5,-7.6,692,6557,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2255,3663,0,0,0,0,0,0
$GC,6876,-0.78,-146.1,555.3,-7.3,722,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2255,3663,0,0,0,0,0,0
$GC,7196,-0.78,-146.1,579.1,-7.7,752,7199,0.00,2.08,0.00,0.000,4,0.000,0.073,2913,3593,3664,0,0,0,0,0,0
$GC,7235,-0.78,-146.1,582.8,-8.2,755,7241,0.10,2.05,0.00,0.000,6,0.165,0.049,2940,2251,3664,0,0,0,0,0,0
$STATE,7575,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7575,begin apogee
$GC,7582,-0.17,0.0,607.1,7.1,782,7707,0.43,0.00,121.65,1.209,6,0.121,0.000,3082,2198,3058,0,0,0,0,0,0
$STATE,7707,end apogee,CONTROL_FINISHED_OK
$STATE,7707,begin climb
$GC,7710,0.78,146.1,609.8,0.0,786,7838,0.57,0.00,121.65,1.152,6,0.078,0.000,3284,2198,2462,0,0,0,0,0,0
$GC,8151,0.78,146.1,568.7,10.9,818,8155,0.00,2.33,0.00,0.000,4,0.000,0.070,3284,3601,2457,0,0,0,0,0,0
$GC,8207,0.78,146.1,561.6,13.5,823,8211,0.00,2.25,0.00,0.000,6,0.000,0.049,3294,2196,2456,0,0,0,0,0,0
$GC,8532,0.78,146.1,523.5,11.6,853,8536,0.00,2.25,0.00,0.000,4,0.000,0.059,3305,783,2455,0,0,0,0,0,0
$GC,8582,0.78,146.1,517.7,11.5,857,8587,0.10,2.30,0.00,0.000,6,0.178,0.061,3281,2200,2455,0,0,0,0,0,0
$GC,8907,0.78,146.1,484.4,10.0,887,8911,0.00,2.22,0.00,0.000,4,0.000,0.071,3281,3592,2452,0,0,0,0,0,0
$GC,8951,0.78,146.1,479.2,12.8,890,8956,0.00,2.20,0.00,0.000,6,0.000,0.049,3289,2186,2453,0,0,0,0,0,0
$GC,9276,0.78,146.1,443.0,11.6,921,9280,0.00,2.17,0.00,0.000,4,0.000,0.059,3299,784,2452,0,0,0,0,0,0
$GC,9316,0.78,146.1,438.4,12.0,924,9320,0.00,2.30,0.00,0.000,6,0.000,0.059,3299,2213,2453,0,0,0,0,0,0
$GC,9640,0.78,146.1,399.2,12.2,954,9644,0.00,2.17,0.00,0.000,4,0.000,0.071,3299,3596,2452,0,0,0,0,0,0
$GC,9703,0.78,146.1,390.8,14.2,959,9707,0.12,2.17,0.00,0.000,6,0.179,0.049,3277,2197,2452,0,0,0,0,0,0
$GC,10027,0.78,146.1,357.5,10.3,989,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2196,2452,0,0,0,0,0,0
$GC,10346,0.78,146.1,324.5,10.3,1019,10347,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2196,2452,0,0,0,0,0,0
$GC,10667,0.78,147.7,292.6,9.9,1049,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,2196,2453,0,0,0,0,0,0
$GC,10985,0.78,147.7,261.1,10.2,1079,10989,0.00,2.22,0.00,0.000,4,0.000,0.068,3277,3593,2453,0,0,0,0,0,0
$GC,11036,0.78,147.7,254.8,12.7,1083,11040,0.00,2.15,0.00,0.000,6,0.000,0.049,3282,2193,2454,0,0,0,0,0,0
$GC,11361,0.78,147.7,220.5,10.4,1113,11365,0.00,2.12,0.00,0.000,4,0.000,0.058,3293,798,2454,0,0,0,0,0,0
$GC,11416,0.78,147.7,214.7,10.7,1117,11422,0.00,2.25,0.00,0.000,6,0.000,0.060,3293,2214,2454,0,0,0,0,0,0
$GC,11741,0.78,147.7,181.4,10.1,1148,11742,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2214,2454,0,0,0,0,0,0
$GC,12062,0.80,157.1,150.6,9.6,1178,12076,0.00,2.22,8.77,0.836,4,0.000,0.072,3293,3594,2417,0,0,0,0,0,0
$GC,12118,0.80,157.1,144.1,12.0,1183,12122,0.00,2.15,0.00,0.000,6,0.000,0.051,3303,2203,2416,0,0,0,0,0,0
$GC,12443,0.80,157.1,110.0,10.2,1213,12447,0.00,2.17,0.00,0.000,4,0.000,0.059,3313,795,2416,0,0,0,0,0,0
