version: 66.06
glider: 108
mission: 14
dive: 53
start: 6 16 110 1 46 34
data:
$ID,108
$MISSION,14
$DIVE,53
$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,-179745.98
$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,37
$R_STBD_OVSHOOT,44
$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
$GPS1,013936,6702.513,-5650.035,32,0.9,32,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.58
$_SM_ANGLEo,-76.9
$GPS2,014613,6702.546,-5650.053,8,1.6,13,-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,283.9,11800,-18.1,-10.000
$D_GRID,567
$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,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,52,0.00,0.00,-34.50,0.000,2,0.000,0.000,340,2268,2645,0,0,0,0,0,0
$GC,56,-0.78,-146.1,3.1,-2.2,7,123,10.25,2.33,-49.35,0.000,4,0.242,0.074,2937,842,3656,0,0,0,0,0,0
$GC,249,-0.78,-146.1,16.5,-10.3,42,255,0.00,2.30,0.00,0.000,6,0.000,0.062,2930,2242,3659,0,0,0,0,0,0
$GC,592,-0.78,-146.1,53.1,-10.1,103,598,0.00,2.17,0.00,0.000,4,0.000,0.072,2920,3599,3661,0,0,0,0,0,0
$GC,661,-0.78,-146.1,60.3,-10.9,115,667,0.10,2.12,0.00,0.000,6,0.173,0.051,2945,2246,3661,0,0,0,0,0,0
$GC,1006,-0.78,-146.1,90.9,-8.4,176,1012,0.00,2.20,0.00,0.000,4,0.000,0.061,2945,846,3661,0,0,0,0,0,0
$GC,1058,-0.78,-146.1,95.5,-8.7,185,1063,0.00,2.28,0.00,0.000,6,0.000,0.063,2938,2251,3661,0,0,0,0,0,0
$GC,1386,-0.78,-146.1,126.0,-9.9,220,1390,0.00,2.22,0.00,0.000,4,0.000,0.060,2938,843,3661,0,0,0,0,0,0
$GC,1557,-0.78,-146.1,142.3,-9.4,235,1561,0.00,2.25,0.00,0.000,6,0.000,0.064,2928,2250,3661,0,0,0,0,0,0
$GC,1882,-0.78,-146.1,170.7,-8.5,265,1883,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2250,3661,0,0,0,0,0,0
$GC,2203,-0.78,-146.1,198.8,-8.8,295,2207,0.00,2.25,0.00,0.000,4,0.000,0.061,2928,836,3660,0,0,0,0,0,0
$GC,2294,-0.78,-146.1,207.3,-9.1,303,2298,0.10,2.28,0.00,0.000,6,0.165,0.064,2945,2252,3660,0,0,0,0,0,0
$GC,2624,-0.78,-146.1,231.3,-6.5,334,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2252,3661,0,0,0,0,0,0
$GC,2945,-0.78,-146.1,250.0,-5.5,364,2949,0.00,2.22,0.00,0.000,4,0.000,0.059,2945,840,3660,0,0,0,0,0,0
$GC,3029,-0.78,-146.1,255.5,-6.4,371,3035,0.00,2.28,0.00,0.000,6,0.000,0.064,2938,2261,3660,0,0,0,0,0,0
$GC,3355,-0.78,-146.1,274.6,-5.8,402,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2261,3661,0,0,0,0,0,0
$GC,3675,-0.78,-146.1,296.2,-7.7,432,3679,0.00,2.20,0.00,0.000,4,0.000,0.060,2938,846,3660,0,0,0,0,0,0
$GC,3716,-0.78,-146.1,299.6,-8.1,435,3723,0.00,2.25,0.00,0.000,6,0.000,0.064,2928,2250,3660,0,0,0,0,0,0
$GC,4049,-0.78,-146.1,329.3,-8.7,466,4052,0.00,2.15,0.00,0.000,4,0.000,0.074,2918,3599,3661,0,0,0,0,0,0
$GC,4095,-0.78,-146.1,333.6,-9.3,470,4099,0.10,2.10,0.00,0.000,6,0.167,0.051,2944,2240,3660,0,0,0,0,0,0
$GC,4425,-0.78,-146.1,358.1,-7.1,501,4429,0.00,2.17,0.00,0.000,4,0.000,0.061,2944,834,3660,0,0,0,0,0,0
$GC,4586,-0.78,-146.1,370.5,-8.1,515,4590,0.00,2.28,0.00,0.000,6,0.000,0.064,2937,2261,3660,0,0,0,0,0,0
$GC,4916,-0.78,-146.1,396.2,-7.3,546,4920,0.00,2.22,0.00,0.000,4,0.000,0.059,2936,842,3660,0,0,0,0,0,0
$GC,4957,-0.78,-146.1,399.2,-7.3,549,4961,0.00,2.25,0.00,0.000,6,0.000,0.064,2927,2251,3660,0,0,0,0,0,0
