version: 66.06
glider: 108
mission: 14
dive: 47
start: 6 15 110 1 13 46
data:
$ID,108
$MISSION,14
$DIVE,47
$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,-179656.03
$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,36
$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,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
$GPS1,010637,6701.431,-5702.579,34,1.4,34,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.49
$_SM_ANGLEo,-74.9
$GPS2,011326,6701.440,-5702.721,13,1.7,13,-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,249.3,3136,-21.7,-10.000
$D_GRID,704
$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,-0.85,-102.5,0.0,0.0,0,67,0.00,0.00,-49.58,0.000,2,0.000,0.000,338,2260,2945,0,0,0,0,0,0
$GC,71,-0.90,-146.1,3.1,-1.8,10,118,10.20,2.22,-28.12,0.000,4,0.245,0.086,2903,3598,3656,0,0,0,0,0,0
$GC,125,-0.90,-146.1,5.9,-9.1,20,131,0.00,2.12,0.00,0.000,6,0.000,0.049,2905,2247,3658,0,0,0,0,0,0
$GC,468,-0.90,-146.1,50.0,-12.1,81,474,0.00,2.17,0.00,0.000,4,0.000,0.070,2898,3595,3661,0,0,0,0,0,0
$GC,634,-0.90,-146.1,70.2,-12.9,110,640,0.00,2.10,0.00,0.000,6,0.000,0.051,2897,2249,3661,0,0,0,0,0,0
$GC,979,-0.90,-146.1,110.1,-11.0,164,982,0.00,2.20,0.00,0.000,4,0.000,0.061,2897,846,3661,0,0,0,0,0,0
$GC,995,-0.90,-146.1,112.0,-11.1,165,1001,0.10,2.28,0.00,0.000,6,0.180,0.061,2912,2261,3661,0,0,0,0,0,0
$GC,1320,-0.90,-146.1,143.7,-9.9,196,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2261,3661,0,0,0,0,0,0
$GC,1641,-0.90,-146.1,174.0,-9.6,226,1646,0.00,2.25,0.00,0.000,4,0.000,0.059,2913,837,3661,0,0,0,0,0,0
$GC,1653,-0.90,-146.1,175.5,-9.6,226,1658,0.00,2.28,0.00,0.000,6,0.000,0.062,2905,2253,3661,0,0,0,0,0,0
$GC,1978,-0.90,-146.1,208.9,-10.3,257,1979,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,2253,3661,0,0,0,0,0,0
$GC,2299,-0.90,-146.1,240.8,-9.6,287,2302,0.00,2.12,0.00,0.000,4,0.000,0.073,2895,3601,3660,0,0,0,0,0,0
$GC,2317,-0.90,-146.1,242.7,-9.4,288,2322,0.00,2.10,0.00,0.000,6,0.000,0.050,2895,2242,3660,0,0,0,0,0,0
$GC,2641,-0.90,-146.1,275.5,-10.1,319,2643,0.10,0.00,0.00,0.000,6,0.178,0.000,2919,2240,3660,0,0,0,0,0,0
$GC,2961,-0.90,-146.1,304.9,-9.3,349,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2240,3661,0,0,0,0,0,0
$GC,3281,-0.90,-146.1,333.0,-8.4,379,3285,0.00,2.15,0.00,0.000,4,0.000,0.060,2919,842,3661,0,0,0,0,0,0
$GC,3354,-0.90,-146.1,339.6,-8.7,385,3359,0.00,2.25,0.00,0.000,6,0.000,0.061,2912,2264,3661,0,0,0,0,0,0
$GC,3679,-0.90,-146.1,367.8,-8.8,416,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2264,3661,0,0,0,0,0,0