$GC,12539,0.80,157.1,99.7,11.9,1221,12545,0.12,2.25,0.00,0.000,6,0.166,0.061,3279,2211,2417,0,0,0,0,0,0
$GC,12885,0.82,180.6,68.9,8.9,1282,12911,0.00,2.22,19.65,0.874,4,0.000,0.074,3279,3589,2321,0,0,0,0,0,0
$GC,12980,0.82,180.6,58.9,11.1,1299,12985,0.00,2.17,0.00,0.000,6,0.000,0.051,3284,2201,2319,0,0,0,0,0,0
$GC,13324,0.85,203.9,27.7,8.9,1360,13350,0.00,2.28,18.95,0.841,4,0.000,0.061,3293,797,2226,0,0,0,0,0,0
$GC,13421,0.88,229.1,19.2,8.8,1377,13447,0.00,2.30,21.30,0.822,6,0.000,0.061,3293,2210,2124,0,0,0,0,0,0
$FREEZE,8.87,3.699,-1.827,0,1,0
$FREEZE,8.37,3.670,-1.826,0,1,0
$FREEZE,7.95,3.668,-1.826,0,1,0
$FREEZE,7.45,3.668,-1.826,0,1,0
$FREEZE,7.03,3.671,-1.825,0,1,0
$FREEZE,6.60,3.639,-1.824,0,1,0
$FREEZE,6.00,3.493,-1.820,0,1,0
$FREEZE,5.43,3.425,-1.818,0,1,0
$FREEZE,4.99,3.333,-1.816,0,1,0
$FREEZE,4.52,3.046,-1.816,0,1,0
$FREEZE,4.03,3.026,-1.815,0,1,0
$FREEZE,3.53,3.034,-1.812,0,1,0
$FREEZE,3.09,2.961,-1.812,0,1,0
$FREEZE,2.67,2.947,-1.811,0,1,0
$STATE,13610,end climb,SURFACE_DEPTH_REACHED
$STATE,13610,begin surface coast
$FREEZE,2.20,2.937,-1.810,0,1,0
$FREEZE,1.83,2.938,-1.809,0,1,0
$FREEZE,1.83,2.928,-1.228,0,1,0
$FREEZE,1.73,2.830,-0.710,0,1,0
$FREEZE,1.77,2.835,-1.010,0,1,0
$FREEZE,1.76,2.910,-1.050,0,1,0
$FREEZE,1.77,2.904,-1.812,0,1,0
$FINISH,1.8,1.026340
$STATE,13651,end surface coast,CONTROL_FINISHED_OK
$STATE,13651,begin surface
$SM_CCo,13676,56.33,0.821,0,0,1835,300.00
$SM_GC,2.66,0.00,0.00,56.33,0.000,0.000,0.821,338,2248,1835,-12.76,-0.06,300.00
$RAFOS_CLK,514
$RAFOS,6,1276634942,20.833334,20.817223,70,53,48,45,43,41,851,852,1532,1802,408,1215
$RAFOS,5,1276634468,20.700001,20.685556,46,44,43,43,42,41,1221,280,1702,641,1160,26
$RAFOS,4,1276633983,20.566668,20.550833,45,45,45,44,42,41,891,151,1329,403,447,1822
$RAFOS,3,1276633501,20.433332,20.416945,45,44,41,41,40,40,272,1408,1,280,1279,1634
$RAFOS,2,1276633023,20.299999,20.284166,56,48,45,41,41,40,1380,1237,1323,263,1380,1792
$RAFOS,1,1276632550,20.166666,20.152779,49,47,43,43,40,40,187,524,854,154,960,1688
$RAFOS,0,1276632066,20.033333,20.018333,43,42,42,41,40,40,61,210,1060,1,89,1580
$RAFOS_FIX,6701.237305,-5657.241211,150610,161650,3,89,0.29
$IRIDIUM_FIX,6631.12,-5656.72,090999,131331
$TT8_MAMPS,0.026845
$HUMID,40.39
$INTERNAL_PRESSURE,10.2641
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,500.3,119.9
$24V_AH,23.6,9.279
$10V_AH,10.3,4.863
$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,19.775,96.575,311.975,56.325,0.000,23.887,35.677,187.327,1.750,0.000,14.592,2316.675,8527.613,476.395,2202.656,591.488,0.000,1596.949,0.000,2181.166,2520.000,16.667,0.000
$DEVICE_MAMPS,234.702,163.371,1208.792,821.457,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1038.903,995.341,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135552
$DATA_FILE_SIZE,56767,1418
$CAP_FILE_SIZE,146660,0
$CFSIZE,260165632,245166080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.1
$GPS,150610,215737,6701.865,-5653.089,24,1.8,24,-37.5