version: 66.06
glider: 108
mission: 14
dive: 57
start: 6 16 110 18 13 51
data:
$ID,108
$MISSION,14
$DIVE,57
$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,2
$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,-179826.62
$T_RSLEEP,60
$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,32
$R_STBD_OVSHOOT,23
$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
$GPS1,180207,6700.696,-5702.115,39,0.8,39,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.52
$_SM_ANGLEo,-76.8
$GPS2,181332,6700.659,-5702.129,13,0.9,13,-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,277.1,2409,-27.9,-10.000
$D_GRID,709
$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,12,begin dive
$GC,16,-1.00,-62.2,0.0,0.0,0,52,0.00,0.00,-34.60,0.000,2,0.000,0.000,335,2252,2594,0,0,0,0,0,0
$GC,56,-1.09,-134.9,3.0,-2.2,7,123,9.85,2.35,-48.72,0.000,4,0.236,0.078,2876,845,3610,0,0,0,0,0,0
$GC,377,-1.09,-134.9,41.3,-13.1,65,383,0.00,2.33,0.00,0.000,6,0.000,0.067,2870,2252,3615,0,0,0,0,0,0
$GC,720,-1.09,-134.9,89.5,-13.3,126,726,0.00,2.30,0.00,0.000,4,0.000,0.064,2870,833,3616,0,0,0,0,0,0
$GC,845,-1.09,-134.9,106.4,-13.8,144,849,0.00,2.35,0.00,0.000,6,0.000,0.069,2860,2262,3615,0,0,0,0,0,0
$GC,1170,-1.09,-134.9,151.9,-13.6,174,1174,0.00,2.30,0.00,0.000,4,0.000,0.065,2860,836,3614,0,0,0,0,0,0
$GC,1271,-1.09,-134.9,165.1,-12.1,182,1277,0.10,2.33,0.00,0.000,6,0.191,0.070,2873,2253,3614,0,0,0,0,0,0
$GC,1596,-1.09,-134.9,202.2,-11.4,213,1600,0.00,2.17,0.00,0.000,4,0.000,0.080,2865,3604,3613,0,0,0,0,0,0
$GC,1628,-1.09,-134.9,206.5,-13.2,215,1634,0.00,2.15,0.00,0.000,6,0.000,0.056,2866,2241,3614,0,0,0,0,0,0
$GC,1953,-1.09,-134.9,245.5,-11.9,246,1957,0.00,2.20,0.00,0.000,4,0.000,0.066,2866,846,3614,0,0,0,0,0,0
$GC,1998,-1.09,-134.9,251.1,-12.0,249,2004,0.00,2.30,0.00,0.000,6,0.000,0.068,2857,2265,3613,0,0,0,0,0,0
$GC,2323,-1.09,-134.9,288.6,-11.0,280,2324,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2265,3614,0,0,0,0,0,0
$GC,2644,-1.09,-134.9,322.8,-10.4,310,2648,0.00,2.28,0.00,0.000,4,0.000,0.064,2857,836,3613,0,0,0,0,0,0
$GC,2688,-1.09,-134.9,327.9,-10.8,313,2694,0.10,2.28,0.00,0.000,6,0.186,0.067,2871,2249,3613,0,0,0,0,0,0
$GC,3013,-1.10,-138.5,358.9,-9.6,344,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2249,3614,0,0,0,0,0,0
$GC,3335,-1.10,-138.5,390.7,-10.2,374,3339,0.00,2.22,0.00,0.000,4,0.000,0.063,2871,845,3614,0,0,0,0,0,0
$GC,3402,-1.10,-138.5,398.3,-10.5,379,3407,0.00,2.28,0.00,0.000,6,0.000,0.066,2864,2268,3614,0,0,0,0,0,0
$GC,3726,-1.10,-138.5,431.7,-10.4,410,3730,0.00,2.25,0.00,0.000,4,0.000,0.061,2864,843,3615,0,0,0,0,0,0
$GC,3755,-1.10,-138.5,434.8,-10.9,412,3760,0.00,2.28,0.00,0.000,6,0.000,0.065,2854,2257,3615,0,0,0,0,0,0
$GC,4080,-1.10,-138.5,468.8,-10.3,442,4081,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2256,3615,0,0,0,0,0,0
$GC,4401,-1.10,-138.5,503.0,-10.5,472,4405,0.00,2.22,0.00,0.000,4,0.000,0.062,2854,844,3616,0,0,0,0,0,0
$GC,4430,-1.10,-138.5,506.4,-11.2,474,4434,0.12,2.28,0.00,0.000,6,0.178,0.065,2877,2260,3616,0,0,0,0,0,0
