version: 66.06
glider: 108
mission: 14
dive: 36
start: 6 13 110 5 34 15
data:
$ID,108
$MISSION,14
$DIVE,36
$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,-179488.03
$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,39
$R_STBD_OVSHOOT,25
$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
$GPS1,052401,6700.984,-5708.313,38,1.5,38,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.36
$_SM_ANGLEo,-77.1
$GPS2,053356,6700.900,-5708.341,14,1.0,14,-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,162.2,2936,-24.0,-10.000
$D_GRID,728
$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,-0.90,-83.6,0.0,0.0,0,74,0.00,0.00,-54.58,0.000,2,0.000,0.000,339,2257,2952,0,0,0,0,0,0
$GC,77,-0.98,-146.1,3.1,-1.3,11,119,10.15,2.33,-22.90,0.000,4,0.245,0.075,2900,853,3658,0,0,0,0,0,0
$GC,328,-0.98,-146.1,34.8,-11.4,56,334,0.00,2.30,0.00,0.000,6,0.000,0.064,2892,2257,3663,0,0,0,0,0,0
$GC,672,-0.98,-146.1,76.0,-11.8,117,677,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2257,3663,0,0,0,0,0,0
$GC,1012,-0.98,-146.1,116.5,-12.0,166,1016,0.00,2.15,0.00,0.000,4,0.000,0.074,2882,3601,3662,0,0,0,0,0,0
$GC,1024,-0.98,-146.1,117.9,-11.8,167,1028,0.00,2.12,0.00,0.000,6,0.000,0.052,2882,2244,3662,0,0,0,0,0,0
$GC,1355,-0.98,-146.1,157.4,-11.7,198,1359,0.00,2.20,0.00,0.000,4,0.000,0.062,2882,846,3661,0,0,0,0,0,0
$GC,1365,-0.98,-146.1,158.8,-11.6,198,1371,0.10,2.28,0.00,0.000,6,0.184,0.063,2896,2256,3661,0,0,0,0,0,0
$GC,1690,-0.98,-146.1,195.0,-11.4,229,1694,0.00,2.25,0.00,0.000,4,0.000,0.061,2896,839,3661,0,0,0,0,0,0
$GC,1700,-0.98,-146.1,196.2,-11.2,229,1707,0.00,2.25,0.00,0.000,6,0.000,0.063,2889,2251,3660,0,0,0,0,0,0
$GC,2025,-0.98,-146.1,231.5,-10.3,260,2026,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2251,3660,0,0,0,0,0,0
$GC,2346,-0.98,-146.1,262.0,-9.6,290,2347,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,2251,3660,0,0,0,0,0,0
$GC,2665,-0.98,-146.1,291.9,-9.3,320,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2251,3661,0,0,0,0,0,0
$GC,2992,-0.98,-146.1,321.4,-8.6,351,2996,0.00,2.10,0.00,0.000,4,0.000,0.072,2878,3603,3661,0,0,0,0,0,0
$GC,3005,-0.98,-146.1,322.6,-8.3,352,3008,0.00,2.10,0.00,0.000,6,0.000,0.050,2878,2238,3661,0,0,0,0,0,0
$GC,3335,-0.98,-146.1,353.1,-9.3,383,3337,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2238,3662,0,0,0,0,0,0
$GC,3656,-0.98,-146.1,384.3,-10.4,413,3660,0.00,2.15,0.00,0.000,4,0.000,0.059,2879,845,3662,0,0,0,0,0,0
$GC,3667,-0.98,-146.1,385.6,-10.2,414,3672,0.12,2.25,0.00,0.000,6,0.170,0.061,2901,2262,3662,0,0,0,0,0,0
$GC,3992,-0.98,-146.1,415.2,-9.0,444,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2262,3662,0,0,0,0,0,0
$GC,4313,-0.98,-146.1,443.2,-8.4,474,4314,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2262,3663,0,0,0,0,0,0
$GC,4632,-0.98,-146.1,469.0,-7.8,504,4633,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2262,3664,0,0,0,0,0,0
$GC,4949,-0.98,-146.1,495.9,-8.7,534,4951,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2262,3665,0,0,0,0,0,0
$GC,5268,-0.98,-146.1,522.8,-8.4,564,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2262,3665,0,0,0,0,0,0
$GC,5588,-0.98,-146.1,549.4,-8.5,594,5593,0.00,2.08,0.00,0.000,4,0.000,0.069,2893,3596,3666,0,0,0,0,0,0
