version: 66.06
glider: 108
mission: 14
dive: 54
start: 6 16 110 5 19 56
data:
$ID,108
$MISSION,14
$DIVE,54
$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,-179780.27
$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,34
$R_STBD_OVSHOOT,42
$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
$GPS1,051237,6703.172,-5655.577,23,1.5,23,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.59
$_SM_ANGLEo,-76.8
$GPS2,051936,6703.224,-5655.689,16,0.9,32,-37.6
$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,266.1,9002,-18.1,-10.000
$D_GRID,616
$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,-146.1,0.0,0.0,0,58,0.00,0.00,-39.70,0.000,2,0.000,0.000,341,2270,2755,0,0,0,0,0,0
$GC,62,-0.78,-146.1,3.2,-2.0,8,119,10.23,2.33,-40.67,0.000,4,0.243,0.071,2932,839,3655,0,0,0,0,0,0
$GC,374,-0.78,-146.1,35.2,-12.4,64,379,0.00,2.30,0.00,0.000,6,0.000,0.063,2925,2244,3660,0,0,0,0,0,0
$GC,717,-0.78,-146.1,78.3,-11.7,125,722,0.00,2.25,0.00,0.000,4,0.000,0.059,2925,838,3661,0,0,0,0,0,0
$GC,763,-0.78,-146.1,83.6,-11.8,133,769,0.10,2.30,0.00,0.000,6,0.167,0.063,2941,2255,3661,0,0,0,0,0,0
$GC,1098,-0.78,-146.1,116.3,-9.0,178,1102,0.00,2.25,0.00,0.000,4,0.000,0.059,2941,840,3660,0,0,0,0,0,0
$GC,1160,-0.78,-146.1,121.7,-8.6,183,1164,0.00,2.28,0.00,0.000,6,0.000,0.064,2933,2250,3661,0,0,0,0,0,0
$GC,1491,-0.78,-146.1,149.3,-7.9,214,1494,0.00,2.17,0.00,0.000,4,0.000,0.074,2923,3602,3660,0,0,0,0,0,0
$GC,1519,-0.78,-146.1,151.8,-9.2,216,1524,0.00,2.12,0.00,0.000,6,0.000,0.051,2923,2240,3660,0,0,0,0,0,0
$GC,1844,-0.78,-146.1,182.6,-9.3,247,1848,0.00,2.20,0.00,0.000,4,0.000,0.062,2923,832,3660,0,0,0,0,0,0
$GC,1906,-0.78,-146.1,188.4,-9.6,252,1911,0.10,2.30,0.00,0.000,6,0.169,0.064,2940,2260,3660,0,0,0,0,0,0
$GC,2231,-0.78,-146.1,215.2,-8.1,282,2235,0.00,2.22,0.00,0.000,4,0.000,0.061,2940,840,3660,0,0,0,0,0,0
$GC,2277,-0.78,-146.1,219.2,-8.5,285,2282,0.00,2.28,0.00,0.000,6,0.000,0.064,2932,2260,3660,0,0,0,0,0,0
$GC,2602,-0.78,-146.1,244.9,-7.6,316,2604,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2260,3660,0,0,0,0,0,0
$GC,2923,-0.78,-146.1,269.5,-7.6,346,2928,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2260,3660,0,0,0,0,0,0
$GC,3250,-0.78,-146.1,294.5,-8.0,377,3254,0.00,2.25,0.00,0.000,4,0.000,0.061,2932,831,3660,0,0,0,0,0,0
$GC,3295,-0.78,-146.1,298.3,-7.8,380,3301,0.00,2.28,0.00,0.000,6,0.000,0.064,2923,2250,3659,0,0,0,0,0,0
$GC,3621,-0.78,-146.1,324.6,-8.0,411,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2250,3660,0,0,0,0,0,0
$GC,3943,-0.78,-146.1,349.1,-7.4,441,3947,0.00,2.22,0.00,0.000,4,0.000,0.060,2923,833,3659,0,0,0,0,0,0
$GC,3983,-0.78,-146.1,352.4,-8.4,444,3987,0.10,2.28,0.00,0.000,6,0.166,0.064,2940,2253,3659,0,0,0,0,0,0
$GC,4309,-0.78,-146.1,374.4,-7.1,474,4312,0.00,2.12,0.00,0.000,4,0.000,0.074,2932,3603,3659,0,0,0,0,0,0
$GC,4370,-0.78,-146.1,379.3,-7.7,479,4376,0.00,2.10,0.00,0.000,6,0.000,0.051,2932,2236,3659,0,0,0,0,0,0
$GC,4695,-0.78,-146.1,404.0,-7.8,510,4699,0.00,2.15,0.00,0.000,4,0.000,0.061,2932,846,3659,0,0,0,0,0,0
$GC,4809,-0.78,-146.1,413.3,-8.1,520,4813,0.00,2.25,0.00,0.000,6,0.000,0.063,2923,2257,3659,0,0,0,0,0,0
