version: 66.06
glider: 108
mission: 14
dive: 8
start: 6 9 110 16 42 10
data:
$ID,108
$MISSION,14
$DIVE,8
$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,-178713.2
$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,38
$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,1
$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
$GPS1,163225,6704.675,-5646.324,40,0.9,40,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.4
$GPS2,164150,6704.676,-5646.309,13,0.9,13,-37.6
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_tst
$TGT_LATLONG,6700.000,-5702.000
$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,270.3,14280,-18.1,-10.000
$D_GRID,448
$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,15,-0.78,-146.1,0.0,0.0,0,93,0.00,0.00,-74.88,0.000,2,0.000,0.000,337,2098,3451,0,0,0,0,0,0
$GC,96,-0.78,-146.1,3.4,-3.8,15,118,10.43,2.33,-5.10,0.000,4,0.248,0.081,2932,3519,3656,0,0,0,0,0,0
$GC,372,-0.78,-146.1,35.5,-9.9,64,377,0.00,2.20,0.00,0.000,6,0.000,0.049,2932,2093,3661,0,0,0,0,0,0
$GC,717,-0.84,-146.1,68.6,-10.4,125,722,0.00,2.25,0.00,0.000,4,0.000,0.067,2922,3509,3661,0,0,0,0,0,0
$GC,976,-0.84,-146.1,96.6,-10.3,171,981,0.00,2.20,0.00,0.000,6,0.000,0.050,2922,2093,3661,0,0,0,0,0,0
$GC,1308,-0.89,-146.1,130.9,-10.0,205,1312,0.00,2.25,0.00,0.000,4,0.000,0.070,2912,3513,3661,0,0,0,0,0,0
$GC,1565,-0.89,-146.1,157.9,-11.2,227,1571,0.00,2.20,0.00,0.000,6,0.000,0.050,2912,2087,3660,0,0,0,0,0,0
$GC,1891,-0.89,-146.1,190.0,-9.4,258,1895,0.00,2.25,0.00,0.000,4,0.000,0.068,2902,3515,3660,0,0,0,0,0,0
$GC,2148,-0.89,-146.1,216.7,-10.5,280,2154,0.10,2.17,0.00,0.000,6,0.173,0.049,2928,2086,3660,0,0,0,0,0,0
$GC,2474,-1.00,-146.1,244.9,-9.0,311,2479,0.10,2.28,0.00,0.000,4,0.117,0.069,2874,3508,3660,0,0,0,0,0,0
$GC,2732,-0.90,-146.1,275.9,-11.7,333,2738,0.17,2.17,0.00,0.000,6,0.156,0.049,2923,2089,3660,0,0,0,0,0,0
$GC,3057,-1.01,-146.1,304.1,-8.6,364,3062,0.10,2.25,0.00,0.000,4,0.117,0.069,2870,3511,3659,0,0,0,0,0,0
$GC,3315,-0.90,-146.1,334.8,-12.1,386,3322,0.17,2.17,0.00,0.000,6,0.156,0.050,2922,2092,3660,0,0,0,0,0,0
$GC,3641,-1.02,-146.1,362.6,-7.9,417,3646,0.10,2.28,0.00,0.000,4,0.117,0.068,2868,3521,3660,0,0,0,0,0,0
$GC,3898,-0.92,-146.1,391.1,-11.3,439,3904,0.17,2.17,0.00,0.000,6,0.158,0.048,2917,2090,3660,0,0,0,0,0,0
$GC,4224,-1.03,-146.1,417.3,-7.8,470,4228,0.00,2.25,0.00,0.000,4,0.000,0.067,2910,3520,3660,0,0,0,0,0,0
$STATE,4463,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4463,begin apogee
$GC,4471,-0.17,0.0,438.5,8.6,491,4597,0.52,0.00,118.15,1.121,6,0.132,0.000,3083,2188,3057,0,0,0,0,0,0
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4597,begin climb
$GC,4601,0.78,146.1,441.0,0.0,504,4728,0.60,2.28,119.50,1.062,4,0.080,0.054,3302,797,2461,0,0,0,0,0,0
$GC,4984,0.73,146.1,402.9,11.1,539,4988,0.10,2.30,0.00,0.000,6,0.176,0.056,3279,2200,2457,0,0,0,0,0,0
$GC,5308,0.73,146.1,368.8,10.5,569,5312,0.00,2.25,0.00,0.000,4,0.000,0.055,3285,795,2456,0,0,0,0,0,0
$GC,5567,0.73,146.9,342.0,10.0,592,5571,0.00,2.28,0.00,0.000,6,0.000,0.056,3285,2211,2456,0,0,0,0,0,0
$GC,5892,0.73,146.9,308.0,10.1,622,5896,0.00,2.25,0.00,0.000,4,0.000,0.054,3293,786,2456,0,0,0,0,0,0
