version: 66.06
glider: 108
mission: 14
dive: 52
start: 6 15 110 22 8 33
data:
$ID,108
$MISSION,14
$DIVE,52
$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,-179730.03
$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,37
$R_STBD_OVSHOOT,24
$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
$GPS1,215737,6701.865,-5653.089,24,1.8,24,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.56
$_SM_ANGLEo,-75.5
$GPS2,220813,6701.867,-5652.938,9,1.9,14,-37.5
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$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,97.0,4138,-18.1,-10.000
$D_GRID,590
$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,-146.1,0.0,0.0,0,58,0.00,0.00,-39.80,0.000,2,0.000,0.000,338,2250,2748,0,0,0,0,0,0
$GC,62,-0.78,-146.1,3.2,-1.8,8,124,10.15,2.22,-43.08,0.000,4,0.238,0.087,2930,3591,3656,0,0,0,0,0,0
$GC,377,-0.78,-146.1,33.3,-10.3,65,383,0.00,2.12,0.00,0.000,6,0.000,0.050,2930,2244,3660,0,0,0,0,0,0
$GC,721,-0.78,-146.1,69.1,-9.8,126,726,0.00,2.20,0.00,0.000,4,0.000,0.071,2921,3595,3662,0,0,0,0,0,0
$GC,783,-0.78,-146.1,76.1,-11.4,137,789,0.00,2.12,0.00,0.000,6,0.000,0.051,2921,2241,3661,0,0,0,0,0,0
$GC,1126,-0.78,-146.1,112.4,-10.2,188,1128,0.10,0.00,0.00,0.000,6,0.168,0.000,2946,2240,3662,0,0,0,0,0,0
$GC,1445,-0.78,-146.1,139.4,-9.0,218,1449,0.00,2.20,0.00,0.000,4,0.000,0.061,2946,834,3662,0,0,0,0,0,0
$GC,1496,-0.78,-146.1,144.2,-9.7,222,1500,0.00,2.30,0.00,0.000,6,0.000,0.064,2939,2260,3662,0,0,0,0,0,0
$GC,1821,-0.78,-146.1,175.1,-9.6,252,1825,0.00,2.12,0.00,0.000,4,0.000,0.074,2929,3598,3661,0,0,0,0,0,0
$GC,1883,-0.78,-146.1,181.2,-10.1,257,1887,0.00,2.10,0.00,0.000,6,0.000,0.051,2929,2248,3661,0,0,0,0,0,0
$GC,2208,-0.78,-146.1,211.9,-9.3,287,2212,0.00,2.20,0.00,0.000,4,0.000,0.061,2929,837,3661,0,0,0,0,0,0
$GC,2252,-0.78,-146.1,216.2,-9.4,290,2258,0.10,2.28,0.00,0.000,6,0.163,0.064,2946,2255,3660,0,0,0,0,0,0
$GC,2577,-0.78,-146.1,243.4,-8.1,321,2581,0.00,2.10,0.00,0.000,4,0.000,0.074,2938,3595,3660,0,0,0,0,0,0
$GC,2629,-0.78,-146.1,247.9,-8.9,325,2633,0.00,2.10,0.00,0.000,6,0.000,0.051,2938,2242,3660,0,0,0,0,0,0
$GC,2954,-0.78,-146.1,274.4,-8.2,355,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2241,3660,0,0,0,0,0,0
$GC,3275,-0.78,-146.1,298.5,-7.7,385,3276,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2241,3660,0,0,0,0,0,0
$GC,3594,-0.78,-146.1,322.0,-6.4,415,3598,0.00,2.17,0.00,0.000,4,0.000,0.061,2938,840,3660,0,0,0,0,0,0
$GC,3667,-0.78,-146.1,327.6,-7.3,421,3671,0.00,2.25,0.00,0.000,6,0.000,0.064,2928,2250,3660,0,0,0,0,0,0
$GC,3993,-0.78,-146.1,351.8,-7.5,451,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2250,3660,0,0,0,0,0,0
$GC,4313,-0.78,-146.1,376.3,-7.9,481,4317,0.00,2.15,0.00,0.000,4,0.000,0.074,2918,3602,3660,0,0,0,0,0,0
$GC,4416,-0.78,-146.1,385.1,-8.4,490,4420,0.10,2.08,0.00,0.000,6,0.164,0.051,2945,2244,3660,0,0,0,0,0,0
$GC,4746,-0.78,-146.1,409.5,-7.3,521,4750,0.00,2.15,0.00,0.000,4,0.000,0.061,2945,842,3660,0,0,0,0,0,0
$GC,4796,-0.78,-146.1,413.3,-7.2,525,4802,0.00,2.25,0.00,0.000,6,0.000,0.062,2938,2254,3660,0,0,0,0,0,0
$GC,5122,-0.78,-146.1,437.4,-7.1,556,5126,0.00,2.10,0.00,0.000,4,0.000,0.072,2927,3594,3660,0,0,0,0,0,0