$GC,5134,-0.78,-146.1,440.6,-8.7,550,5135,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2257,3660,0,0,0,0,0,0
$GC,5455,-0.78,-146.1,466.7,-7.9,580,5456,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2257,3660,0,0,0,0,0,0
$GC,5774,-0.78,-146.1,490.9,-7.4,610,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2257,3661,0,0,0,0,0,0
$GC,6100,-0.78,-146.1,514.7,-7.7,641,6104,0.00,2.10,0.00,0.000,4,0.000,0.074,2913,3598,3660,0,0,0,0,0,0
$GC,6128,-0.78,-146.1,516.9,-8.4,643,6134,0.12,2.08,0.00,0.000,6,0.153,0.049,2948,2242,3661,0,0,0,0,0,0
$GC,6453,-0.78,-146.1,537.1,-6.1,674,6456,0.00,2.15,0.00,0.000,4,0.000,0.059,2948,843,3661,0,0,0,0,0,0
$GC,6487,-0.78,-146.1,539.3,-6.6,677,6492,0.00,2.25,0.00,0.000,6,0.000,0.062,2941,2260,3661,0,0,0,0,0,0
$GC,6813,-0.78,-146.1,561.0,-6.6,707,6814,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2260,3661,0,0,0,0,0,0
$GC,7133,-0.78,-146.1,582.4,-6.5,737,7137,0.00,2.22,0.00,0.000,4,0.000,0.058,2941,832,3661,0,0,0,0,0,0
$GC,7174,-0.78,-146.1,585.5,-7.5,740,7178,0.00,2.25,0.00,0.000,6,0.000,0.062,2931,2249,3661,0,0,0,0,0,0
$STATE,7241,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7241,begin apogee
$GC,7249,-0.17,0.0,590.4,7.2,746,7375,0.43,0.00,120.65,1.191,6,0.122,0.000,3075,2195,3057,0,0,0,0,0,0
$STATE,7376,end apogee,CONTROL_FINISHED_OK
$STATE,7376,begin climb
$GC,7379,0.78,146.1,592.9,0.0,759,7505,0.60,0.00,121.60,1.134,6,0.081,0.000,3283,2195,2462,0,0,0,0,0,0
$GC,7824,0.78,146.1,548.8,11.0,802,7828,0.00,2.33,0.00,0.000,4,0.000,0.069,3283,3598,2458,0,0,0,0,0,0
$GC,7887,0.78,146.1,540.8,13.1,807,7891,0.00,2.22,0.00,0.000,6,0.000,0.048,3293,2198,2457,0,0,0,0,0,0
$GC,8217,0.78,146.1,500.1,12.4,838,8218,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2198,2457,0,0,0,0,0,0
$GC,8538,0.78,146.1,460.1,13.1,868,8542,0.00,2.28,0.00,0.000,4,0.000,0.067,3293,3602,2456,0,0,0,0,0,0
$GC,8588,0.78,146.1,452.8,15.6,872,8592,0.00,2.17,0.00,0.000,6,0.000,0.048,3303,2191,2455,0,0,0,0,0,0
$GC,8913,0.78,146.1,410.3,12.9,902,8917,0.00,2.17,0.00,0.000,4,0.000,0.058,3313,797,2455,0,0,0,0,0,0
$GC,8952,0.78,146.1,405.2,13.3,905,8958,0.12,2.25,0.00,0.000,6,0.169,0.059,3281,2203,2455,0,0,0,0,0,0
$GC,9277,0.78,146.1,369.3,11.0,936,9281,0.00,2.20,0.00,0.000,4,0.000,0.071,3280,3592,2455,0,0,0,0,0,0
$GC,9339,0.78,146.1,361.5,12.8,941,9343,0.00,2.15,0.00,0.000,6,0.000,0.048,3288,2191,2456,0,0,0,0,0,0
$GC,9672,0.78,146.1,323.2,11.2,972,9676,0.00,2.17,0.00,0.000,4,0.000,0.058,3296,790,2456,0,0,0,0,0,0
$GC,9734,0.78,146.1,316.1,10.9,977,9738,0.00,2.25,0.00,0.000,6,0.000,0.059,3296,2200,2456,0,0,0,0,0,0
$GC,10059,0.78,146.1,277.7,11.3,1007,10063,0.00,2.20,0.00,0.000,4,0.000,0.071,3296,3599,2456,0,0,0,0,0,0
$GC,10087,0.78,146.1,274.2,12.6,1009,10093,0.10,2.15,0.00,0.000,6,0.186,0.048,3281,2201,2456,0,0,0,0,0,0
$GC,10411,0.78,146.1,240.5,10.3,1040,10415,0.00,2.20,0.00,0.000,4,0.000,0.058,3289,793,2456,0,0,0,0,0,0
$GC,10456,0.78,146.1,235.8,10.0,1043,10462,0.00,2.25,0.00,0.000,6,0.000,0.060,3289,2206,2457,0,0,0,0,0,0
$GC,10781,0.80,163.1,204.2,9.2,1074,10802,0.00,2.25,13.98,0.910,4,0.000,0.072,3289,3593,2391,0,0,0,0,0,0
$GC,10837,0.80,163.1,198.3,11.0,1079,10841,0.00,2.17,0.00,0.000,6,0.000,0.050,3297,2195,2390,0,0,0,0,0,0
