version: 66.06
glider: 108
mission: 14
dive: 66
start: 6 18 110 5 7 46
data:
$ID,108
$MISSION,14
$DIVE,66
$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,605.89099
$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,-179919.16
$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,31
$R_STBD_OVSHOOT,37
$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,2.2
$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
$GPS1,044836,6700.694,-5655.854,26,0.9,26,-37.5
$_CALLS,3
$_XMS_NAKs,15
$_XMS_TOUTs,4
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-69.0
$GPS2,050726,6700.701,-5656.039,11,1.3,11,-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,296.2,6613,-18.1,-10.000
$D_GRID,671
$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,-146.1,0.0,0.0,0,119,0.00,0.00,-99.80,0.000,2,0.000,0.000,336,2271,2917,0,0,0,0,0,0
$GC,125,-0.78,-146.1,3.0,-2.1,20,172,10.20,2.17,-30.52,0.000,4,0.239,0.089,2927,3588,3654,0,0,0,0,0,0
$GC,352,-0.78,-146.1,26.7,-11.3,61,358,0.00,2.15,0.00,0.000,6,0.000,0.054,2927,2249,3661,0,0,0,0,0,0
$GC,696,-0.78,-146.1,64.8,-10.4,122,701,0.00,2.22,0.00,0.000,4,0.000,0.064,2927,843,3663,0,0,0,0,0,0
$GC,776,-0.78,-146.1,73.2,-11.1,136,782,0.10,2.30,0.00,0.000,6,0.165,0.066,2945,2245,3664,0,0,0,0,0,0
$GC,1123,-0.78,-146.1,104.8,-8.7,193,1127,0.00,2.17,0.00,0.000,4,0.000,0.077,2935,3605,3665,0,0,0,0,0,0
$GC,1168,-0.78,-146.1,108.8,-9.2,196,1174,0.00,2.15,0.00,0.000,6,0.000,0.054,2935,2245,3665,0,0,0,0,0,0
$GC,1493,-0.78,-146.1,136.2,-8.6,227,1497,0.00,2.22,0.00,0.000,4,0.000,0.065,2935,840,3665,0,0,0,0,0,0
$GC,1572,-0.78,-146.1,143.7,-9.8,233,1578,0.00,2.30,0.00,0.000,6,0.000,0.067,2926,2249,3665,0,0,0,0,0,0
$GC,1898,-0.78,-146.1,175.1,-9.9,264,1902,0.00,2.15,0.00,0.000,4,0.000,0.079,2916,3597,3665,0,0,0,0,0,0
$GC,1932,-0.78,-146.1,178.7,-11.0,267,1937,0.10,2.12,0.00,0.000,6,0.171,0.056,2941,2239,3665,0,0,0,0,0,0
$GC,2262,-0.78,-146.1,209.6,-9.4,298,2267,0.00,2.20,0.00,0.000,4,0.000,0.067,2941,840,3666,0,0,0,0,0,0
$GC,2353,-0.78,-146.1,218.8,-9.9,306,2358,0.00,2.30,0.00,0.000,6,0.000,0.069,2934,2256,3665,0,0,0,0,0,0
$GC,2684,-0.78,-146.1,250.3,-8.8,337,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2256,3665,0,0,0,0,0,0
$GC,3005,-0.78,-146.1,278.1,-8.4,367,3009,0.00,2.28,0.00,0.000,4,0.000,0.066,2933,835,3664,0,0,0,0,0,0
$GC,3072,-0.78,-146.1,284.5,-9.4,372,3078,0.00,2.30,0.00,0.000,6,0.000,0.070,2924,2256,3664,0,0,0,0,0,0
$GC,3397,-0.78,-146.1,314.4,-8.8,403,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2256,3663,0,0,0,0,0,0
