version: 66.06
glider: 108
mission: 14
dive: 5
start: 6 9 110 8 46 52
data:
$ID,108
$MISSION,14
$DIVE,5
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,-178667.61
$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,2100
$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,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
$GPS1,083851,6701.625,-5646.000,8,4.3,27,-37.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-72.5
$GPS2,084634,6701.694,-5645.884,14,2.8,33,-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,5.2,2861,-18.1,-10.000
$D_GRID,514
$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,-94.40,0.000,2,0.000,0.000,340,2099,3508,0,0,0,0,0,0
$GC,116,-0.78,-146.1,3.6,-5.9,19,138,10.55,2.33,-3.47,0.000,4,0.253,0.076,2976,695,3658,0,0,0,0,0,0
$GC,347,-1.04,-146.1,28.5,-7.9,60,354,0.17,2.30,0.00,0.000,6,0.087,0.063,2900,2103,3662,0,0,0,0,0,0
$GC,691,-1.04,-146.1,67.0,-11.4,121,697,0.00,2.25,0.00,0.000,4,0.000,0.073,2889,3515,3663,0,0,0,0,0,0
$GC,835,-0.96,-146.1,84.4,-12.3,146,841,0.17,2.22,0.00,0.000,6,0.163,0.052,2937,2091,3663,0,0,0,0,0,0
$GC,1170,-1.11,-146.1,116.6,-9.6,191,1172,0.12,0.00,0.00,0.000,6,0.110,0.000,2887,2090,3662,0,0,0,0,0,0
$GC,1488,-1.06,-146.1,153.2,-10.6,221,1493,0.10,2.30,0.00,0.000,4,0.180,0.072,2904,3510,3661,0,0,0,0,0,0
$GC,1572,-1.06,-146.1,162.1,-10.4,228,1576,0.00,2.17,0.00,0.000,6,0.000,0.054,2903,2097,3661,0,0,0,0,0,0
$GC,1898,-1.06,-146.1,194.3,-9.5,258,1899,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2097,3662,0,0,0,0,0,0
$GC,2218,-1.06,-146.1,225.6,-10.3,288,2222,0.00,2.25,0.00,0.000,4,0.000,0.072,2893,3515,3661,0,0,0,0,0,0
$GC,2359,-1.06,-146.1,241.5,-10.8,300,2363,0.00,2.20,0.00,0.000,6,0.000,0.052,2894,2093,3661,0,0,0,0,0,0
$GC,2684,-1.06,-146.1,275.4,-9.9,330,2685,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2092,3661,0,0,0,0,0,0
$GC,3006,-1.06,-146.1,306.8,-9.6,360,3010,0.00,2.28,0.00,0.000,4,0.000,0.071,2884,3521,3662,0,0,0,0,0,0
$GC,3140,-1.06,-146.1,321.2,-10.3,371,3146,0.12,2.20,0.00,0.000,6,0.170,0.051,2916,2092,3662,0,0,0,0,0,0
$GC,3466,-1.18,-146.1,349.5,-8.4,402,3467,0.12,0.00,0.00,0.000,6,0.107,0.000,2862,2091,3662,0,0,0,0,0,0
$GC,3784,-1.09,-146.1,384.6,-11.3,432,3789,0.17,2.25,0.00,0.000,4,0.162,0.071,2903,3512,3662,0,0,0,0,0,0
$GC,3916,-1.16,-146.1,396.7,-8.6,443,3921,0.00,2.17,0.00,0.000,6,0.000,0.050,2902,2092,3663,0,0,0,0,0,0
$GC,4242,-1.23,-146.1,424.1,-8.7,473,4244,0.10,0.00,0.00,0.000,6,0.114,0.000,2856,2092,3663,0,0,0,0,0,0
$GC,4560,-1.13,-146.1,458.8,-10.8,503,4564,0.15,2.28,0.00,0.000,4,0.168,0.070,2888,3518,3664,0,0,0,0,0,0
$STATE,4635,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4635,begin apogee
$GC,4644,-0.17,0.0,467.0,10.6,509,4770,0.68,0.00,119.57,1.141,6,0.140,0.000,3107,2195,3057,0,0,0,0,0,0
$STATE,4771,end apogee,CONTROL_FINISHED_OK
$STATE,4771,begin climb
$GC,4774,0.78,146.1,469.6,0.0,522,4900,0.57,0.00,120.68,1.077,6,0.063,0.000,3321,2195,2461,0,0,0,0,0,0
$GC,5220,0.61,146.1,415.9,14.1,565,5225,0.17,2.25,0.00,0.000,4,0.165,0.056,3283,789,2456,0,0,0,0,0,0
$GC,5242,0.53,146.1,413.0,12.2,566,5248,0.10,2.30,0.00,0.000,6,0.171,0.057,3259,2207,2456,0,0,0,0,0,0