$GC,11163,0.80,163.8,165.6,10.0,1109,11167,0.00,2.17,0.00,0.000,4,0.000,0.059,3308,796,2390,0,0,0,0,0,0
$GC,11214,0.81,164.9,160.5,9.9,1113,11218,0.00,2.25,0.00,0.000,6,0.000,0.061,3308,2204,2390,0,0,0,0,0,0
$GC,11544,0.81,169.4,125.4,9.8,1144,11556,0.00,2.28,6.57,0.762,4,0.000,0.073,3308,3597,2367,0,0,0,0,0,0
$GC,11635,0.81,169.4,114.7,11.7,1152,11640,0.12,2.17,0.00,0.000,6,0.173,0.050,3284,2194,2365,0,0,0,0,0,0
$GC,11968,0.88,227.6,88.4,7.3,1196,12020,0.00,2.33,46.42,0.888,4,0.000,0.060,3293,792,2129,0,0,0,0,0,0
$GC,12102,0.91,253.4,77.7,8.8,1220,12132,0.00,2.33,22.02,0.826,6,0.000,0.061,3293,2203,2025,0,0,0,0,0,0
$GC,12471,0.91,253.4,41.1,11.1,1286,12477,0.00,2.25,0.00,0.000,4,0.000,0.073,3293,3595,2015,0,0,0,0,0,0
$GC,12539,0.91,253.4,32.2,13.5,1298,12545,0.00,2.17,0.00,0.000,6,0.000,0.051,3300,2203,2013,0,0,0,0,0,0
$FREEZE,8.53,1.671,-1.827,0,1,0
$FREEZE,8.03,2.147,-1.820,0,1,0
$FREEZE,7.46,2.432,-1.809,0,1,0
$FREEZE,6.94,2.363,-1.811,0,1,0
$FREEZE,6.51,2.628,-1.807,0,1,0
$FREEZE,5.97,2.581,-1.807,0,1,0
$FREEZE,5.49,2.510,-1.807,0,1,0
$FREEZE,5.01,2.536,-1.805,0,1,0
$FREEZE,4.40,2.626,-1.801,0,1,0
$FREEZE,3.96,2.674,-1.799,0,1,0
$FREEZE,3.51,2.694,-1.798,0,1,0
$FREEZE,3.08,2.688,-1.797,0,1,0
$FREEZE,2.68,2.687,-1.795,0,1,0
$STATE,12821,end climb,SURFACE_DEPTH_REACHED
$STATE,12821,begin surface coast
$FREEZE,2.07,2.533,-1.785,0,1,0
$FREEZE,1.74,2.480,-1.781,0,1,0
$FREEZE,1.75,2.499,-0.876,0,1,0
$FREEZE,1.81,2.650,-0.828,0,1,0
$FREEZE,1.67,2.522,-0.831,0,1,0
$FREEZE,1.78,2.507,-0.827,0,1,0
$FREEZE,1.85,2.511,-0.837,0,1,0
$FINISH,1.8,1.012328
$STATE,12860,end surface coast,CONTROL_FINISHED_OK
$STATE,12860,begin surface
$SM_CCo,12892,35.40,0.834,0,0,1835,300.00
$SM_GC,2.44,0.00,0.00,35.40,0.000,0.000,0.834,336,2273,1835,-12.77,0.65,300.00
$RAFOS_CLK,480
$RAFOS,5,1276677662,8.700000,8.683888,105,94,44,44,42,41,651,650,662,1441,1367,261
$RAFOS,4,1276677184,8.566667,8.551111,48,47,44,43,43,39,823,1333,616,1241,1884,983
$RAFOS,3,1276676702,8.433333,8.417222,46,44,43,43,40,39,954,1256,281,955,88,1255
$RAFOS,2,1276676226,8.300000,8.285000,49,48,44,44,43,43,597,1774,608,138,1178,1855
$RAFOS,1,1276675750,8.166667,8.152778,48,47,45,41,41,40,1120,1343,641,300,1186,1620
$RAFOS,0,1276675262,8.033334,8.017222,48,42,42,41,41,41,921,393,645,61,646,881
$RAFOS_FIX,6704.556641,-5656.210938,160610,040400,2,122,0.53
$IRIDIUM_FIX,6636.54,-5650.71,100999,010139
$TT8_MAMPS,0.026845
$HUMID,40.07
$INTERNAL_PRESSURE,10.2738
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,17.9
$ALTIM_BOTTOM_PING,500.1,104.6
$24V_AH,23.6,9.660
$10V_AH,10.4,5.093
$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,19.950,111.250,331.250,35.400,0.000,27.134,33.788,192.032,1.750,0.000,33.651,2242.312,7881.602,477.958,2146.877,587.962,0.000,1574.271,0.000,2105.796,2520.000,14.385,0.000
$DEVICE_MAMPS,243.139,115.050,1191.151,834.496,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,990.204,946.063,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135664
$DATA_FILE_SIZE,53518,1355
$CAP_FILE_SIZE,144964,0
$CFSIZE,260165632,244932608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.7
$GPS,160610,085654,6702.382,-5658.604,39,1.0,39,-37.6