version: 66.06
glider: 108
mission: 14
dive: 48
start: 6 15 110 5 11 34
data:
$ID,108
$MISSION,14
$DIVE,48
$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,-179673.12
$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,37
$R_STBD_OVSHOOT,27
$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
$GPS1,050437,6701.321,-5707.841,38,0.8,38,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.45
$_SM_ANGLEo,-75.2
$GPS2,051114,6701.303,-5707.909,14,0.9,14,-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,176.5,3203,-22.0,-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,16,-0.85,-99.9,0.0,0.0,0,58,0.00,0.00,-39.95,0.000,2,0.000,0.000,343,2266,2730,0,0,0,0,0,0
$GC,62,-0.91,-146.1,3.1,-2.4,8,119,10.12,2.20,-40.65,0.000,4,0.243,0.084,2895,3605,3655,0,0,0,0,0,0
$GC,163,-0.91,-146.1,10.4,-14.7,26,169,0.00,2.17,0.00,0.000,6,0.000,0.051,2895,2239,3658,0,0,0,0,0,0
$GC,506,-0.91,-146.1,58.6,-13.6,87,512,0.00,2.20,0.00,0.000,4,0.000,0.072,2886,3596,3660,0,0,0,0,0,0
$GC,685,-0.91,-146.1,81.9,-13.3,118,691,0.12,2.12,0.00,0.000,6,0.177,0.051,2918,2240,3660,0,0,0,0,0,0
$GC,1026,-0.91,-146.1,115.7,-8.9,164,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2240,3660,0,0,0,0,0,0
$GC,1347,-0.91,-146.1,148.4,-11.1,194,1350,0.00,2.20,0.00,0.000,4,0.000,0.061,2918,838,3660,0,0,0,0,0,0
$GC,1359,-0.91,-146.1,150.0,-10.6,195,1363,0.00,2.28,0.00,0.000,6,0.000,0.064,2911,2247,3660,0,0,0,0,0,0
$GC,1689,-0.91,-146.1,185.7,-10.1,226,1690,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2248,3659,0,0,0,0,0,0
$GC,2010,-0.91,-146.1,215.4,-9.2,256,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2247,3659,0,0,0,0,0,0
$GC,2328,-0.91,-146.1,246.2,-10.5,286,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2247,3659,0,0,0,0,0,0
$GC,2646,-0.91,-146.1,279.1,-10.3,316,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2248,3659,0,0,0,0,0,0
$GC,2966,-0.91,-146.1,309.6,-9.4,346,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2248,3659,0,0,0,0,0,0
$GC,3293,-0.91,-146.1,337.5,-8.0,377,3295,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2247,3660,0,0,0,0,0,0
$GC,3612,-0.91,-146.1,362.9,-8.3,407,3617,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2247,3660,0,0,0,0,0,0
$GC,3939,-0.91,-146.1,389.7,-7.9,438,3943,0.00,2.10,0.00,0.000,4,0.000,0.072,2900,3599,3660,0,0,0,0,0,0
$GC,3952,-0.91,-146.1,390.9,-8.0,439,3955,0.00,2.05,0.00,0.000,6,0.000,0.049,2900,2245,3659,0,0,0,0,0,0
$GC,4282,-0.91,-146.1,419.5,-9.2,470,4284,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2244,3661,0,0,0,0,0,0
$GC,4603,-0.91,-146.1,449.2,-9.3,500,4608,0.00,2.15,0.00,0.000,4,0.000,0.058,2900,842,3661,0,0,0,0,0,0
$GC,4615,-0.91,-146.1,450.7,-9.8,501,4620,0.10,2.25,0.00,0.000,6,0.174,0.061,2916,2265,3661,0,0,0,0,0,0
$GC,4946,-0.91,-146.1,479.8,-8.5,532,4947,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2265,3662,0,0,0,0,0,0
$GC,5267,-0.91,-146.1,506.4,-8.2,562,5268,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2265,3662,0,0,0,0,0,0
$GC,5586,-0.91,-146.1,533.1,-8.2,592,5591,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2265,3663,0,0,0,0,0,0
$GC,5914,-0.91,-146.1,559.8,-8.4,623,5915,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2265,3663,0,0,0,0,0,0