$GC,5600,-0.98,-146.1,550.8,-8.5,595,5603,0.00,2.05,0.00,0.000,6,0.000,0.047,2893,2244,3666,0,0,0,0,0,0
$GC,5931,-0.98,-146.1,579.4,-8.8,626,5934,0.00,2.15,0.00,0.000,4,0.000,0.057,2893,838,3666,0,0,0,0,0,0
$GC,5943,-0.98,-146.1,580.3,-8.7,627,5947,0.00,2.22,0.00,0.000,6,0.000,0.058,2884,2251,3667,0,0,0,0,0,0
$GC,6286,-0.98,-146.1,611.1,-9.0,651,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2250,3667,0,0,0,0,0,0
$GC,6591,-0.98,-146.1,637.4,-8.4,661,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,2250,3668,0,0,0,0,0,0
$GC,6897,-0.98,-146.1,663.6,-8.5,671,6900,0.00,2.22,0.00,0.000,4,0.000,0.057,2883,836,3668,0,0,0,0,0,0
$GC,6908,-0.98,-146.1,664.7,-8.5,671,6913,0.10,2.22,0.00,0.000,6,0.173,0.058,2899,2260,3668,0,0,0,0,0,0
$GC,7237,-0.98,-146.1,691.1,-8.0,682,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2260,3669,0,0,0,0,0,0
$GC,7543,-0.98,-146.1,715.0,-7.6,692,7547,0.00,2.20,0.00,0.000,4,0.000,0.058,2899,843,3669,0,0,0,0,0,0
$GC,7554,-0.98,-146.1,715.9,-7.3,692,7558,0.00,2.20,0.00,0.000,6,0.000,0.060,2892,2260,3669,0,0,0,0,0,0
$STATE,7722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7722,begin apogee
$GC,7729,-0.17,0.0,729.9,8.2,698,7858,0.57,0.00,125.05,1.309,6,0.129,0.000,3079,2198,3058,0,0,0,0,0,0
$STATE,7859,end apogee,CONTROL_FINISHED_OK
$STATE,7859,begin climb
$GC,7862,0.98,146.1,731.9,0.0,702,7995,0.73,2.38,124.38,1.243,4,0.074,0.067,3332,3586,2460,0,0,0,0,0,0
$GC,8058,0.98,146.1,710.1,16.8,708,8062,0.00,2.30,0.00,0.000,6,0.000,0.048,3342,2188,2456,0,0,0,0,0,0
$GC,8387,0.98,146.1,663.7,14.0,719,8391,0.00,2.25,0.00,0.000,4,0.000,0.058,3352,789,2454,0,0,0,0,0,0
$GC,8476,0.98,146.1,651.1,13.6,721,8482,0.12,2.33,0.00,0.000,6,0.178,0.060,3322,2201,2455,0,0,0,0,0,0
$GC,8788,0.98,146.1,611.3,12.5,732,8792,0.00,2.25,0.00,0.000,4,0.000,0.071,3322,3598,2453,0,0,0,0,0,0
$GC,8861,0.98,146.1,600.9,14.7,734,8865,0.00,2.20,0.00,0.000,6,0.000,0.050,3330,2189,2453,0,0,0,0,0,0
$GC,9191,0.98,146.1,556.7,14.0,764,9195,0.00,2.17,0.00,0.000,4,0.000,0.060,3340,797,2451,0,0,0,0,0,0
$GC,9260,0.98,146.1,547.3,14.9,770,9264,0.00,2.28,0.00,0.000,6,0.000,0.061,3341,2199,2452,0,0,0,0,0,0
$GC,9585,0.98,146.1,498.4,15.5,800,9589,0.00,2.20,0.00,0.000,4,0.000,0.072,3341,3596,2450,0,0,0,0,0,0
$GC,9698,0.98,146.1,479.0,17.3,810,9703,0.10,2.15,0.00,0.000,6,0.198,0.050,3328,2199,2450,0,0,0,0,0,0
$GC,10023,0.98,146.1,433.7,13.6,840,10027,0.00,2.17,0.00,0.000,4,0.000,0.058,3336,789,2450,0,0,0,0,0,0
$GC,10101,0.98,146.1,423.3,13.1,846,10106,0.00,2.28,0.00,0.000,6,0.000,0.060,3336,2209,2450,0,0,0,0,0,0
$GC,10425,0.98,146.1,378.6,13.6,877,10429,0.00,2.17,0.00,0.000,4,0.000,0.071,3336,3592,2450,0,0,0,0,0,0
$GC,10522,0.98,146.1,364.3,15.3,885,10526,0.00,2.12,0.00,0.000,6,0.000,0.049,3346,2199,2450,0,0,0,0,0,0
$GC,10847,0.98,146.1,319.3,13.8,915,10851,0.00,2.17,0.00,0.000,4,0.000,0.058,3356,789,2451,0,0,0,0,0,0
$GC,10954,0.98,146.1,304.4,13.8,924,10959,0.12,2.22,0.00,0.000,6,0.176,0.059,3324,2202,2451,0,0,0,0,0,0
$GC,11285,0.98,146.1,261.8,12.8,955,11289,0.00,2.17,0.00,0.000,4,0.000,0.070,3324,3593,2452,0,0,0,0,0,0
$GC,11391,0.98,146.1,246.2,14.9,964,11396,0.00,2.15,0.00,0.000,6,0.000,0.048,3332,2190,2452,0,0,0,0,0,0