$GC,3719,-0.78,-146.1,343.5,-9.1,433,3723,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2256,3663,0,0,0,0,0,0
$GC,4046,-0.78,-146.1,370.5,-8.0,464,4050,0.00,2.25,0.00,0.000,4,0.000,0.064,2924,842,3663,0,0,0,0,0,0
$GC,4109,-0.78,-146.1,375.9,-8.6,469,4114,0.10,2.30,0.00,0.000,6,0.166,0.068,2941,2263,3663,0,0,0,0,0,0
$GC,4435,-0.78,-146.1,397.1,-6.3,499,4439,0.00,2.12,0.00,0.000,4,0.000,0.077,2933,3599,3663,0,0,0,0,0,0
$GC,4482,-0.78,-146.1,400.3,-7.3,503,4486,0.00,2.12,0.00,0.000,6,0.000,0.054,2933,2236,3663,0,0,0,0,0,0
$GC,4813,-0.78,-146.1,424.8,-7.5,534,4817,0.00,2.17,0.00,0.000,4,0.000,0.064,2933,843,3663,0,0,0,0,0,0
$GC,5021,-0.78,-146.1,442.3,-9.2,552,5026,0.00,2.28,0.00,0.000,6,0.000,0.067,2924,2263,3664,0,0,0,0,0,0
$GC,5346,-0.78,-146.1,469.6,-8.4,583,5347,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2263,3664,0,0,0,0,0,0
$GC,5667,-0.78,-146.1,496.5,-8.4,613,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2263,3664,0,0,0,0,0,0
$GC,5987,-0.78,-146.1,522.3,-8.2,643,5992,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2263,3664,0,0,0,0,0,0
$GC,6315,-0.78,-146.1,549.8,-8.5,674,6323,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2263,3664,0,0,0,0,0,0
$GC,6640,-0.78,-146.1,577.4,-8.6,705,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2264,3665,0,0,0,0,0,0
$GC,6980,-0.78,-146.1,604.9,-7.9,733,6981,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2264,3665,0,0,0,0,0,0
$GC,7284,-0.78,-146.1,629.0,-7.9,743,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2264,3664,0,0,0,0,0,0
$GC,7590,-0.78,-146.1,653.0,-8.0,753,7591,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2264,3665,0,0,0,0,0,0
$STATE,7740,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7740,begin apogee
$GC,7748,-0.17,0.0,665.5,8.2,758,7875,0.47,0.00,123.90,1.237,6,0.130,0.000,3077,2184,3058,0,0,0,0,0,0
$STATE,7876,end apogee,CONTROL_FINISHED_OK
$STATE,7876,begin climb
$GC,7878,0.78,146.1,669.0,0.0,762,8011,0.60,2.33,124.80,1.203,4,0.084,0.062,3294,798,2462,0,0,0,0,0,0
$GC,8057,0.78,146.1,655.0,10.7,767,8061,0.00,2.45,0.00,0.000,6,0.000,0.064,3294,2204,2462,0,0,0,0,0,0
$GC,8369,0.78,146.1,620.7,11.0,777,8373,0.00,2.30,0.00,0.000,4,0.000,0.074,3294,3596,2462,0,0,0,0,0,0
$GC,8379,0.78,146.1,619.5,10.9,777,8384,0.10,2.25,0.00,0.000,6,0.181,0.051,3281,2203,2461,0,0,0,0,0,0
$GC,8704,0.78,146.1,586.7,10.3,796,8705,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,2203,2461,0,0,0,0,0,0
$GC,9024,0.78,146.1,553.7,10.3,826,9028,0.00,2.25,0.00,0.000,4,0.000,0.063,3289,794,2460,0,0,0,0,0,0