$GC,4001,-0.90,-146.1,395.4,-8.6,446,4006,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2264,3661,0,0,0,0,0,0
$GC,4329,-0.90,-146.1,423.9,-8.8,477,4330,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2264,3662,0,0,0,0,0,0
$GC,4647,-0.90,-146.1,452.5,-9.0,507,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2264,3662,0,0,0,0,0,0
$GC,4965,-0.90,-146.1,479.1,-8.0,537,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2912,2264,3662,0,0,0,0,0,0
$GC,5283,-0.90,-146.1,504.8,-8.2,567,5288,0.00,2.22,0.00,0.000,4,0.000,0.056,2912,831,3662,0,0,0,0,0,0
$GC,5301,-0.90,-146.1,506.5,-8.3,568,5305,0.00,2.25,0.00,0.000,6,0.000,0.060,2902,2253,3662,0,0,0,0,0,0
$GC,5627,-0.90,-146.1,534.1,-8.4,598,5631,0.00,2.20,0.00,0.000,4,0.000,0.056,2902,838,3663,0,0,0,0,0,0
$GC,5650,-0.90,-146.1,536.2,-9.3,600,5655,0.10,2.25,0.00,0.000,6,0.172,0.059,2918,2263,3663,0,0,0,0,0,0
$GC,5975,-0.90,-146.1,560.6,-7.4,630,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2263,3663,0,0,0,0,0,0
$GC,6296,-0.90,-146.1,584.0,-7.3,660,6297,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2263,3663,0,0,0,0,0,0
$GC,6609,-0.90,-146.1,607.2,-7.4,684,6612,0.00,2.08,0.00,0.000,4,0.000,0.072,2910,3593,3664,0,0,0,0,0,0
$GC,6625,-0.90,-146.1,608.7,-7.4,684,6629,0.00,2.05,0.00,0.000,6,0.000,0.048,2910,2245,3664,0,0,0,0,0,0
$GC,6950,-0.90,-146.1,635.3,-8.3,695,6953,0.00,2.15,0.00,0.000,4,0.000,0.058,2910,842,3664,0,0,0,0,0,0
$GC,6966,-0.90,-146.1,636.9,-8.9,695,6970,0.00,2.22,0.00,0.000,6,0.000,0.060,2901,2258,3664,0,0,0,0,0,0
$GC,7286,-0.90,-146.1,663.4,-8.5,706,7290,0.00,2.10,0.00,0.000,4,0.000,0.072,2891,3604,3664,0,0,0,0,0,0
$GC,7315,-0.90,-146.1,666.2,-9.2,706,7321,0.10,2.08,0.00,0.000,6,0.174,0.049,2916,2243,3664,0,0,0,0,0,0
$GC,7628,-0.90,-146.1,690.4,-7.6,717,7631,0.00,2.15,0.00,0.000,4,0.000,0.059,2916,844,3663,0,0,0,0,0,0
$GC,7639,-0.90,-146.1,691.4,-7.7,717,7643,0.00,2.22,0.00,0.000,6,0.000,0.061,2909,2258,3663,0,0,0,0,0,0
$STATE,7806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7807,begin apogee
$GC,7814,-0.17,0.0,705.0,8.0,723,7940,0.52,0.00,123.15,1.284,6,0.127,0.000,3081,2196,3058,0,0,0,0,0,0
$STATE,7941,end apogee,CONTROL_FINISHED_OK
$STATE,7941,begin climb
$GC,7944,0.90,146.1,707.4,0.0,727,8077,0.68,2.42,123.30,1.221,4,0.077,0.059,3325,787,2462,0,0,0,0,0,0
$GC,8122,0.90,146.1,690.3,12.8,732,8126,0.00,2.42,0.00,0.000,6,0.000,0.059,3325,2205,2460,0,0,0,0,0,0
$GC,8434,0.90,146.1,649.1,12.9,742,8439,0.00,2.28,0.00,0.000,4,0.000,0.071,3325,3597,2456,0,0,0,0,0,0
