version: 66.06
glider: 108
mission: 14
dive: 28
start: 6 11 110 22 18 26
data:
$ID,108
$MISSION,14
$DIVE,28
$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,270
$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,-179365.84
$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,3120
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,26
$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,3
$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,2
$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
$GPS1,221225,6709.945,-5703.389,42,1.6,42,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-75.4
$GPS2,221808,6709.970,-5703.456,14,1.0,14,-37.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_tst
$TGT_LATLONG,6700.000,-5702.000
$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,214.5,18495,-18.1,-10.000
$D_GRID,472
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,90,0.00,0.00,-69.07,0.000,2,0.000,0.000,341,2249,3344,0,0,0,0,0,0
$GC,94,-0.78,-146.1,3.1,-1.2,14,120,10.43,2.28,-8.88,0.000,4,0.249,0.071,2942,836,3657,0,0,0,0,0,0
$GC,425,-0.78,-146.1,37.7,-8.8,73,429,0.00,2.25,0.00,0.000,6,0.000,0.058,2935,2253,3662,0,0,0,0,0,0
$GC,767,-0.78,-146.1,69.7,-9.4,134,772,0.00,2.12,0.00,0.000,4,0.000,0.067,2925,3596,3661,0,0,0,0,0,0
$GC,823,-0.78,-146.1,75.1,-9.9,144,829,0.10,2.08,0.00,0.000,6,0.173,0.048,2950,2246,3662,0,0,0,0,0,0
$GC,1165,-0.78,-146.1,103.6,-7.9,201,1169,0.00,2.17,0.00,0.000,4,0.000,0.056,2950,841,3661,0,0,0,0,0,0
$GC,1260,-0.78,-146.1,111.9,-8.0,209,1264,0.00,2.25,0.00,0.000,6,0.000,0.058,2942,2256,3661,0,0,0,0,0,0
$GC,1585,-0.78,-146.1,138.0,-8.2,239,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2256,3661,0,0,0,0,0,0
$GC,1907,-0.78,-146.1,163.3,-8.0,269,1911,0.00,2.10,0.00,0.000,4,0.000,0.069,2931,3597,3660,0,0,0,0,0,0
$GC,1952,-0.78,-146.1,167.4,-8.1,272,1957,0.00,2.05,0.00,0.000,6,0.000,0.048,2932,2240,3660,0,0,0,0,0,0
$GC,2276,-0.78,-146.1,193.6,-7.8,303,2280,0.00,2.15,0.00,0.000,4,0.000,0.057,2932,839,3660,0,0,0,0,0,0
$GC,2350,-0.78,-146.1,199.2,-7.7,309,2355,0.10,2.25,0.00,0.000,6,0.165,0.058,2949,2263,3659,0,0,0,0,0,0
$GC,2674,-0.78,-146.1,220.4,-6.4,339,2676,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2262,3660,0,0,0,0,0,0
$GC,2996,-0.78,-146.1,240.2,-6.6,369,2997,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2262,3660,0,0,0,0,0,0
$GC,3315,-0.78,-146.1,260.6,-6.5,399,3319,0.00,2.08,0.00,0.000,4,0.000,0.069,2941,3593,3660,0,0,0,0,0,0
$GC,3370,-0.78,-146.1,264.6,-7.1,403,3375,0.00,2.03,0.00,0.000,6,0.000,0.048,2941,2248,3660,0,0,0,0,0,0
$GC,3695,-0.78,-146.1,285.7,-6.2,434,3699,0.00,2.15,0.00,0.000,4,0.000,0.055,2941,842,3660,0,0,0,0,0,0
$GC,3806,-0.78,-146.1,293.2,-6.3,443,3811,0.00,2.20,0.00,0.000,6,0.000,0.058,2931,2251,3660,0,0,0,0,0,0
$GC,4131,-0.78,-146.1,314.3,-6.4,474,4132,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2251,3660,0,0,0,0,0,0
$GC,4453,-0.78,-146.1,336.1,-6.8,504,4457,0.00,2.08,0.00,0.000,4,0.000,0.067,2921,3595,3660,0,0,0,0,0,0
