version: 66.06
glider: 108
mission: 14
dive: 9
start: 6 9 110 20 23 34
data:
$ID,108
$MISSION,14
$DIVE,9
$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,-178874.86
$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,37
$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
$GPS1,201649,6704.886,-5647.397,9,1.6,9,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-76.0
$GPS2,202316,6704.915,-5647.456,12,3.6,31,-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,266.7,13915,-18.1,-10.000
$D_GRID,460
$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,-146.1,0.0,0.0,0,95,0.00,0.00,-76.40,0.000,2,0.000,0.000,346,2102,3473,0,0,0,0,0,0
$GC,99,-0.78,-146.1,3.5,-4.6,15,120,10.18,2.30,-4.60,0.000,4,0.246,0.084,2932,3521,3658,0,0,0,0,0,0
$GC,374,-0.78,-146.1,37.3,-10.6,64,379,0.00,2.22,0.00,0.000,6,0.000,0.050,2932,2091,3663,0,0,0,0,0,0
$GC,717,-0.83,-146.1,71.9,-10.4,125,722,0.00,2.28,0.00,0.000,4,0.000,0.068,2922,3508,3663,0,0,0,0,0,0
$GC,975,-0.83,-146.1,98.8,-9.3,171,980,0.00,2.20,0.00,0.000,6,0.000,0.051,2922,2088,3663,0,0,0,0,0,0
$GC,1302,-0.88,-146.1,128.9,-9.2,203,1306,0.00,2.25,0.00,0.000,4,0.000,0.068,2911,3512,3663,0,0,0,0,0,0
$GC,1559,-0.88,-146.1,154.3,-10.0,225,1564,0.00,2.17,0.00,0.000,6,0.000,0.051,2912,2100,3662,0,0,0,0,0,0
$GC,1884,-0.88,-146.1,185.0,-9.1,256,1888,0.00,2.25,0.00,0.000,4,0.000,0.068,2902,3518,3662,0,0,0,0,0,0
$GC,2141,-0.88,-146.1,211.5,-10.6,278,2147,0.10,2.20,0.00,0.000,6,0.177,0.050,2926,2088,3662,0,0,0,0,0,0
$GC,2467,-0.99,-146.1,240.3,-8.7,309,2471,0.00,2.25,0.00,0.000,4,0.000,0.068,2918,3509,3662,0,0,0,0,0,0
$GC,2725,-1.05,-146.1,264.1,-9.2,331,2731,0.10,2.15,0.00,0.000,6,0.117,0.050,2873,2087,3662,0,0,0,0,0,0
$GC,3050,-0.96,-146.1,302.2,-11.5,362,3055,0.15,2.28,0.00,0.000,4,0.163,0.068,2906,3515,3662,0,0,0,0,0,0
$GC,3308,-0.96,-146.1,328.6,-9.8,384,3314,0.00,2.15,0.00,0.000,6,0.000,0.049,2906,2095,3663,0,0,0,0,0,0
$GC,3634,-1.01,-146.1,358.0,-8.7,415,3638,0.00,2.22,0.00,0.000,4,0.000,0.067,2896,3520,3662,0,0,0,0,0,0
$GC,3892,-1.01,-146.1,382.4,-9.3,437,3897,0.00,2.17,0.00,0.000,6,0.000,0.048,2896,2089,3663,0,0,0,0,0,0
$GC,4217,-1.01,-146.1,411.0,-8.8,468,4221,0.00,2.25,0.00,0.000,4,0.000,0.066,2885,3522,3663,0,0,0,0,0,0
$GC,4474,-1.01,-146.1,436.4,-10.0,490,4480,0.00,2.17,0.00,0.000,6,0.000,0.048,2886,2089,3663,0,0,0,0,0,0
$STATE,4520,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4520,begin apogee
$GC,4528,-0.17,0.0,441.0,9.6,495,4654,0.60,0.00,118.93,1.122,6,0.138,0.000,3081,2205,3058,0,0,0,0,0,0
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4655,begin climb
$GC,4658,0.78,146.1,443.4,0.0,508,4787,0.60,2.42,119.80,1.058,4,0.082,0.052,3299,789,2460,0,0,0,0,0,0
$GC,5040,0.72,146.1,404.3,11.2,542,5046,0.10,2.33,0.00,0.000,6,0.176,0.056,3276,2209,2457,0,0,0,0,0,0
$GC,5364,0.72,146.1,370.4,10.6,573,5368,0.00,2.25,0.00,0.000,4,0.000,0.054,3284,786,2456,0,0,0,0,0,0
$GC,5623,0.72,146.4,344.1,10.0,596,5627,0.00,2.28,0.00,0.000,6,0.000,0.056,3284,2203,2456,0,0,0,0,0,0