$GC,6149,0.73,146.9,281.3,10.5,644,6155,0.00,2.25,0.00,0.000,6,0.000,0.056,3293,2202,2457,0,0,0,0,0,0
$GC,6476,0.73,146.9,247.2,11.7,675,6480,0.00,2.20,0.00,0.000,4,0.000,0.054,3303,797,2457,0,0,0,0,0,0
$GC,6734,0.73,146.9,217.1,10.8,697,6740,0.10,2.22,0.00,0.000,6,0.177,0.057,3278,2202,2457,0,0,0,0,0,0
$GC,7059,0.81,157.9,185.1,9.5,728,7074,0.00,2.25,9.93,0.902,4,0.000,0.056,3281,789,2414,0,0,0,0,0,0
$GC,7330,0.95,195.7,161.3,8.3,752,7366,0.15,2.25,30.58,0.948,6,0.092,0.057,3346,2212,2260,0,0,0,0,0,0
$GC,7685,0.82,195.7,114.7,13.7,785,7690,0.17,2.28,0.00,0.000,4,0.164,0.055,3305,792,2256,0,0,0,0,0,0
$GC,7944,0.89,195.7,87.2,10.5,818,7950,0.00,2.25,0.00,0.000,6,0.000,0.058,3305,2199,2256,0,0,0,0,0,0
$GC,8288,0.99,215.4,54.5,9.1,879,8310,0.10,2.30,16.60,0.871,4,0.116,0.055,3359,797,2179,0,0,0,0,0,0
$GC,8566,0.93,215.4,19.2,14.3,928,8572,0.15,2.28,0.00,0.000,6,0.167,0.058,3319,2212,2175,0,0,0,0,0,0
$FREEZE,8.51,2.389,-1.847,0,1,0
$FREEZE,8.00,2.403,-1.846,0,1,0
$FREEZE,7.42,2.399,-1.846,0,1,0
$FREEZE,6.83,2.432,-1.845,0,1,0
$FREEZE,6.18,2.425,-1.845,0,1,0
$FREEZE,5.52,2.433,-1.844,0,1,0
$FREEZE,4.99,2.440,-1.843,0,1,0
$FREEZE,4.41,2.441,-1.843,0,1,0
$FREEZE,3.88,2.442,-1.842,0,1,0
$FREEZE,3.19,2.448,-1.841,0,1,0
$FREEZE,2.57,2.467,-1.841,0,1,0
$STATE,8712,end climb,SURFACE_DEPTH_REACHED
$STATE,8712,begin surface coast
$FREEZE,1.95,2.481,-1.840,0,1,0
$FREEZE,1.39,2.471,-1.840,0,1,0
$FREEZE,1.39,2.458,-1.831,0,1,0
$FREEZE,1.20,2.448,-1.841,0,1,0
$FREEZE,1.25,2.478,-1.794,0,1,0
$FINISH,1.2,1.026125
$STATE,8741,end surface coast,CONTROL_FINISHED_OK
$STATE,8741,begin surface
$SM_CCo,8760,66.20,0.856,0,0,1836,300.00
$SM_GC,2.19,0.00,0.00,66.20,0.000,0.000,0.856,335,2105,1836,-12.82,0.14,300.00
$RAFOS_CLK,326
$RAFOS,0,1276109942,19.000000,18.983889,49,41,41,40,40,40,431,796,88,111,909,1260
$RAFOS,0,1276108744,18.666660,18.651112,48,45,43,42,41,41,1379,838,1242,284,826,1614
$RAFOS,0,1276107545,18.333330,18.318056,46,42,41,38,38,37,222,538,680,1,311,121
$RAFOS,0,1276106344,18.000000,17.984444,46,43,41,40,40,40,1185,532,61,1306,288,439
$RAFOS,0,1276105144,17.666660,17.651112,47,41,40,39,38,38,531,263,704,1592,790,999
$RAFOS,0,1276103945,17.333330,17.318056,49,49,47,46,44,43,1252,1406,568,339,361,938
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6636.54,-5644.66,030999,161617
$TT8_MAMPS,0.026845
$HUMID,39.05
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.2,17.6
$ALTIM_BOTTOM_PING,300.5,152.7
$24V_AH,23.6,3.761
$10V_AH,10.3,1.735
$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,21.175,67.275,294.750,66.200,0.000,55.399,66.716,230.824,0.750,0.000,15.283,1629.072,4921.855,425.746,1815.557,598.537,0.000,1333.011,0.000,1786.032,1800.000,7.446,0.000
$DEVICE_MAMPS,247.741,80.535,1121.354,855.972,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,699.525,657.405,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,154040
$DATA_FILE_SIZE,37914,959
$CAP_FILE_SIZE,108478,0
$CFSIZE,260165632,247607296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.6
$GPS,090610,191036,6704.650,-5647.096,12,1.1,28,-37.6