$GC,9046,0.78,146.1,551.0,10.4,827,9051,0.00,2.33,0.00,0.000,6,0.000,0.064,3289,2212,2461,0,0,0,0,0,0
$GC,9371,0.78,146.1,516.2,10.5,858,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,2211,2460,0,0,0,0,0,0
$GC,9692,0.78,146.1,482.8,10.1,888,9696,0.00,2.20,0.00,0.000,4,0.000,0.076,3289,3595,2459,0,0,0,0,0,0
$GC,9719,0.78,146.1,479.2,12.5,890,9724,0.00,2.20,0.00,0.000,6,0.000,0.053,3299,2192,2459,0,0,0,0,0,0
$GC,10044,0.78,146.1,442.7,11.7,921,10047,0.00,2.20,0.00,0.000,4,0.000,0.064,3309,798,2460,0,0,0,0,0,0
$GC,10071,0.78,146.1,439.4,11.4,923,10077,0.10,2.28,0.00,0.000,6,0.179,0.064,3284,2212,2460,0,0,0,0,0,0
$GC,10396,0.78,146.1,405.6,10.1,954,10398,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,2212,2458,0,0,0,0,0,0
$GC,10717,0.79,149.1,373.3,9.9,984,10728,0.00,2.33,2.40,0.344,4,0.000,0.062,3292,796,2452,0,0,0,0,0,0
$GC,10734,0.79,149.1,371.3,10.3,985,10739,0.00,2.28,0.00,0.000,6,0.000,0.064,3292,2198,2452,0,0,0,0,0,0
$GC,11059,0.79,149.1,338.9,10.0,1016,11063,0.00,2.22,0.00,0.000,4,0.000,0.075,3292,3597,2455,0,0,0,0,0,0
$GC,11092,0.79,149.1,335.1,12.4,1018,11097,0.00,2.17,0.00,0.000,6,0.000,0.053,3302,2201,2456,0,0,0,0,0,0
$GC,11416,0.79,149.1,299.1,11.1,1049,11420,0.00,2.22,0.00,0.000,4,0.000,0.064,3312,783,2456,0,0,0,0,0,0
$GC,11450,0.79,149.1,295.3,11.5,1051,11456,0.12,2.30,0.00,0.000,6,0.168,0.064,3279,2212,2456,0,0,0,0,0,0
$GC,11775,0.79,151.6,263.5,9.9,1082,11784,0.00,0.00,4.47,0.718,6,0.000,0.000,3279,2212,2440,0,0,0,0,0,0
$GC,12103,0.79,153.1,231.8,9.9,1113,12114,0.00,2.30,3.17,0.533,4,0.000,0.062,3285,798,2434,0,0,0,0,0,0
$GC,12138,0.81,165.6,228.5,9.4,1116,12158,0.00,2.28,11.70,0.929,6,0.000,0.065,3285,2205,2382,0,0,0,0,0,0
$GC,12477,0.81,165.6,193.4,10.3,1148,12481,0.00,2.22,0.00,0.000,4,0.000,0.076,3285,3596,2383,0,0,0,0,0,0
$GC,12487,0.81,165.6,192.2,10.5,1148,12493,0.00,2.20,0.00,0.000,6,0.000,0.052,3294,2191,2383,0,0,0,0,0,0
$GC,12812,0.81,165.6,157.0,10.3,1179,12816,0.00,2.20,0.00,0.000,4,0.000,0.063,3304,794,2383,0,0,0,0,0,0
$GC,12840,0.82,174.2,154.1,9.6,1181,12855,0.00,2.28,8.93,0.853,6,0.000,0.065,3304,2198,2346,0,0,0,0,0,0
$GC,13181,0.82,174.2,117.2,10.7,1213,13185,0.00,2.25,0.00,0.000,4,0.000,0.062,3313,795,2347,0,0,0,0,0,0
$GC,13191,0.82,174.2,115.9,10.5,1213,13198,0.10,2.30,0.00,0.000,6,0.173,0.064,3288,2209,2347,0,0,0,0,0,0
$GC,13525,0.86,212.6,86.1,8.2,1258,13561,0.00,2.28,31.12,0.915,4,0.000,0.077,3288,3600,2190,0,0,0,0,0,0
$GC,13609,0.89,231.2,79.3,9.2,1273,13631,0.00,2.25,15.88,0.844,6,0.000,0.054,3294,2200,2115,0,0,0,0,0,0