$GC,6232,-0.91,-146.1,586.6,-8.2,653,6233,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2265,3663,0,0,0,0,0,0
$GC,6554,-0.91,-146.1,612.8,-8.0,674,6555,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2265,3663,0,0,0,0,0,0
$GC,6859,-0.91,-146.1,636.8,-7.7,684,6860,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2265,3662,0,0,0,0,0,0
$GC,7165,-0.91,-146.1,660.7,-7.7,694,7166,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2266,3662,0,0,0,0,0,0
$GC,7471,-0.91,-146.1,684.0,-7.8,704,7475,0.00,2.05,0.00,0.000,4,0.000,0.073,2908,3594,3662,0,0,0,0,0,0
$GC,7484,-0.91,-146.1,685.1,-7.7,704,7487,0.00,2.05,0.00,0.000,6,0.000,0.049,2908,2247,3662,0,0,0,0,0,0
$GC,7813,-0.91,-146.1,711.9,-8.1,715,7817,0.00,2.12,0.00,0.000,4,0.000,0.071,2898,3595,3662,0,0,0,0,0,0
$GC,7830,-0.91,-146.1,713.4,-8.2,715,7834,0.00,2.05,0.00,0.000,6,0.000,0.050,2898,2250,3662,0,0,0,0,0,0
$STATE,7998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7998,begin apogee
$GC,8005,-0.17,0.0,728.0,8.5,721,8132,0.55,0.00,123.45,1.309,6,0.131,0.000,3076,2199,3058,0,0,0,0,0,0
$STATE,8132,end apogee,CONTROL_FINISHED_OK
$STATE,8132,begin climb
$GC,8135,0.91,146.1,730.3,0.0,725,8264,0.73,0.00,124.90,1.240,6,0.080,0.000,3322,2199,2462,0,0,0,0,0,0
$GC,8548,0.91,146.1,681.6,13.2,739,8552,0.00,2.33,0.00,0.000,4,0.000,0.070,3321,3597,2456,0,0,0,0,0,0
$GC,8599,0.91,146.1,673.8,15.6,740,8603,0.00,2.25,0.00,0.000,6,0.000,0.050,3331,2195,2456,0,0,0,0,0,0
$GC,8917,0.91,146.1,630.0,13.7,751,8921,0.00,2.22,0.00,0.000,4,0.000,0.061,3342,789,2455,0,0,0,0,0,0
$GC,8989,0.91,146.1,620.0,13.5,753,8994,0.12,2.30,0.00,0.000,6,0.185,0.061,3311,2199,2454,0,0,0,0,0,0
$GC,9316,0.91,146.1,580.5,11.9,773,9320,0.00,2.22,0.00,0.000,4,0.000,0.072,3311,3599,2453,0,0,0,0,0,0
$GC,9412,0.91,146.1,566.7,14.8,781,9416,0.00,2.17,0.00,0.000,6,0.000,0.051,3319,2199,2453,0,0,0,0,0,0
$GC,9737,0.91,146.1,525.3,12.3,811,9740,0.00,2.20,0.00,0.000,4,0.000,0.061,3329,797,2453,0,0,0,0,0,0
$GC,9821,0.91,146.1,514.8,12.7,818,9827,0.00,2.25,0.00,0.000,6,0.000,0.062,3329,2207,2453,0,0,0,0,0,0
$GC,10146,0.91,146.1,472.8,12.7,849,10149,0.00,2.20,0.00,0.000,4,0.000,0.073,3329,3592,2452,0,0,0,0,0,0
$GC,10252,0.91,146.1,455.8,16.8,858,10258,0.12,2.15,0.00,0.000,6,0.187,0.051,3308,2198,2452,0,0,0,0,0,0
$GC,10577,0.91,146.1,414.1,12.9,889,10581,0.00,2.17,0.00,0.000,4,0.000,0.061,3317,790,2452,0,0,0,0,0,0
$GC,10639,0.91,146.1,406.4,12.6,894,10643,0.00,2.25,0.00,0.000,6,0.000,0.062,3316,2202,2452,0,0,0,0,0,0
$GC,10970,0.91,146.1,364.1,12.8,925,10974,0.00,2.20,0.00,0.000,4,0.000,0.074,3317,3594,2452,0,0,0,0,0,0
$GC,11082,0.91,146.1,347.6,14.8,934,11087,0.00,2.17,0.00,0.000,6,0.000,0.051,3327,2190,2452,0,0,0,0,0,0
$GC,11407,0.91,146.1,304.3,13.3,965,11411,0.00,2.17,0.00,0.000,4,0.000,0.061,3337,794,2452,0,0,0,0,0,0
$GC,11469,0.91,146.1,296.2,13.7,970,11474,0.12,2.25,0.00,0.000,6,0.176,0.062,3305,2203,2452,0,0,0,0,0,0
$GC,11794,0.91,146.1,258.2,11.8,1000,11798,0.00,2.20,0.00,0.000,4,0.000,0.073,3305,3598,2453,0,0,0,0,0,0
$GC,11894,0.91,146.1,243.8,14.7,1008,11900,0.00,2.15,0.00,0.000,6,0.000,0.051,3312,2192,2453,0,0,0,0,0,0
$GC,12219,0.91,146.1,202.3,12.6,1039,12223,0.00,2.15,0.00,0.000,4,0.000,0.060,3323,792,2453,0,0,0,0,0,0