$GC,5567,0.61,152.2,381.5,9.7,597,5579,0.00,2.22,5.60,0.817,4,0.000,0.067,3259,3601,2437,0,0,0,0,0,0
$GC,5602,0.61,152.2,377.8,10.4,600,5606,0.00,2.17,0.00,0.000,6,0.000,0.048,3267,2204,2436,0,0,0,0,0,0
$GC,5927,0.61,152.2,344.8,10.0,630,5928,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,2203,2436,0,0,0,0,0,0
$GC,6248,0.67,152.2,312.0,10.5,660,6250,0.10,0.00,0.00,0.000,6,0.117,0.000,3308,2203,2436,0,0,0,0,0,0
$GC,6567,0.58,152.2,273.6,12.2,690,6569,0.15,0.00,0.00,0.000,6,0.166,0.000,3268,2203,2436,0,0,0,0,0,0
$GC,6886,0.65,157.5,242.8,9.8,720,6894,0.00,0.00,5.85,0.809,6,0.000,0.000,3269,2203,2415,0,0,0,0,0,0
$GC,7212,0.73,157.5,209.8,10.7,751,7214,0.12,0.00,0.00,0.000,6,0.105,0.000,3318,2203,2415,0,0,0,0,0,0
$GC,7531,0.65,157.5,169.3,12.2,781,7533,0.12,0.00,0.00,0.000,6,0.170,0.000,3284,2203,2415,0,0,0,0,0,0
$GC,7850,0.71,162.3,137.2,9.8,811,7861,0.00,2.17,5.62,0.756,4,0.000,0.055,3292,789,2396,0,0,0,0,0,0
$GC,7908,0.78,169.1,131.8,9.7,816,7923,0.08,2.25,7.18,0.807,6,0.139,0.059,3326,2213,2368,0,0,0,0,0,0
$GC,8247,0.70,169.1,93.7,11.5,852,8253,0.12,2.20,0.00,0.000,4,0.175,0.071,3294,3595,2367,0,0,0,0,0,0
$GC,8305,0.65,169.1,86.8,11.2,862,8311,0.00,2.15,0.00,0.000,6,0.000,0.050,3302,2197,2366,0,0,0,0,0,0
$GC,8649,0.65,172.8,52.3,9.8,923,8660,0.00,2.20,4.50,0.663,4,0.000,0.057,3312,782,2353,0,0,0,0,0,0
$GC,8678,0.67,183.5,49.5,9.5,928,8695,0.10,2.28,10.02,0.829,6,0.176,0.058,3288,2209,2308,0,0,0,0,0,0
$GC,9033,0.79,194.5,18.6,9.5,991,9049,0.10,0.00,9.43,0.808,6,0.116,0.000,3328,2209,2265,0,0,0,0,0,0
$FREEZE,8.49,2.253,-1.844,0,1,0
$FREEZE,7.75,2.222,-1.842,0,1,0
$FREEZE,7.16,2.184,-1.842,0,1,0
$FREEZE,6.54,2.178,-1.840,0,1,0
$FREEZE,5.85,2.112,-1.838,0,1,0
$FREEZE,5.21,2.086,-1.837,0,1,0
$FREEZE,4.55,2.069,-1.836,0,1,0
$FREEZE,4.02,2.057,-1.835,0,1,0
$FREEZE,3.34,2.043,-1.834,0,1,0
$FREEZE,2.90,2.046,-1.834,0,1,0
$STATE,9172,end climb,SURFACE_DEPTH_REACHED
$STATE,9172,begin surface coast
$FREEZE,2.23,2.049,-1.833,0,1,0
$FREEZE,1.60,2.049,-1.833,0,1,0
$FREEZE,1.30,2.111,-0.928,0,1,0
$FREEZE,1.24,2.068,-0.144,0,1,0
$FREEZE,1.21,2.044,-1.063,0,1,0
$FINISH,1.2,1.015658
$STATE,9201,end surface coast,CONTROL_FINISHED_OK
$STATE,9201,begin surface
$SM_CCo,9221,83.03,0.856,0,0,1835,300.00
$SM_GC,2.32,0.00,0.00,83.03,0.000,0.000,0.856,336,2100,1835,-12.92,0.00,300.00
$RAFOS_CLK,413
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5641.49,030999,080824
$TT8_MAMPS,0.026845
$HUMID,39.76
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,350.4,131.3
$24V_AH,23.5,3.401
$10V_AH,10.3,1.556
$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,22.275,53.625,288.450,83.025,0.000,0.000,0.000,0.000,1.000,0.000,35.577,1649.651,5495.900,473.168,1604.035,179.392,0.000,1276.020,0.000,1561.617,0.000,9.155,0.000
$DEVICE_MAMPS,253.110,78.234,1140.529,855.972,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,746.099,702.939,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,154280
$DATA_FILE_SIZE,41106,1021
$CAP_FILE_SIZE,119705,0
$CFSIZE,260165632,247767040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.9
$GPS,090610,112320,6703.916,-5645.484,35,2.0,35,-37.5