$GC,5282,-0.78,-146.1,422.8,-7.1,579,5283,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2251,3660,0,0,0,0,0,0
$GC,5602,-0.78,-146.1,446.0,-7.2,609,5606,0.00,2.22,0.00,0.000,4,0.000,0.059,2928,831,3660,0,0,0,0,0,0
$GC,5670,-0.78,-146.1,451.5,-8.1,614,5676,0.10,2.28,0.00,0.000,6,0.163,0.063,2945,2263,3660,0,0,0,0,0,0
$GC,5995,-0.78,-146.1,472.1,-6.6,645,5996,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2263,3660,0,0,0,0,0,0
$GC,6316,-0.78,-146.1,491.5,-5.9,675,6320,0.00,2.20,0.00,0.000,4,0.000,0.058,2945,840,3661,0,0,0,0,0,0
$GC,6394,-0.78,-146.1,496.8,-6.0,681,6400,0.00,2.25,0.00,0.000,6,0.000,0.061,2938,2259,3661,0,0,0,0,0,0
$GC,6719,-0.78,-146.1,517.9,-6.2,712,6723,0.00,2.22,0.00,0.000,4,0.000,0.058,2938,833,3661,0,0,0,0,0,0
$GC,6760,-0.78,-146.1,520.6,-7.3,715,6764,0.00,2.25,0.00,0.000,6,0.000,0.062,2928,2248,3661,0,0,0,0,0,0
$GC,7085,-0.78,-146.1,543.4,-7.2,745,7089,0.00,2.12,0.00,0.000,4,0.000,0.072,2918,3607,3662,0,0,0,0,0,0
$GC,7131,-0.78,-146.1,546.8,-7.6,749,7135,0.10,2.08,0.00,0.000,6,0.161,0.048,2945,2247,3662,0,0,0,0,0,0
$STATE,7150,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7150,begin apogee
$GC,7157,-0.17,0.0,548.5,7.6,751,7283,0.38,0.00,119.88,1.165,6,0.121,0.000,3076,2246,3057,0,0,0,0,0,0
$STATE,7284,end apogee,CONTROL_FINISHED_OK
$STATE,7284,begin climb
$GC,7287,0.78,146.1,550.4,0.0,764,7413,0.60,0.00,120.95,1.108,6,0.081,0.000,3285,2245,2461,0,0,0,0,0,0
$GC,7733,0.78,146.1,502.8,12.5,807,7737,0.00,2.25,0.00,0.000,4,0.000,0.068,3285,3602,2457,0,0,0,0,0,0
$GC,7795,0.78,146.1,494.4,13.9,812,7799,0.00,2.22,0.00,0.000,6,0.000,0.048,3295,2197,2456,0,0,0,0,0,0
$GC,8125,0.78,146.1,451.9,12.8,843,8129,0.00,2.20,0.00,0.000,4,0.000,0.058,3306,795,2457,0,0,0,0,0,0
$GC,8191,0.78,146.1,443.2,12.9,848,8197,0.10,2.30,0.00,0.000,6,0.178,0.059,3281,2213,2457,0,0,0,0,0,0
$GC,8516,0.78,146.1,404.9,11.9,879,8520,0.00,2.20,0.00,0.000,4,0.000,0.069,3281,3595,2456,0,0,0,0,0,0
$GC,8532,0.78,146.1,402.8,12.3,880,8537,0.00,2.17,0.00,0.000,6,0.000,0.046,3289,2194,2455,0,0,0,0,0,0
$GC,8857,0.78,146.1,364.4,11.8,911,8861,0.00,2.17,0.00,0.000,4,0.000,0.057,3299,797,2456,0,0,0,0,0,0
$GC,8890,0.78,146.1,360.3,12.0,913,8895,0.00,2.25,0.00,0.000,6,0.000,0.058,3300,2202,2456,0,0,0,0,0,0
$GC,9215,0.78,146.1,321.6,11.9,944,9219,0.00,2.20,0.00,0.000,4,0.000,0.070,3299,3592,2456,0,0,0,0,0,0
$GC,9243,0.78,146.1,318.0,13.1,946,9248,0.12,2.15,0.00,0.000,6,0.176,0.048,3277,2201,2456,0,0,0,0,0,0
$GC,9568,0.79,155.3,284.4,9.6,976,9582,0.00,2.22,8.10,0.871,4,0.000,0.058,3285,801,2424,0,0,0,0,0,0
$GC,9629,0.82,176.1,278.6,9.0,981,9655,0.00,2.25,18.08,0.957,6,0.000,0.059,3285,2208,2339,0,0,0,0,0,0
$GC,9975,0.82,177.5,243.9,9.9,1014,9979,0.00,2.22,0.00,0.000,4,0.000,0.071,3285,3599,2337,0,0,0,0,0,0
$GC,9995,0.84,190.2,242.1,9.4,1015,10016,0.00,2.20,12.05,0.900,6,0.000,0.048,3293,2191,2282,0,0,0,0,0,0
$GC,10335,0.84,190.2,205.2,11.1,1047,10339,0.00,2.20,0.00,0.000,4,0.000,0.058,3304,792,2281,0,0,0,0,0,0
$GC,10385,0.84,190.2,199.4,11.0,1051,10389,0.00,2.28,0.00,0.000,6,0.000,0.060,3304,2198,2281,0,0,0,0,0,0