$GC,4496,-0.78,-146.1,339.7,-7.8,507,4502,0.10,2.03,0.00,0.000,6,0.163,0.046,2948,2247,3660,0,0,0,0,0,0
$GC,4821,-0.78,-146.1,359.7,-6.3,538,4825,0.00,2.12,0.00,0.000,4,0.000,0.054,2948,847,3660,0,0,0,0,0,0
$GC,4888,-0.78,-146.1,364.2,-6.9,543,4893,0.00,2.17,0.00,0.000,6,0.000,0.056,2941,2251,3660,0,0,0,0,0,0
$GC,5213,-0.78,-146.1,385.5,-6.4,574,5216,0.00,2.08,0.00,0.000,4,0.000,0.067,2931,3596,3661,0,0,0,0,0,0
$GC,5245,-0.78,-146.1,387.9,-7.3,576,5250,0.00,2.03,0.00,0.000,6,0.000,0.045,2930,2241,3661,0,0,0,0,0,0
$GC,5570,-0.78,-146.1,410.0,-7.2,607,5574,0.00,2.12,0.00,0.000,4,0.000,0.054,2930,837,3661,0,0,0,0,0,0
$GC,5644,-0.78,-146.1,415.2,-7.3,613,5648,0.10,2.22,0.00,0.000,6,0.164,0.056,2948,2264,3661,0,0,0,0,0,0
$GC,5968,-0.78,-146.1,434.4,-5.5,643,5969,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2264,3661,0,0,0,0,0,0
$GC,6289,-0.78,-146.1,452.0,-5.5,673,6293,0.00,2.05,0.00,0.000,4,0.000,0.066,2940,3596,3661,0,0,0,0,0,0
$GC,6322,-0.78,-146.1,454.0,-6.0,675,6327,0.00,2.03,0.00,0.000,6,0.000,0.045,2940,2238,3662,0,0,0,0,0,0
$STATE,6421,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,6421,begin apogee
$GC,6428,-0.17,0.0,459.3,4.7,685,6554,0.43,0.00,118.95,1.111,6,0.118,0.000,3086,2149,3058,0,0,0,0,0,0
$STATE,6557,end apogee,CONTROL_FINISHED_OK
$STATE,6557,begin climb
$GC,6560,0.78,146.1,461.0,0.0,698,6686,0.57,2.33,119.43,1.055,4,0.073,0.054,3310,760,2462,0,0,0,0,0,0
$GC,6719,0.78,146.1,446.0,12.2,713,6725,0.00,2.28,0.00,0.000,6,0.000,0.053,3310,2151,2461,0,0,0,0,0,0
$GC,7044,0.78,146.1,403.0,13.3,744,7048,0.00,2.30,0.00,0.000,4,0.000,0.064,3310,3572,2457,0,0,0,0,0,0
$GC,7099,0.78,146.1,394.7,15.5,748,7105,0.12,2.22,0.00,0.000,6,0.178,0.045,3289,2145,2456,0,0,0,0,0,0
$GC,7423,0.78,146.1,359.1,10.6,779,7427,0.00,2.20,0.00,0.000,4,0.000,0.054,3296,737,2456,0,0,0,0,0,0
$GC,7456,0.78,146.1,355.5,11.4,781,7461,0.00,2.28,0.00,0.000,6,0.000,0.053,3296,2161,2457,0,0,0,0,0,0
$GC,7780,0.78,146.1,319.9,10.9,812,7784,0.00,2.20,0.00,0.000,4,0.000,0.065,3296,3561,2456,0,0,0,0,0,0
$GC,7824,0.78,146.1,314.4,12.9,815,7830,0.00,2.17,0.00,0.000,6,0.000,0.045,3305,2138,2457,0,0,0,0,0,0
$GC,8149,0.78,146.1,276.3,11.9,846,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2138,2456,0,0,0,0,0,0
$GC,8468,0.78,146.1,238.8,11.9,876,8469,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2137,2457,0,0,0,0,0,0
$GC,8788,0.78,146.1,203.0,10.5,906,8790,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2137,2457,0,0,0,0,0,0
$GC,9105,0.80,162.0,171.7,9.3,936,9123,0.00,0.00,13.23,0.893,6,0.000,0.000,3306,2136,2396,0,0,0,0,0,0
$GC,9444,0.81,169.1,138.8,9.7,968,9456,0.00,2.33,7.25,0.782,4,0.000,0.064,3306,3556,2368,0,0,0,0,0,0
$GC,9503,0.81,169.1,132.3,11.4,973,9508,0.00,2.15,0.00,0.000,6,0.000,0.046,3316,2147,2367,0,0,0,0,0,0
$GC,9828,0.82,174.2,99.5,9.8,1004,9839,0.00,2.28,5.93,0.728,4,0.000,0.063,3316,3568,2346,0,0,0,0,0,0
