version: 66.06
glider: 108
mission: 14
dive: 7
start: 6 9 110 14 5 9
data:
$ID,108
$MISSION,14
$DIVE,7
$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,400
$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,-178697.3
$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,3120
$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,48
$R_STBD_OVSHOOT,31
$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
$GPS1,135636,6704.627,-5645.750,11,1.1,21,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-75.8
$GPS2,140450,6704.645,-5645.806,13,1.5,13,-37.6
$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,245.1,3433,-18.1,-10.000
$D_GRID,457
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,90,0.00,0.00,-69.28,0.000,2,0.000,0.000,336,2086,3320,0,0,0,0,0,0
$GC,93,-0.78,-146.1,3.0,-1.6,14,120,10.43,2.33,-9.65,0.000,4,0.247,0.081,2932,3516,3657,0,0,0,0,0,0
$GC,374,-0.83,-146.1,35.0,-10.6,64,379,0.00,2.20,0.00,0.000,6,0.000,0.049,2932,2110,3661,0,0,0,0,0,0
$GC,717,-0.90,-146.1,70.7,-10.1,125,723,0.00,2.22,0.00,0.000,4,0.000,0.067,2922,3509,3661,0,0,0,0,0,0
$GC,976,-0.90,-146.1,98.5,-10.4,171,982,0.00,2.20,0.00,0.000,6,0.000,0.050,2922,2090,3661,0,0,0,0,0,0
$GC,1303,-0.96,-146.1,129.7,-9.8,203,1307,0.00,2.25,0.00,0.000,4,0.000,0.069,2912,3510,3661,0,0,0,0,0,0
$GC,1560,-0.96,-146.1,158.4,-10.6,225,1566,0.00,2.17,0.00,0.000,6,0.000,0.050,2912,2101,3661,0,0,0,0,0,0
$GC,1886,-1.01,-146.1,189.3,-8.8,256,1890,0.00,2.22,0.00,0.000,4,0.000,0.068,2902,3509,3661,0,0,0,0,0,0
$GC,2144,-1.01,-146.1,215.0,-10.0,279,2148,0.00,2.17,0.00,0.000,6,0.000,0.050,2902,2096,3661,0,0,0,0,0,0
$GC,2469,-1.01,-146.1,245.4,-9.3,309,2473,0.00,2.25,0.00,0.000,4,0.000,0.067,2891,3520,3661,0,0,0,0,0,0
$GC,2728,-1.01,-146.1,271.1,-10.1,332,2732,0.00,2.17,0.00,0.000,6,0.000,0.050,2891,2099,3660,0,0,0,0,0,0
$GC,3053,-1.01,-146.1,302.8,-9.9,362,3057,0.00,2.20,0.00,0.000,4,0.000,0.067,2881,3509,3661,0,0,0,0,0,0
$GC,3311,-0.96,-146.1,331.7,-11.5,384,3318,0.12,2.15,0.00,0.000,6,0.170,0.049,2914,2095,3661,0,0,0,0,0,0
$GC,3636,-1.06,-146.1,360.3,-8.7,415,3641,0.10,2.22,0.00,0.000,4,0.121,0.067,2861,3510,3661,0,0,0,0,0,0
$GC,3894,-0.93,-146.1,390.7,-12.4,437,3900,0.20,2.15,0.00,0.000,6,0.158,0.048,2919,2096,3661,0,0,0,0,0,0
$GC,4220,-1.07,-146.1,417.8,-7.8,468,4225,0.12,2.22,0.00,0.000,4,0.106,0.066,2853,3516,3662,0,0,0,0,0,0
$STATE,4331,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4331,begin apogee
$GC,4340,-0.17,0.0,430.7,12.0,477,4465,0.70,0.00,118.15,1.118,6,0.147,0.000,3077,2187,3058,0,0,0,0,0,0
$STATE,4466,end apogee,CONTROL_FINISHED_OK
$STATE,4466,begin climb
$GC,4469,0.78,146.1,434.3,0.0,490,4598,0.62,2.35,119.70,1.056,4,0.084,0.053,3302,798,2461,0,0,0,0,0,0
$GC,4851,0.71,146.1,396.0,11.5,524,4857,0.12,2.30,0.00,0.000,6,0.166,0.056,3271,2199,2457,0,0,0,0,0,0