$GC,5948,0.72,146.4,311.4,10.2,626,5952,0.00,2.22,0.00,0.000,4,0.000,0.054,3293,790,2456,0,0,0,0,0,0
$GC,6206,0.73,152.8,285.8,9.7,649,6218,0.00,2.22,6.38,0.830,6,0.000,0.056,3293,2202,2434,0,0,0,0,0,0
$GC,6536,0.73,152.8,251.0,10.5,680,6540,0.00,2.22,0.00,0.000,4,0.000,0.054,3303,786,2433,0,0,0,0,0,0
$GC,6794,0.73,152.8,223.5,10.7,702,6800,0.10,2.25,0.00,0.000,6,0.177,0.057,3278,2199,2433,0,0,0,0,0,0
$GC,7119,0.82,186.0,193.8,8.5,733,7153,0.00,2.33,27.00,0.966,4,0.000,0.054,3284,786,2299,0,0,0,0,0,0
$GC,7408,0.95,205.5,168.2,9.1,759,7432,0.15,2.25,16.73,0.900,6,0.092,0.057,3347,2199,2220,0,0,0,0,0,0
$GC,7758,0.82,205.5,122.9,13.6,792,7763,0.17,2.25,0.00,0.000,4,0.163,0.055,3306,793,2215,0,0,0,0,0,0
$GC,8017,0.88,205.5,96.9,10.1,817,8022,0.00,2.25,0.00,0.000,6,0.000,0.058,3306,2199,2215,0,0,0,0,0,0
$GC,8360,0.88,205.5,61.7,11.2,878,8366,0.00,2.22,0.00,0.000,4,0.000,0.055,3316,784,2215,0,0,0,0,0,0
$GC,8620,0.93,205.5,32.0,11.4,924,8625,0.00,2.25,0.00,0.000,6,0.000,0.058,3316,2199,2215,0,0,0,0,0,0
$FREEZE,8.47,2.418,-1.846,0,1,0
$FREEZE,7.83,2.430,-1.846,0,1,0
$FREEZE,7.12,2.442,-1.845,0,1,0
$FREEZE,6.50,2.457,-1.844,0,1,0
$FREEZE,6.00,2.471,-1.844,0,1,0
$FREEZE,5.53,2.471,-1.843,0,1,0
$FREEZE,5.00,2.472,-1.843,0,1,0
$FREEZE,4.35,2.472,-1.843,0,1,0
$FREEZE,3.75,2.471,-1.842,0,1,0
$FREEZE,3.24,2.470,-1.841,0,1,0
$FREEZE,2.69,2.468,-1.841,0,1,0
$STATE,8894,end climb,SURFACE_DEPTH_REACHED
$STATE,8894,begin surface coast
$FREEZE,2.14,2.468,-1.840,0,1,0
$FREEZE,1.50,2.469,-1.840,0,1,0
$FREEZE,1.29,2.416,-1.733,0,1,0
$FREEZE,1.24,2.397,-1.790,0,1,0
$FREEZE,1.18,2.313,-1.849,0,1,0
$FREEZE,1.19,2.407,-1.024,0,1,0
$FINISH,1.2,1.015086
$STATE,8929,end surface coast,CONTROL_FINISHED_OK
$STATE,8929,begin surface
$SM_CCo,8948,74.70,0.861,0,0,1835,300.00
$SM_GC,2.16,0.00,0.00,74.70,0.000,0.000,0.861,339,2102,1835,-12.79,0.06,300.00
$RAFOS_CLK,467
$RAFOS,6,1276116543,20.833334,20.817499,112,97,48,48,44,43,844,845,1425,1574,1777,1759
$RAFOS,5,1276116068,20.700001,20.685556,105,100,48,43,42,42,651,652,530,1242,769,1324
$RAFOS,4,1276115587,20.566668,20.551945,49,47,44,41,40,40,1559,587,1862,1560,1,558
$RAFOS,3,1276115105,20.433332,20.418056,49,44,42,41,40,40,858,1442,1013,612,1214,138
$RAFOS_FIX,6707.804688,-5652.556641,090610,202056,2,108,4.57
$IRIDIUM_FIX,6636.54,-5647.69,030999,202030
$TT8_MAMPS,0.026078
$HUMID,38.85
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.6
$ALTIM_BOTTOM_PING,350.4,104.9
$24V_AH,23.6,3.974
$10V_AH,10.3,1.827
$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,20.200,67.625,288.825,74.700,0.000,0.000,0.000,0.000,1.000,0.000,34.139,1643.608,4989.739,436.462,1883.049,177.884,0.000,1362.538,0.000,1829.737,1440.000,11.199,0.000
$DEVICE_MAMPS,246.207,83.603,1122.121,861.341,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,714.076,670.509,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,37874,979
$CAP_FILE_SIZE,144799,0
$CFSIZE,260165632,248025088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,090610,225530,6705.643,-5650.207,33,2.0,33,-37.6