version: 66.06
glider: 108
mission: 14
dive: 4
start: 6 9 110 6 37 26
data:
$ID,108
$MISSION,14
$DIVE,4
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,500
$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,90
$T_MISSION,120
$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,500
$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,375
$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,-178538.77
$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,3145
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,28
$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,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
$GPS1,063307,6700.902,-5647.987,10,1.0,10,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.4
$GPS2,063708,6700.934,-5647.944,11,1.4,11,-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,36.9,3826,-18.1,-10.000
$D_GRID,543
$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,-0.78,-146.1,0.0,0.0,0,113,0.00,0.00,-94.35,0.000,2,0.000,0.000,340,1985,3498,0,0,0,0,0,0
$GC,116,-0.78,-146.1,3.4,-6.8,19,137,10.40,0.00,-3.67,0.000,6,0.248,0.000,2965,1985,3658,0,0,0,0,0,0
$GC,477,-0.94,-146.1,42.6,-9.0,83,483,0.10,2.22,0.00,0.000,4,0.116,0.062,2925,596,3663,0,0,0,0,0,0
$GC,737,-0.94,-146.1,72.8,-11.3,129,743,0.10,2.30,0.00,0.000,6,0.176,0.064,2940,2006,3663,0,0,0,0,0,0
$GC,1083,-1.06,-146.1,106.3,-9.0,185,1088,0.10,2.28,0.00,0.000,4,0.118,0.063,2901,601,3663,0,0,0,0,0,0
$GC,1341,-1.06,-146.1,136.5,-11.8,208,1346,0.10,2.28,0.00,0.000,6,0.181,0.063,2915,2003,3662,0,0,0,0,0,0
$GC,1667,-1.06,-146.1,169.8,-10.5,238,1672,0.00,2.25,0.00,0.000,4,0.000,0.063,2915,601,3663,0,0,0,0,0,0
$GC,1926,-1.06,-146.1,197.9,-11.0,260,1931,0.00,2.25,0.00,0.000,6,0.000,0.063,2908,2005,3662,0,0,0,0,0,0
$GC,2250,-1.06,-146.1,232.3,-10.3,291,2254,0.00,2.25,0.00,0.000,4,0.000,0.062,2908,597,3662,0,0,0,0,0,0
$GC,2508,-1.06,-146.1,259.6,-10.7,313,2513,0.00,2.28,0.00,0.000,6,0.000,0.062,2898,2010,3662,0,0,0,0,0,0
$STATE,2618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2618,begin apogee
$GC,2625,-0.17,0.0,270.6,10.1,324,2745,0.65,0.00,116.57,1.045,6,0.138,0.000,3107,2213,3058,0,0,0,0,0,0
$STATE,2746,end apogee,CONTROL_FINISHED_OK
$STATE,2746,begin climb
$GC,2749,0.78,146.1,273.5,0.0,336,2877,0.60,2.40,117.60,0.973,4,0.076,0.071,3316,3583,2461,0,0,0,0,0,0
$GC,3079,0.54,146.1,236.5,14.6,366,3086,0.25,2.22,0.00,0.000,6,0.164,0.051,3259,2207,2454,0,0,0,0,0,0
$GC,3405,0.69,180.3,207.0,8.4,397,3435,0.12,0.00,27.38,0.950,6,0.105,0.000,3306,2203,2322,0,0,0,0,0,0
$GC,3753,0.69,180.3,168.7,10.9,430,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2203,2317,0,0,0,0,0,0
$GC,4073,0.69,180.3,133.8,10.6,460,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,3306,2203,2317,0,0,0,0,0,0
$GC,4393,0.69,183.4,102.2,9.9,490,4397,0.00,2.22,0.00,0.000,4,0.000,0.060,3316,790,2317,0,0,0,0,0,0
$GC,4415,0.72,202.8,99.9,9.1,491,4441,0.00,2.28,18.30,0.899,6,0.000,0.060,3316,2197,2230,0,0,0,0,0,0
$GC,4781,0.72,202.8,63.6,10.1,556,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,2197,2227,0,0,0,0,0,0
$GC,5124,0.74,216.1,29.2,9.4,617,5139,0.00,0.00,11.82,0.838,6,0.000,0.000,3316,2197,2176,0,0,0,0,0,0
$FREEZE,8.77,1.673,-1.833,0,1,0
$FREEZE,8.30,1.674,-1.832,0,1,0
$FREEZE,7.84,1.673,-1.832,0,1,0
$FREEZE,7.31,1.673,-1.832,0,1,0
$FREEZE,6.71,1.671,-1.831,0,1,0
$FREEZE,6.29,1.671,-1.831,0,1,0
$FREEZE,5.73,1.671,-1.831,0,1,0
$FREEZE,5.18,1.672,-1.830,0,1,0
$FREEZE,4.72,1.677,-1.830,0,1,0
$FREEZE,4.28,1.676,-1.830,0,1,0
$FREEZE,3.69,1.677,-1.829,0,1,0
$FREEZE,3.21,1.678,-1.829,0,1,0
$FREEZE,2.78,1.678,-1.828,0,1,0
$STATE,5396,end climb,SURFACE_DEPTH_REACHED
$STATE,5396,begin surface coast
$FREEZE,2.19,1.679,-1.828,0,1,0
$FREEZE,1.54,1.680,-1.828,0,1,0
$FREEZE,1.04,1.677,-1.827,0,1,0
$FREEZE,0.91,1.642,-1.136,0,1,0
$FREEZE,0.99,1.625,-0.503,0,1,0
$FREEZE,0.92,1.666,-0.966,0,1,0
$FINISH,0.9,1.014259
$STATE,5432,end surface coast,CONTROL_FINISHED_OK
$STATE,5432,begin surface
$SM_CCo,5451,106.43,0.853,0,0,1529,375.06
$SM_GC,1.84,0.00,0.00,106.43,0.000,0.000,0.853,341,1990,1529,-12.90,-0.28,375.06
$RAFOS_CLK,286
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5641.49,030999,060618
$TT8_MAMPS,0.026845
$HUMID,40.07
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.9
$24V_AH,23.7,3.250
$10V_AH,10.3,1.485
$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,20.500,27.850,291.675,106.425,0.000,0.000,0.000,0.000,0.250,0.000,12.562,1090.698,2838.673,456.635,1132.479,115.642,0.000,1048.526,0.000,1118.086,0.000,2.612,0.000
$DEVICE_MAMPS,247.741,83.603,1045.421,852.904,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,487.300,457.457,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,154300
$DATA_FILE_SIZE,25283,672
$CAP_FILE_SIZE,90486,0
$CFSIZE,260165632,247861248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1458.3
$GPS,090610,081122,6701.393,-5646.408,8,3.5,28,-37.5