$GC,4755,-1.11,-143.7,537.7,-9.4,504,4756,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2260,3617,0,0,0,0,0,0
$GC,5075,-1.11,-146.1,568.2,-9.5,534,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,2260,3617,0,0,0,0,0,0
$GC,5395,-1.11,-146.1,598.0,-9.3,564,5399,0.00,2.12,0.00,0.000,4,0.000,0.077,2869,3602,3617,0,0,0,0,0,0
$GC,5434,-1.11,-146.1,602.4,-10.8,567,5438,0.00,2.10,0.00,0.000,6,0.000,0.053,2869,2240,3617,0,0,0,0,0,0
$GC,5764,-1.11,-146.1,635.3,-10.0,578,5768,0.00,2.15,0.00,0.000,4,0.000,0.064,2869,843,3617,0,0,0,0,0,0
$GC,5825,-1.11,-146.1,641.6,-10.0,579,5831,0.00,2.25,0.00,0.000,6,0.000,0.065,2859,2248,3617,0,0,0,0,0,0
$GC,6137,-1.11,-146.1,673.2,-10.0,590,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2248,3617,0,0,0,0,0,0
$GC,6447,-1.11,-146.1,703.8,-10.0,600,6449,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2248,3617,0,0,0,0,0,0
$STATE,6502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6502,begin apogee
$GC,6509,-0.17,0.0,710.2,10.4,602,6627,0.68,0.00,114.20,1.295,6,0.143,0.000,3073,2186,3058,0,0,0,0,0,0
$STATE,6627,end apogee,CONTROL_FINISHED_OK
$STATE,6627,begin climb
$GC,6630,1.11,146.1,712.8,0.0,606,6763,0.82,2.40,123.57,1.226,4,0.081,0.063,3365,797,2462,0,0,0,0,0,0
$GC,6791,1.11,146.1,695.3,15.3,611,6796,0.00,2.42,0.00,0.000,6,0.000,0.063,3365,2202,2460,0,0,0,0,0,0
$GC,7122,1.11,146.1,640.3,16.8,622,7126,0.00,2.30,0.00,0.000,4,0.000,0.072,3365,3601,2456,0,0,0,0,0,0
$GC,7184,1.11,146.1,629.1,17.5,624,7189,0.10,2.22,0.00,0.000,6,0.202,0.051,3354,2206,2456,0,0,0,0,0,0
$GC,7502,1.11,146.1,579.3,15.3,641,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2205,2455,0,0,0,0,0,0
$GC,7821,1.11,146.1,529.2,15.7,671,7825,0.00,2.28,0.00,0.000,4,0.000,0.071,3353,3597,2454,0,0,0,0,0,0
$GC,7849,1.11,146.1,524.6,17.0,673,7853,0.00,2.20,0.00,0.000,6,0.000,0.052,3361,2197,2454,0,0,0,0,0,0
$GC,8179,1.11,146.1,471.8,16.2,704,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2197,2454,0,0,0,0,0,0
$GC,8498,1.11,146.1,421.3,15.6,734,8499,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2197,2453,0,0,0,0,0,0
$GC,8816,1.11,146.1,372.4,15.5,764,8817,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,2196,2454,0,0,0,0,0,0
$GC,9138,1.11,146.1,321.6,15.9,794,9142,0.00,2.20,0.00,0.000,4,0.000,0.063,3371,794,2453,0,0,0,0,0,0
$GC,9160,1.11,146.1,317.3,15.7,795,9166,0.00,2.28,0.00,0.000,6,0.000,0.064,3371,2206,2453,0,0,0,0,0,0
$GC,9485,1.11,146.1,264.8,15.8,826,9489,0.00,2.20,0.00,0.000,4,0.000,0.074,3371,3592,2453,0,0,0,0,0,0
$GC,9504,1.11,146.1,261.8,15.7,827,9509,0.12,2.17,0.00,0.000,6,0.193,0.053,3351,2199,2453,0,0,0,0,0,0
$GC,9829,1.11,146.1,212.5,15.4,857,9830,0.00,0.00,0.00,0.000,6,0.000,0.000,3351,2199,2453,0,0,0,0,0,0
$GC,10150,1.11,146.1,164.9,14.0,887,10154,0.00,2.20,0.00,0.000,4,0.000,0.062,3359,788,2454,0,0,0,0,0,0
$GC,10182,1.11,146.1,159.8,13.9,889,10188,0.00,2.28,0.00,0.000,6,0.000,0.064,3359,2206,2454,0,0,0,0,0,0
$GC,10507,1.11,146.1,115.3,13.3,920,10511,0.00,2.20,0.00,0.000,4,0.000,0.074,3359,3596,2455,0,0,0,0,0,0
$GC,10525,1.11,146.1,112.9,13.3,921,10529,0.00,2.17,0.00,0.000,6,0.000,0.053,3369,2196,2455,0,0,0,0,0,0