$GC,5157,-0.78,-146.1,440.1,-8.0,559,5161,0.00,2.08,0.00,0.000,6,0.000,0.049,2927,2232,3660,0,0,0,0,0,0
$GC,5487,-0.78,-146.1,464.9,-7.5,590,5491,0.00,2.15,0.00,0.000,4,0.000,0.060,2927,834,3660,0,0,0,0,0,0
$GC,5539,-0.78,-146.1,469.0,-7.9,594,5544,0.10,2.22,0.00,0.000,6,0.162,0.061,2945,2250,3660,0,0,0,0,0,0
$GC,5864,-0.78,-146.1,489.8,-6.2,624,5868,0.00,2.10,0.00,0.000,4,0.000,0.072,2937,3595,3661,0,0,0,0,0,0
$GC,5899,-0.78,-146.1,492.1,-7.2,627,5903,0.00,2.08,0.00,0.000,6,0.000,0.048,2937,2240,3661,0,0,0,0,0,0
$GC,6230,-0.78,-146.1,513.3,-6.4,658,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2239,3661,0,0,0,0,0,0
$GC,6551,-0.78,-146.1,533.3,-6.2,688,6555,0.00,2.15,0.00,0.000,4,0.000,0.069,2927,3595,3661,0,0,0,0,0,0
$GC,6625,-0.78,-146.1,538.6,-6.8,694,6629,0.00,2.05,0.00,0.000,6,0.000,0.048,2927,2240,3661,0,0,0,0,0,0
$GC,6956,-0.78,-146.1,560.8,-6.7,725,6960,0.00,2.15,0.00,0.000,4,0.000,0.058,2927,839,3662,0,0,0,0,0,0
$GC,7029,-0.78,-146.1,565.8,-7.0,731,7034,0.10,2.22,0.00,0.000,6,0.160,0.061,2946,2260,3662,0,0,0,0,0,0
$STATE,7184,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,7184,begin apogee
$GC,7191,-0.17,0.0,574.6,5.6,745,7318,0.38,0.00,120.43,1.182,6,0.126,0.000,3075,2192,3057,0,0,0,0,0,0
$STATE,7318,end apogee,CONTROL_FINISHED_OK
$STATE,7318,begin climb
$GC,7321,0.78,146.1,575.9,0.0,758,7455,0.60,2.42,120.75,1.126,4,0.081,0.058,3294,800,2461,0,0,0,0,0,0
$GC,7472,0.78,146.1,563.2,10.2,772,7477,0.00,2.40,0.00,0.000,6,0.000,0.058,3294,2205,2461,0,0,0,0,0,0
$GC,7797,0.78,146.1,523.5,12.6,803,7801,0.00,2.28,0.00,0.000,4,0.000,0.068,3294,3606,2457,0,0,0,0,0,0
$GC,7863,0.78,146.1,514.0,14.5,808,7870,0.10,2.22,0.00,0.000,6,0.183,0.048,3281,2204,2456,0,0,0,0,0,0
$GC,8188,0.78,146.1,474.5,12.3,839,8194,0.00,2.22,0.00,0.000,4,0.000,0.057,3289,784,2455,0,0,0,0,0,0
$GC,8216,0.78,146.1,471.1,11.6,841,8222,0.00,2.30,0.00,0.000,6,0.000,0.058,3289,2207,2456,0,0,0,0,0,0
$GC,8541,0.78,146.1,430.7,12.3,872,8545,0.00,2.20,0.00,0.000,4,0.000,0.068,3289,3603,2454,0,0,0,0,0,0
$GC,8626,0.78,146.1,418.9,14.0,879,8630,0.00,2.17,0.00,0.000,6,0.000,0.048,3299,2193,2454,0,0,0,0,0,0
$GC,8956,0.78,146.1,372.9,13.8,910,8960,0.00,2.17,0.00,0.000,4,0.000,0.057,3309,797,2454,0,0,0,0,0,0
$GC,8989,0.78,146.1,368.5,13.0,912,8995,0.12,2.25,0.00,0.000,6,0.169,0.058,3277,2201,2455,0,0,0,0,0,0
$GC,9315,0.78,146.1,330.1,11.6,943,9318,0.00,2.17,0.00,0.000,4,0.000,0.069,3276,3592,2455,0,0,0,0,0,0
$GC,9370,0.78,146.1,322.8,12.9,947,9376,0.00,2.15,0.00,0.000,6,0.000,0.048,3284,2200,2455,0,0,0,0,0,0
$GC,9695,0.78,146.1,287.1,10.7,978,9699,0.00,2.20,0.00,0.000,4,0.000,0.058,3294,790,2456,0,0,0,0,0,0
$GC,9734,0.78,146.1,282.6,11.5,981,9739,0.00,2.22,0.00,0.000,6,0.000,0.059,3294,2200,2456,0,0,0,0,0,0
$GC,10059,0.78,146.1,249.0,10.4,1012,10063,0.00,2.20,0.00,0.000,4,0.000,0.071,3294,3595,2456,0,0,0,0,0,0
$GC,10094,0.78,146.1,245.1,12.3,1015,10099,0.10,2.15,0.00,0.000,6,0.183,0.048,3279,2201,2456,0,0,0,0,0,0
$GC,10419,0.81,166.7,213.8,9.1,1045,10441,0.00,2.28,16.52,0.935,4,0.000,0.059,3287,788,2378,0,0,0,0,0,0
$GC,10481,0.83,183.4,208.1,9.2,1050,10500,0.00,2.28,14.50,0.900,6,0.000,0.060,3288,2199,2310,0,0,0,0,0,0