$GC,10710,0.84,190.2,160.0,11.9,1081,10714,0.00,2.22,0.00,0.000,4,0.000,0.071,3304,3598,2280,0,0,0,0,0,0
$GC,10749,0.84,190.2,154.6,14.1,1084,10753,0.00,2.17,0.00,0.000,6,0.000,0.050,3313,2201,2279,0,0,0,0,0,0
$GC,11074,0.84,190.2,110.4,13.5,1114,11078,0.00,2.17,0.00,0.000,4,0.000,0.059,3324,792,2279,0,0,0,0,0,0
$GC,11130,0.84,190.2,102.6,13.9,1118,11136,0.12,2.28,0.00,0.000,6,0.167,0.061,3290,2210,2279,0,0,0,0,0,0
$GC,11475,0.85,203.2,67.6,9.4,1177,11490,0.00,0.00,11.55,0.830,6,0.000,0.000,3290,2210,2228,0,0,0,0,0,0
$GC,11830,0.86,213.2,33.7,9.5,1240,11847,0.00,2.25,9.27,0.779,4,0.000,0.074,3290,3601,2187,0,0,0,0,0,0
$GC,11865,0.90,239.3,30.3,8.8,1246,11896,0.00,2.20,22.38,0.833,6,0.000,0.051,3292,2201,2082,0,0,0,0,0,0
$FREEZE,8.61,3.679,-1.826,0,1,0
$FREEZE,8.05,3.714,-1.826,0,1,0
$FREEZE,7.51,3.754,-1.827,0,1,0
$FREEZE,7.11,3.764,-1.827,0,1,0
$FREEZE,6.65,3.748,-1.826,0,1,0
$FREEZE,6.19,3.694,-1.826,0,1,0
$FREEZE,5.67,3.636,-1.824,0,1,0
$FREEZE,5.29,3.586,-1.823,0,1,0
$FREEZE,4.78,3.559,-1.822,0,1,0
$FREEZE,4.33,3.529,-1.819,0,1,0
$FREEZE,3.93,3.449,-1.816,0,1,0
$FREEZE,3.41,3.373,-1.816,0,1,0
$FREEZE,2.99,3.374,-1.816,0,1,0
$STATE,12171,end climb,SURFACE_DEPTH_REACHED
$STATE,12171,begin surface coast
$FREEZE,2.50,3.357,-1.815,0,1,0
$FREEZE,2.07,3.357,-1.814,0,1,0
$FREEZE,1.70,3.337,-0.915,0,1,0
$FREEZE,1.72,3.218,-0.994,0,1,0
$FREEZE,1.69,3.116,-0.866,0,1,0
$FREEZE,1.83,3.232,-1.730,0,1,0
$FREEZE,1.69,3.258,-0.958,0,1,0
$FINISH,1.7,1.014078
$STATE,12211,end surface coast,CONTROL_FINISHED_OK
$STATE,12211,begin surface
$SM_CCo,12231,48.58,0.828,0,0,1835,300.00
$SM_GC,2.61,0.00,0.00,48.58,0.000,0.000,0.828,341,2270,1835,-12.75,0.57,300.00
$RAFOS_CLK,455
$RAFOS,6,1276663749,4.833333,4.819167,94,94,49,46,46,45,796,795,1386,1682,1369,1385
$RAFOS,5,1276663268,4.700000,4.685555,151,143,44,42,41,40,626,625,746,201,1892,1
$RAFOS,4,1276662783,4.566667,4.550833,46,44,40,39,39,39,989,1117,61,1458,283,332
$RAFOS,3,1276662306,4.433333,4.418334,45,43,39,39,38,38,275,1313,470,610,1,349
$RAFOS,2,1276661825,4.300000,4.284722,48,44,43,41,40,39,445,277,1014,856,1290,1907
$RAFOS,1,1276661350,4.166667,4.152778,46,45,43,41,41,40,647,1605,250,1153,926,1364
$RAFOS,0,1276660863,4.033333,4.017500,46,44,43,43,42,40,199,61,587,1206,641,1354
$RAFOS_FIX,6704.556641,-5656.210938,160610,040400,2,122,0.53
$IRIDIUM_FIX,6631.12,-5641.49,090999,222228
$TT8_MAMPS,0.026845
$HUMID,40.54
$INTERNAL_PRESSURE,10.2641
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,17.5
$ALTIM_BOTTOM_PING,500.6,62.6
$24V_AH,23.7,9.535
$10V_AH,10.3,5.016
$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,19.975,111.050,322.250,48.575,0.000,27.626,33.768,187.168,1.750,0.000,15.329,2198.760,7317.694,488.701,2092.759,578.785,0.000,1567.440,0.000,2067.471,2520.000,14.283,0.000
$DEVICE_MAMPS,241.605,98.943,1165.073,828.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,958.902,905.885,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135620
$DATA_FILE_SIZE,50457,1308
$CAP_FILE_SIZE,142770,0
$CFSIZE,260165632,245018624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.2
$GPS,160610,051237,6703.172,-5655.577,23,1.5,23,-37.6