$GC,9862,0.82,174.2,95.7,11.1,1010,9867,0.12,2.20,0.00,0.000,6,0.176,0.046,3293,2139,2345,0,0,0,0,0,0
$GC,10208,0.86,207.8,66.3,8.5,1071,10243,0.00,2.28,27.38,0.881,4,0.000,0.056,3298,737,2209,0,0,0,0,0,0
$GC,10266,0.90,241.5,61.0,8.5,1082,10301,0.00,2.28,28.33,0.845,6,0.000,0.054,3298,2149,2073,0,0,0,0,0,0
$GC,10639,0.91,248.6,25.1,9.7,1149,10650,0.00,2.33,5.72,0.672,4,0.000,0.067,3298,3567,2044,0,0,0,0,0,0
$GC,10701,0.91,248.6,18.7,10.8,1160,10706,0.00,2.20,0.00,0.000,6,0.000,0.048,3305,2151,2041,0,0,0,0,0,0
$FREEZE,8.96,2.317,-1.835,0,1,0
$FREEZE,8.38,2.314,-1.834,0,1,0
$FREEZE,7.92,2.315,-1.834,0,1,0
$FREEZE,7.34,2.314,-1.833,0,1,0
$FREEZE,6.83,2.313,-1.833,0,1,0
$FREEZE,6.31,2.313,-1.832,0,1,0
$FREEZE,5.87,2.314,-1.832,0,1,0
$FREEZE,5.36,2.314,-1.832,0,1,0
$FREEZE,4.96,2.306,-1.831,0,1,0
$FREEZE,4.34,2.310,-1.831,0,1,0
$FREEZE,3.89,2.313,-1.830,0,1,0
$FREEZE,3.45,2.311,-1.830,0,1,0
$FREEZE,2.97,2.307,-1.829,0,1,0
$STATE,10873,end climb,SURFACE_DEPTH_REACHED
$STATE,10873,begin surface coast
$FREEZE,2.46,2.303,-1.829,0,1,0
$FREEZE,1.82,2.303,-1.828,0,1,0
$FREEZE,1.46,2.304,-1.828,0,1,0
$FREEZE,1.27,2.302,-1.398,0,1,0
$FREEZE,1.32,2.294,-0.982,0,1,0
$FREEZE,1.21,2.290,-1.768,0,1,0
$FREEZE,1.20,2.299,-1.160,0,1,0
$FINISH,1.2,1.017074
$STATE,10914,end surface coast,CONTROL_FINISHED_OK
$STATE,10914,begin surface
$SM_CCo,10933,41.15,0.832,0,0,1835,300.00
$SM_GC,2.30,0.00,0.00,41.15,0.000,0.000,0.832,337,2253,1835,-12.80,0.08,300.00
$MAGERROR,6
$RAFOS_CLK,417
$RAFOS,6,1276303745,0.833333,0.818056,108,98,41,40,40,39,784,783,1918,1937,1152,1645
$RAFOS,5,1276303267,0.700000,0.685278,103,100,43,42,41,40,630,631,1705,1926,1626,751
$RAFOS,4,1276302791,0.566667,0.553056,76,69,41,40,39,39,824,825,1378,1940,438,894
$RAFOS,3,1276302303,0.433333,0.417500,51,51,49,48,45,45,1191,1369,1009,743,963,1008
$RAFOS,2,1276301829,0.300000,0.285833,43,43,41,40,39,38,1534,1777,584,1,1780,142
$RAFOS,1,1276301344,0.166667,0.151111,47,42,42,42,42,42,1031,288,1532,1031,1792,1880
$RAFOS,0,1276300862,0.033333,0.017222,45,41,41,40,40,40,1549,398,1210,1,480,800
$RAFOS_FIX,6711.144531,-5707.714844,120610,000022,3,96,0.43
$IRIDIUM_FIX,6641.98,-5655.54,050999,191924
$TT8_MAMPS,0.028379
$HUMID,39.60
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,7.00
$XPDR_PINGS,71
$ALTIM_TOP_PING,19.9,18.5
$ALTIM_BOTTOM_PING,350.5,123.6
$24V_AH,23.7,6.217
$10V_AH,10.3,3.030
$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,20.075,87.350,326.200,41.150,0.000,24.365,42.786,139.718,19.000,0.000,15.785,1956.139,7223.560,543.398,1108.212,494.047,0.000,1422.261,0.000,11046.820,2520.000,11.959,0.000
$DEVICE_MAMPS,249.275,103.545,1111.383,832.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,1000.323,944.012,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,137560
$DATA_FILE_SIZE,47328,1198
$CAP_FILE_SIZE,127024,0
$CFSIZE,260165632,246943744
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.3
$GPS,120610,012302,6710.052,-5706.237,36,2.0,37,-37.8