$GC,5176,0.71,146.1,364.3,10.2,555,5180,0.00,2.25,0.00,0.000,4,0.000,0.054,3278,790,2456,0,0,0,0,0,0
$GC,5433,0.71,146.1,337.6,10.3,577,5439,0.00,2.28,0.00,0.000,6,0.000,0.056,3278,2208,2456,0,0,0,0,0,0
$GC,5758,0.71,146.1,303.9,10.3,608,5762,0.00,2.25,0.00,0.000,4,0.000,0.054,3286,783,2456,0,0,0,0,0,0
$GC,6016,0.72,149.7,278.7,9.8,630,6025,0.00,2.25,3.92,0.691,6,0.000,0.056,3286,2200,2446,0,0,0,0,0,0
$GC,6351,0.73,158.7,245.0,9.6,662,6365,0.00,2.28,8.40,0.877,4,0.000,0.055,3295,790,2411,0,0,0,0,0,0
$GC,6620,0.74,163.6,219.5,9.8,686,6631,0.00,2.25,5.75,0.775,6,0.000,0.057,3295,2206,2390,0,0,0,0,0,0
$GC,6950,0.74,163.6,186.4,10.5,717,6954,0.00,2.22,0.00,0.000,4,0.000,0.054,3304,791,2390,0,0,0,0,0,0
$GC,7207,0.74,163.6,157.8,11.6,739,7213,0.10,2.25,0.00,0.000,6,0.179,0.058,3280,2206,2390,0,0,0,0,0,0
$GC,7533,0.86,200.6,126.8,8.3,770,7569,0.10,2.25,30.08,0.933,4,0.115,0.054,3331,796,2239,0,0,0,0,0,0
$GC,7822,0.86,200.6,94.0,11.0,800,7828,0.10,2.28,0.00,0.000,6,0.178,0.058,3306,2207,2237,0,0,0,0,0,0
$GC,8167,0.97,243.2,61.3,8.1,861,8209,0.10,2.30,34.65,0.890,4,0.117,0.056,3357,785,2065,0,0,0,0,0,0
$GC,8463,0.97,243.2,26.3,12.2,914,8469,0.12,2.30,0.00,0.000,6,0.169,0.058,3326,2206,2060,0,0,0,0,0,0
$FREEZE,8.65,2.333,-1.847,0,1,0
$FREEZE,7.97,2.333,-1.846,0,1,0
$FREEZE,7.36,2.334,-1.846,0,1,0
$FREEZE,6.57,2.332,-1.845,0,1,0
$FREEZE,5.90,2.331,-1.844,0,1,0
$FREEZE,5.19,2.332,-1.844,0,1,0
$FREEZE,4.58,2.332,-1.843,0,1,0
$FREEZE,3.87,2.333,-1.843,0,1,0
$FREEZE,3.22,2.332,-1.842,0,1,0
$FREEZE,2.44,2.333,-1.841,0,1,0
$STATE,8658,end climb,SURFACE_DEPTH_REACHED
$STATE,8659,begin surface coast
$FREEZE,1.85,2.337,-1.841,0,1,0
$FREEZE,1.24,2.336,-1.840,0,1,0
$FREEZE,1.26,2.318,-1.840,0,1,0
$FREEZE,1.30,2.300,-1.840,0,1,0
$FINISH,1.3,1.026790
$STATE,8683,end surface coast,CONTROL_FINISHED_OK
$STATE,8683,begin surface
$SM_CCo,8703,43.50,0.854,0,0,1835,300.00
$SM_GC,2.31,0.00,0.00,43.50,0.000,0.000,0.854,338,2098,1835,-12.80,-0.06,300.00
$RAFOS_CLK,321
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5650.71,030999,141429
$TT8_MAMPS,0.026845
$HUMID,39.72
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.3
$ALTIM_BOTTOM_PING,350.3,94.9
$24V_AH,23.6,3.637
$10V_AH,10.3,1.673
$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,20.950,67.175,320.650,43.500,0.000,61.525,111.346,132.534,1.250,0.000,15.310,1602.418,4877.724,424.755,1808.046,524.763,0.000,1328.669,0.000,1771.127,0.000,14.050,0.000
$DEVICE_MAMPS,246.974,80.535,1117.519,853.671,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,687.574,652.592,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,154268
$DATA_FILE_SIZE,37832,953
$CAP_FILE_SIZE,104485,0
$CFSIZE,260165632,247668736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.7
$GPS,090610,163225,6704.675,-5646.324,40,0.9,40,-37.6