$GC,11717,0.98,146.1,203.7,12.6,995,11720,0.00,2.15,0.00,0.000,4,0.000,0.057,3342,792,2452,0,0,0,0,0,0
$GC,11795,0.98,146.1,193.4,12.9,1001,11800,0.00,2.22,0.00,0.000,6,0.000,0.058,3342,2199,2453,0,0,0,0,0,0
$GC,12120,0.98,146.1,150.3,13.3,1032,12124,0.00,2.17,0.00,0.000,4,0.000,0.070,3342,3594,2453,0,0,0,0,0,0
$GC,12226,0.98,146.1,134.3,14.8,1041,12232,0.12,2.15,0.00,0.000,6,0.183,0.048,3320,2187,2453,0,0,0,0,0,0
$GC,12551,0.99,151.0,100.1,9.6,1072,12562,0.00,2.20,4.22,0.633,4,0.000,0.058,3328,789,2442,0,0,0,0,0,0
$GC,12642,1.01,167.3,91.6,8.7,1087,12663,0.00,2.25,14.50,0.864,6,0.000,0.059,3328,2210,2375,0,0,0,0,0,0
$GC,13001,1.01,167.3,52.4,10.6,1151,13007,0.00,2.17,0.00,0.000,4,0.000,0.070,3328,3591,2372,0,0,0,0,0,0
$GC,13098,1.01,167.3,41.6,10.9,1168,13103,0.00,2.12,0.00,0.000,6,0.000,0.049,3338,2200,2371,0,0,0,0,0,0
$FREEZE,8.43,3.029,-1.835,0,1,0
$FREEZE,7.79,3.030,-1.834,0,1,0
$GC,13444,1.01,167.3,7.8,10.4,1229,13450,0.00,2.20,0.00,0.000,4,0.000,0.059,3348,797,2371,0,0,0,0,0,0
$FREEZE,6.27,2.321,-1.825,0,1,0
$FREEZE,5.71,1.992,-1.824,0,1,0
$FREEZE,5.18,1.644,-1.826,0,1,0
$FREEZE,4.69,1.508,-1.818,0,1,0
$FREEZE,4.12,1.371,-1.817,0,1,0
$FREEZE,3.55,1.042,-1.816,0,1,0
$FREEZE,3.02,1.055,-1.811,0,1,0
$FREEZE,2.41,1.084,-1.807,0,1,0
$STATE,13495,end climb,SURFACE_DEPTH_REACHED
$STATE,13495,begin surface coast
$FREEZE,1.71,1.030,-1.808,0,1,0
$FREEZE,1.72,1.334,-1.791,0,1,0
$FREEZE,1.54,1.082,-1.302,0,1,0
$FREEZE,1.54,1.045,-1.777,0,1,0
$FREEZE,1.62,1.383,-1.317,0,1,0
$FINISH,1.6,1.019381
$STATE,13524,end surface coast,CONTROL_FINISHED_OK
$STATE,13524,begin surface
$SM_CCo,13546,104.07,0.837,0,0,1835,300.00
$SM_GC,2.61,0.00,0.00,104.07,0.000,0.000,0.837,337,2248,1835,-12.77,-0.06,300.00
$RAFOS_CLK,536
$RAFOS,6,1276418947,8.833333,8.818611,45,44,44,43,43,41,1906,1116,1157,1922,1366,1206
$RAFOS,5,1276418462,8.700000,8.683888,72,66,45,44,43,39,650,649,256,779,685,1218
$RAFOS,4,1276417982,8.566667,8.550555,50,50,44,43,43,40,865,1151,413,412,1770,209
$RAFOS,3,1276417508,8.433333,8.418889,45,45,43,40,37,36,495,993,254,142,1023,1102
$RAFOS,2,1276417031,8.300000,8.286389,43,42,42,42,41,40,367,529,795,1039,102,1412
$RAFOS,1,1276416550,8.166667,8.152778,44,43,42,41,41,41,200,61,130,623,1547,1665
$RAFOS,0,1276416064,8.033334,8.017777,46,42,42,40,40,40,1912,242,1174,1360,1056,1092
$RAFOS_FIX,6702.311035,-5709.511719,130610,040400,2,105,0.10
$IRIDIUM_FIX,6631.12,-5708.95,070999,050512
$TT8_MAMPS,0.026845
$HUMID,39.88
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.2
$24V_AH,23.4,7.266
$10V_AH,10.3,3.662
$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,20.300,105.900,268.150,104.075,0.000,56.933,113.866,211.254,2.750,0.000,15.893,2123.469,8876.414,486.004,2032.353,711.501,0.000,1531.987,0.000,2002.509,2520.000,21.148,0.000
$DEVICE_MAMPS,245.440,100.477,1309.269,836.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,905.425,878.015,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135588
$DATA_FILE_SIZE,50439,1243
$CAP_FILE_SIZE,140921,0
$CFSIZE,260165632,246325248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.4
$GPS,130610,092307,6658.860,-5701.973,31,0.8,31,-37.5