$GC,10862,1.11,146.1,67.5,13.0,972,10868,0.00,2.25,0.00,0.000,4,0.000,0.073,3369,3594,2456,0,0,0,0,0,0
$GC,10914,1.11,146.1,60.5,13.8,981,10920,0.12,2.17,0.00,0.000,6,0.189,0.054,3348,2200,2456,0,0,0,0,0,0
$GC,11262,1.11,149.3,25.6,9.7,1042,11266,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2199,2456,0,0,0,0,0,0
$FREEZE,8.88,-1.362,-1.782,0,1,0
$FREEZE,8.55,-1.343,-1.781,0,1,0
$FREEZE,8.11,-1.328,-1.780,0,1,0
$FREEZE,7.80,-1.320,-1.779,0,1,0
$FREEZE,7.33,-1.314,-1.778,0,1,0
$FREEZE,7.12,-1.295,-1.777,0,1,0
$FREEZE,6.67,-1.268,-1.774,0,1,0
$FREEZE,6.31,-1.066,-1.766,0,1,0
$FREEZE,5.97,-0.495,-1.755,0,1,0
$FREEZE,5.66,0.518,-1.744,0,1,0
$FREEZE,5.37,0.463,-1.747,0,1,0
$FREEZE,5.01,0.651,-1.744,0,1,0
$FREEZE,4.70,0.700,-1.747,0,1,0
$FREEZE,4.26,0.732,-1.750,0,1,0
$FREEZE,3.93,0.737,-1.752,0,1,0
$FREEZE,3.60,0.745,-1.752,0,1,0
$FREEZE,3.29,0.752,-1.753,0,1,0
$FREEZE,3.00,0.751,-1.754,0,1,0
$FREEZE,2.50,0.747,-1.755,0,1,0
$STATE,11575,end climb,SURFACE_DEPTH_REACHED
$STATE,11575,begin surface coast
$FREEZE,2.15,0.744,-1.755,0,1,0
$FREEZE,1.77,0.736,-1.756,0,1,0
$FREEZE,1.59,0.679,-1.760,0,1,0
$FREEZE,1.52,0.757,-1.041,0,1,0
$FREEZE,1.72,0.755,-1.743,0,1,0
$FREEZE,1.74,0.725,-1.757,0,1,0
$FREEZE,1.60,0.732,-1.755,0,1,0
$FREEZE,1.55,0.652,-1.719,0,1,0
$FREEZE,1.55,0.542,-0.885,0,1,0
$FINISH,1.5,1.013060
$STATE,11627,end surface coast,CONTROL_FINISHED_OK
$STATE,11627,begin surface
$SM_CCo,11646,121.35,0.853,0,0,1835,300.00
$SM_GC,2.66,0.00,0.00,121.35,0.000,0.000,0.853,336,2261,1835,-12.77,0.28,300.00
$RAFOS_CLK,466
$RAFOS,6,1276721344,20.833334,20.817778,106,96,40,40,40,37,815,816,371,1870,519,1603
$RAFOS,5,1276720866,20.700001,20.684999,104,91,44,43,43,41,610,611,1479,1479,1856,1672
$RAFOS,4,1276720388,20.566668,20.552221,92,73,48,47,44,41,823,824,425,425,210,1056
$RAFOS,3,1276719910,20.433332,20.419445,48,44,44,43,41,41,1577,61,587,883,888,1827
$RAFOS,2,1276719424,20.299999,20.284445,46,42,41,41,38,38,851,800,895,1776,862,1676
$RAFOS,1,1276718966,20.166666,20.157223,53,49,46,44,43,42,1650,1526,1176,605,1355,843
$RAFOS,0,1276718472,20.033333,20.020000,44,44,43,42,40,40,296,1122,867,903,270,1875
$RAFOS_FIX,6700.941895,-5706.312500,160610,202044,3,101,0.34
$IRIDIUM_FIX,6636.54,-5702.96,100999,181817
$TT8_MAMPS,0.026845
$HUMID,39.01
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.1
$ALTIM_BOTTOM_PING,651.5,78.8
$24V_AH,23.5,10.071
$10V_AH,10.3,5.340
$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,19.975,85.625,237.775,121.350,0.000,55.701,66.761,327.152,2.500,0.000,16.511,1878.948,7553.227,468.873,1776.428,768.214,0.000,1382.671,0.000,1752.879,2520.000,19.614,0.000
$DEVICE_MAMPS,236.236,104.312,1294.696,852.904,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.371,788.679,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135660
$DATA_FILE_SIZE,44208,1107
$CAP_FILE_SIZE,126342,0
$CFSIZE,260165632,244723712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1460.7
$GPS,160610,213136,6659.170,-5705.085,35,0.8,35,-37.5