$GC,8513,0.90,146.1,636.8,15.9,744,8518,0.12,2.22,0.00,0.000,6,0.188,0.049,3305,2193,2455,0,0,0,0,0,0
$GC,8830,0.90,146.1,597.2,12.4,755,8834,0.00,2.20,0.00,0.000,4,0.000,0.059,3313,790,2455,0,0,0,0,0,0
$GC,8886,0.90,146.1,590.1,13.2,759,8892,0.00,2.30,0.00,0.000,6,0.000,0.060,3313,2211,2455,0,0,0,0,0,0
$GC,9211,0.90,146.1,549.2,12.8,790,9215,0.00,2.22,0.00,0.000,4,0.000,0.071,3314,3601,2454,0,0,0,0,0,0
$GC,9284,0.90,146.1,538.2,15.9,796,9288,0.00,2.20,0.00,0.000,6,0.000,0.050,3323,2194,2453,0,0,0,0,0,0
$GC,9615,0.90,146.1,489.9,14.7,827,9618,0.00,2.17,0.00,0.000,4,0.000,0.060,3334,796,2453,0,0,0,0,0,0
$GC,9671,0.90,146.1,481.5,14.7,832,9676,0.10,2.28,0.00,0.000,6,0.189,0.061,3310,2205,2453,0,0,0,0,0,0
$GC,9996,0.90,146.1,435.9,13.9,862,10000,0.00,2.20,0.00,0.000,4,0.000,0.072,3310,3592,2453,0,0,0,0,0,0
$GC,10057,0.90,146.1,426.1,17.1,867,10063,0.00,2.17,0.00,0.000,6,0.000,0.050,3318,2193,2452,0,0,0,0,0,0
$GC,10382,0.90,146.1,378.9,14.7,898,10386,0.00,2.17,0.00,0.000,4,0.000,0.060,3329,796,2452,0,0,0,0,0,0
$GC,10456,0.90,146.1,368.1,14.8,904,10460,0.00,2.22,0.00,0.000,6,0.000,0.061,3329,2201,2452,0,0,0,0,0,0
$GC,10786,0.90,146.1,318.2,15.3,935,10790,0.00,2.17,0.00,0.000,4,0.000,0.071,3329,3596,2452,0,0,0,0,0,0
$GC,10837,0.90,146.1,309.9,16.2,939,10841,0.12,2.15,0.00,0.000,6,0.186,0.050,3307,2199,2452,0,0,0,0,0,0
$GC,11167,0.90,146.1,268.7,12.1,970,11171,0.00,2.17,0.00,0.000,4,0.000,0.058,3316,793,2453,0,0,0,0,0,0
$GC,11234,0.90,146.1,260.7,12.3,975,11239,0.00,2.25,0.00,0.000,6,0.000,0.060,3316,2205,2453,0,0,0,0,0,0
$GC,11560,0.90,146.1,222.1,11.7,1006,11564,0.00,2.20,0.00,0.000,4,0.000,0.071,3316,3601,2454,0,0,0,0,0,0
$GC,11623,0.90,146.1,213.6,14.0,1011,11627,0.00,2.17,0.00,0.000,6,0.000,0.049,3326,2185,2454,0,0,0,0,0,0
$GC,11948,0.90,146.1,173.2,12.9,1041,11951,0.00,2.15,0.00,0.000,4,0.000,0.058,3337,791,2454,0,0,0,0,0,0
$GC,11986,0.90,146.1,168.2,12.2,1044,11992,0.12,2.25,0.00,0.000,6,0.173,0.060,3304,2210,2454,0,0,0,0,0,0
$GC,12311,0.90,146.1,133.9,10.2,1075,12315,0.00,2.17,0.00,0.000,4,0.000,0.072,3303,3596,2455,0,0,0,0,0,0
$GC,12366,0.90,146.1,127.4,11.7,1079,12371,0.00,2.15,0.00,0.000,6,0.000,0.050,3311,2197,2454,0,0,0,0,0,0
$GC,12695,0.90,146.1,92.7,10.2,1116,12701,0.00,2.15,0.00,0.000,4,0.000,0.059,3322,790,2455,0,0,0,0,0,0
$GC,12752,0.90,146.1,86.5,10.1,1126,12758,0.00,2.25,0.00,0.000,6,0.000,0.061,3322,2207,2455,0,0,0,0,0,0
$GC,13098,0.92,157.3,52.0,9.3,1187,13114,0.00,2.22,9.23,0.802,4,0.000,0.073,3322,3588,2416,0,0,0,0,0,0
$GC,13149,0.92,157.3,46.5,10.8,1196,13155,0.00,2.15,0.00,0.000,6,0.000,0.051,3332,2199,2415,0,0,0,0,0,0