$GC,13968,0.98,308.0,55.4,6.5,1337,14040,0.10,2.45,63.22,0.871,4,0.111,0.075,3340,3594,1801,0,0,0,0,0,0
$GC,14071,0.98,308.0,43.0,15.0,1356,14077,0.10,2.30,0.00,0.000,6,0.178,0.055,3326,2200,1797,0,0,0,0,0,0
$FREEZE,8.41,2.764,-1.822,0,6,0
$FREEZE,7.83,2.759,-1.822,0,6,0
$FREEZE,7.19,2.753,-1.821,0,6,0
$FREEZE,6.58,2.752,-1.820,0,6,0
$FREEZE,5.98,2.751,-1.819,0,6,0
$FREEZE,5.40,2.750,-1.819,0,6,0
$FREEZE,4.74,2.752,-1.818,0,6,0
$FREEZE,4.09,2.750,-1.818,0,6,0
$FREEZE,3.33,2.750,-1.817,0,6,0
$FREEZE,2.73,2.752,-1.817,0,6,0
$STATE,14414,end climb,SURFACE_DEPTH_REACHED
$STATE,14414,begin surface coast
$FREEZE,2.00,2.754,-1.816,0,6,0
$FREEZE,1.60,2.739,-0.910,0,6,0
$FREEZE,1.72,2.732,-1.812,0,6,0
$FREEZE,2.08,2.753,-1.816,0,6,0
$FREEZE,1.67,2.751,-1.816,0,6,0
$FINISH,1.7,1.026407
$STATE,14443,end surface coast,CONTROL_FINISHED_OK
$STATE,14443,begin surface
$SM_CCo,14469,228.65,0.795,0,0,587,605.89
$SM_GC,2.53,0.00,0.00,228.65,0.000,0.000,0.795,334,2268,587,-12.77,0.51,605.89
$RAFOS_CLK,597
$RAFOS,6,1276850946,8.833333,8.818334,86,84,55,43,43,41,811,810,1432,1433,232,1742
$RAFOS,5,1276850465,8.700000,8.684722,123,108,45,44,43,41,630,631,640,1906,417,1140
$RAFOS,4,1276849981,8.566667,8.550278,53,53,50,48,48,45,877,878,395,477,1920,1921
$RAFOS,3,1276849501,8.433333,8.416945,43,41,40,40,39,39,522,228,1308,1179,112,624
$RAFOS,2,1276849027,8.300000,8.285277,56,45,44,43,42,41,1444,180,1164,695,1673,1403
$RAFOS,1,1276848552,8.166667,8.153334,45,43,42,42,40,40,253,741,1903,740,1003,913
$RAFOS,0,1276848070,8.033334,8.019444,44,43,42,41,41,39,1849,1027,1159,835,693,1662
$RAFOS,5,1276836062,4.700000,4.683889,45,41,41,41,40,38,679,623,1336,1335,406,394
$RAFOS_FIX,6702.494141,-5700.911621,180610,080856,2,104,0.37
$IRIDIUM_FIX,6631.12,-5656.72,120999,050521
$TT8_MAMPS,0.026845
$HUMID,39.01
$INTERNAL_PRESSURE,10.1469
$TCM_TEMP,16.50
$XPDR_PINGS,10
$ALTIM_TOP_PING,19.9,17.7
$ALTIM_BOTTOM_PING,550.6,128.7
$24V_AH,23.5,11.299
$10V_AH,10.3,6.054
$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,20.200,108.125,389.600,228.650,0.000,82.073,98.520,601.205,4.500,0.000,12.609,2348.265,9256.275,755.399,2232.458,1230.863,0.000,1930.873,0.000,2212.143,2520.000,16.239,0.000
$DEVICE_MAMPS,239.304,99.710,1237.171,795.379,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1029.156,1020.987,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135572
$DATA_FILE_SIZE,56705,1422
$CAP_FILE_SIZE,167197,0
$CFSIZE,260165632,243961856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.2
$GPS,180610,091424,6700.966,-5659.614,40,0.8,40,-37.5