$GC,10826,0.85,198.4,174.1,9.3,1083,10847,0.00,2.30,12.77,0.876,4,0.000,0.071,3288,3592,2248,0,0,0,0,0,0
$GC,10909,0.85,198.4,164.6,12.4,1090,10915,0.00,2.20,0.00,0.000,6,0.000,0.049,3296,2200,2247,0,0,0,0,0,0
$GC,11234,0.85,198.4,130.3,10.6,1121,11238,0.00,2.22,0.00,0.000,4,0.000,0.058,3306,785,2247,0,0,0,0,0,0
$GC,11314,0.85,198.4,121.8,11.2,1128,11318,0.00,2.28,0.00,0.000,6,0.000,0.061,3306,2200,2247,0,0,0,0,0,0
$GC,11646,0.85,198.4,83.7,10.3,1171,11651,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2200,2247,0,0,0,0,0,0
$GC,11990,0.85,198.4,47.2,10.2,1232,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2200,2246,0,0,0,0,0,0
$GC,12333,0.87,219.7,13.2,9.0,1293,12359,0.00,2.30,17.88,0.834,4,0.000,0.074,3306,3599,2161,0,0,0,0,0,0
$FREEZE,8.71,3.616,-1.825,0,1,0
$FREEZE,8.04,3.620,-1.824,0,1,0
$GC,12389,0.87,220.4,8.0,10.0,1303,12395,0.00,2.20,0.00,0.000,6,0.000,0.051,3316,2199,2158,0,0,0,0,0,0
$FREEZE,6.63,3.665,-1.822,0,1,0
$FREEZE,6.06,3.679,-1.822,0,1,0
$FREEZE,5.42,3.682,-1.821,0,1,0
$FREEZE,4.87,3.684,-1.821,0,1,0
$FREEZE,4.43,3.689,-1.820,0,1,0
$FREEZE,3.72,3.678,-1.811,0,1,0
$FREEZE,3.20,3.607,-1.810,0,1,0
$FREEZE,2.63,3.596,-1.809,0,1,0
$STATE,12439,end climb,SURFACE_DEPTH_REACHED
$STATE,12439,begin surface coast
$FREEZE,2.19,3.573,-1.808,0,1,0
$FREEZE,1.76,3.555,-1.809,0,1,0
$FREEZE,1.80,3.509,-1.811,0,1,0
$FREEZE,1.83,3.432,-1.618,0,1,0
$FREEZE,1.72,3.569,-1.522,0,1,0
$FREEZE,1.73,3.406,-0.870,0,1,0
$FINISH,1.7,1.012776
$STATE,12474,end surface coast,CONTROL_FINISHED_OK
$STATE,12474,begin surface
$SM_CCo,12512,63.50,0.826,0,0,1835,300.00
$SM_GC,2.73,0.00,0.00,63.50,0.000,0.000,0.826,340,2268,1835,-12.75,0.51,300.00
$RAFOS_CLK,475
$RAFOS,6,1276649342,0.833333,0.817222,66,61,48,48,41,40,857,858,848,1129,1168,502
$RAFOS,5,1276648865,0.700000,0.684722,131,127,44,43,42,41,660,659,61,360,992,1084
$RAFOS,4,1276648390,0.566667,0.552778,48,47,41,40,39,39,267,565,1640,1874,1360,424
$RAFOS,3,1276647906,0.433333,0.418333,46,45,45,44,42,41,1677,1012,116,786,1906,1599
$RAFOS,2,1276647422,0.300000,0.283889,46,42,41,40,40,39,1697,1882,623,1,504,276
$RAFOS,1,1276646948,0.166667,0.152222,43,42,42,42,39,38,1762,1027,1754,1933,204,1881
$RAFOS,0,1276646464,0.033333,0.017778,52,43,42,41,40,39,801,784,450,557,846,800
$RAFOS_FIX,6703.773926,-5652.685547,160610,000056,2,98,0.37
$IRIDIUM_FIX,6631.12,-5653.72,090999,222244
$TT8_MAMPS,0.026845
$HUMID,39.52
$INTERNAL_PRESSURE,10.2641
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,17.8
$ALTIM_BOTTOM_PING,450.5,138.9
$24V_AH,23.6,9.411
$10V_AH,10.3,4.941
$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,19.875,114.425,302.850,63.500,0.000,56.647,87.479,263.296,1.500,0.000,16.016,2175.853,7673.385,479.535,2112.986,763.216,0.000,1577.930,0.000,2089.527,2520.000,12.711,0.000
$DEVICE_MAMPS,237.770,100.477,1181.947,826.059,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,971.632,914.079,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135736
$DATA_FILE_SIZE,50541,1318
$CAP_FILE_SIZE,146208,0
$CFSIZE,260165632,245092352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1467.5
$GPS,160610,013936,6702.513,-5650.035,32,0.9,32,-37.5