$GC,13495,0.96,194.3,13.4,7.6,1257,13531,0.00,2.25,29.80,0.851,4,0.000,0.061,3342,797,2265,0,0,0,0,0,0
$FREEZE,8.64,2.369,-1.804,0,1,0
$FREEZE,8.12,2.350,-1.803,0,1,0
$FREEZE,7.60,2.336,-1.802,0,1,0
$FREEZE,7.15,2.323,-1.802,0,1,0
$FREEZE,6.54,2.304,-1.801,0,1,0
$FREEZE,6.06,2.300,-1.800,0,1,0
$FREEZE,5.39,2.273,-1.799,0,1,0
$FREEZE,4.76,2.240,-1.798,0,1,0
$GC,13584,0.98,207.4,6.1,9.1,1273,13602,0.00,2.30,11.07,0.764,6,0.000,0.061,3342,2208,2211,0,0,0,0,0,0
$FREEZE,3.75,1.847,-1.793,0,1,0
$FREEZE,3.34,1.810,-1.790,0,1,0
$FREEZE,2.86,1.456,-1.790,0,1,0
$STATE,13618,end climb,SURFACE_DEPTH_REACHED
$STATE,13619,begin surface coast
$FREEZE,2.51,1.416,-1.784,0,1,0
$FREEZE,2.12,1.359,-1.781,0,1,0
$FREEZE,1.74,1.353,-1.779,0,1,0
$FREEZE,1.56,1.319,-1.785,0,1,0
$FREEZE,1.55,1.327,-0.226,0,1,0
$FREEZE,1.54,1.354,-0.612,0,1,0
$FREEZE,1.55,1.277,-0.446,0,1,0
$FINISH,1.5,1.006515
$STATE,13659,end surface coast,CONTROL_FINISHED_OK
$STATE,13659,begin surface
$SM_CCo,13679,73.53,0.818,0,0,1835,300.00
$SM_GC,2.61,0.00,0.00,73.53,0.000,0.000,0.818,344,2263,1835,-12.73,0.37,300.00
$RAFOS_CLK,522
$RAFOS,6,1276577345,4.833333,4.818056,82,77,57,44,39,39,795,796,932,1788,1787,1901
$RAFOS,5,1276576870,4.700000,4.686111,147,139,44,43,41,39,580,581,927,896,1410,335
$RAFOS,4,1276576383,4.566667,4.550833,48,42,42,41,41,40,1530,104,691,234,521,181
$RAFOS,3,1276575907,4.433333,4.418611,49,46,40,40,39,39,1934,910,1113,230,851,334
$RAFOS,2,1276575431,4.300000,4.286389,45,44,44,41,41,41,394,1576,1875,1,473,701
$RAFOS,1,1276574944,4.166667,4.151111,47,47,43,42,42,42,461,843,342,462,1022,486
$RAFOS,0,1276574465,4.033333,4.018055,43,43,42,39,38,38,71,995,252,950,540,1605
$RAFOS_FIX,6701.589844,-5709.015625,150610,040400,2,114,0.35
$IRIDIUM_FIX,6631.12,-5701.34,080999,202011
$TT8_MAMPS,0.026845
$HUMID,38.69
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.9
$ALTIM_BOTTOM_PING,650.5,90.4
$24V_AH,23.5,8.760
$10V_AH,10.4,4.540
$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,20.350,119.075,296.550,73.525,0.000,22.976,34.582,198.115,2.500,0.000,15.047,2209.381,8787.466,490.937,2067.000,601.403,0.000,1566.808,0.000,2040.170,2520.000,19.643,0.000
$DEVICE_MAMPS,244.673,132.691,1283.958,817.622,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,937.696,907.731,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135640
$DATA_FILE_SIZE,50492,1286
$CAP_FILE_SIZE,147472,0
$CFSIZE,260165632,245477376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1466.2
$GPS,150610,050437,6701.321,-5707.841,38,0.8,38,-37.6