$GC,12343,0.91,146.1,186.4,12.7,1050,12347,0.00,2.25,0.00,0.000,6,0.000,0.061,3323,2205,2454,0,0,0,0,0,0
$GC,12668,0.91,146.1,145.1,12.4,1080,12672,0.00,2.17,0.00,0.000,4,0.000,0.073,3323,3592,2454,0,0,0,0,0,0
$GC,12775,0.91,146.1,129.7,14.4,1089,12780,0.10,2.12,0.00,0.000,6,0.193,0.051,3309,2199,2454,0,0,0,0,0,0
$GC,13102,0.91,146.1,94.1,10.4,1124,13108,0.00,2.17,0.00,0.000,4,0.000,0.060,3317,789,2455,0,0,0,0,0,0
$GC,13205,0.91,146.1,84.1,10.3,1142,13210,0.00,2.22,0.00,0.000,6,0.000,0.062,3317,2201,2455,0,0,0,0,0,0
$GC,13550,0.92,156.2,52.0,9.3,1203,13566,0.00,2.22,8.20,0.792,4,0.000,0.073,3317,3585,2421,0,0,0,0,0,0
$GC,13659,0.92,156.2,39.5,12.1,1222,13665,0.00,2.15,0.00,0.000,6,0.000,0.051,3327,2197,2420,0,0,0,0,0,0
$FREEZE,8.78,2.911,-1.811,0,1,0
$FREEZE,8.41,2.911,-1.811,0,1,0
$FREEZE,7.87,2.908,-1.810,0,1,0
$FREEZE,7.58,2.905,-1.810,0,1,0
$FREEZE,7.06,2.896,-1.809,0,1,0
$FREEZE,6.64,2.886,-1.809,0,1,0
$FREEZE,6.16,2.889,-1.808,0,1,0
$FREEZE,5.62,2.884,-1.808,0,1,0
$FREEZE,5.08,2.882,-1.807,0,1,0
$FREEZE,4.70,2.883,-1.807,0,1,0
$FREEZE,4.17,2.883,-1.806,0,1,0
$FREEZE,3.72,2.879,-1.806,0,1,0
$GC,14004,0.97,191.7,6.2,7.6,1283,14039,0.00,0.00,27.80,0.851,6,0.000,0.000,3327,2197,2276,0,0,0,0,0,0
$FREEZE,2.97,2.883,-1.805,0,1,0
$STATE,14043,end climb,SURFACE_DEPTH_REACHED
$STATE,14043,begin surface coast
$FREEZE,2.37,2.884,-1.805,0,1,0
$FREEZE,2.05,2.882,-1.805,0,1,0
$FREEZE,1.64,2.874,-1.805,0,1,0
$FREEZE,1.82,2.875,-1.805,0,1,0
$FREEZE,1.71,2.762,-1.733,0,1,0
$FREEZE,1.70,2.786,-1.755,0,1,0
$FREEZE,1.76,2.850,-0.910,0,1,0
$FREEZE,1.60,2.827,-1.214,0,1,0
$FINISH,1.6,1.017828
$STATE,14090,end surface coast,CONTROL_FINISHED_OK
$STATE,14090,begin surface
$SM_CCo,14109,85.85,0.819,0,0,1834,300.00
$SM_GC,2.75,0.00,0.00,85.85,0.000,0.000,0.819,338,2263,1834,-12.76,0.37,300.00
$RAFOS_CLK,547
$RAFOS,6,1276591744,8.833333,8.817778,50,45,44,44,43,42,1233,275,1440,1804,673,112
$RAFOS,5,1276591264,8.700000,8.684444,90,87,44,44,43,42,637,636,1051,1245,1120,205
$RAFOS,4,1276590783,8.566667,8.550834,74,72,45,45,43,41,853,852,669,681,1,706
$RAFOS,3,1276590304,8.433333,8.417778,47,45,42,41,41,41,320,749,1767,1050,1367,1766
$RAFOS,2,1276589822,8.300000,8.283889,51,45,44,41,41,39,1690,1398,187,533,1724,1312
$RAFOS,1,1276589342,8.166667,8.150556,47,43,41,40,38,38,703,704,1920,1501,1278,1797
$RAFOS,0,1276588866,8.033334,8.018333,50,45,44,43,43,41,433,408,534,1369,432,1437
$RAFOS_FIX,6656.747559,-5705.278809,150610,080824,2,82,0.70
$IRIDIUM_FIX,6631.12,-5658.34,090999,010140
$TT8_MAMPS,0.026845
$HUMID,40.07
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.0
$ALTIM_BOTTOM_PING,702.0,44.1
$24V_AH,23.5,8.892
$10V_AH,10.4,4.617
$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,20.075,87.500,284.350,85.850,0.000,28.356,38.014,184.194,3.000,0.000,16.463,2204.504,9238.673,508.230,2059.747,582.374,0.000,1539.856,0.000,2029.229,2520.000,24.245,0.000
$DEVICE_MAMPS,243.139,165.672,1308.502,819.156,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,941.419,922.398,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135640
$DATA_FILE_SIZE,50422,1298
$CAP_FILE_SIZE,138791,0
$CFSIZE,260165632,245411840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.5
$GPS,150610,090937,6659.192,-5704.203,28,1.1,28,-37.5