version: 66.06
glider: 108
mission: 14
dive: 10
start: 6 9 110 23 1 21
data:
$ID,108
$MISSION,14
$DIVE,10
$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,-178891.66
$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
$GPS1,225530,6705.643,-5650.207,33,2.0,33,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-76.0
$GPS2,230101,6705.690,-5650.296,9,1.8,14,-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,256.4,13520,-18.1,-10.000
$D_GRID,462
$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,-146.1,0.0,0.0,0,88,0.00,0.00,-70.10,0.000,2,0.000,0.000,339,2103,3346,0,0,0,0,0,0
$GC,91,-0.78,-146.1,3.1,-2.4,14,118,10.60,2.35,-8.50,0.000,4,0.255,0.083,2932,3512,3657,0,0,0,0,0,0
$GC,371,-0.78,-146.1,37.2,-11.0,64,377,0.00,2.22,0.00,0.000,6,0.000,0.049,2932,2089,3662,0,0,0,0,0,0
$GC,714,-0.78,-146.1,73.4,-10.2,125,720,0.00,2.28,0.00,0.000,4,0.000,0.067,2922,3521,3662,0,0,0,0,0,0
$GC,973,-0.78,-146.1,102.1,-9.5,170,978,0.10,2.20,0.00,0.000,6,0.170,0.050,2947,2095,3662,0,0,0,0,0,0
$GC,1304,-0.91,-146.1,127.5,-7.3,201,1309,0.10,2.25,0.00,0.000,4,0.117,0.067,2897,3508,3661,0,0,0,0,0,0
$GC,1563,-0.85,-146.1,154.3,-9.9,224,1568,0.15,2.17,0.00,0.000,6,0.165,0.050,2938,2100,3661,0,0,0,0,0,0
$GC,1888,-0.98,-146.1,179.2,-7.1,254,1893,0.12,2.28,0.00,0.000,4,0.107,0.070,2876,3516,3661,0,0,0,0,0,0
$GC,2146,-0.84,-146.1,208.4,-11.7,276,2152,0.22,2.17,0.00,0.000,6,0.156,0.050,2941,2100,3661,0,0,0,0,0,0
$GC,2472,-0.99,-146.1,235.9,-8.5,307,2477,0.12,2.25,0.00,0.000,4,0.107,0.068,2879,3509,3661,0,0,0,0,0,0
$GC,2729,-0.88,-146.1,267.1,-11.7,329,2735,0.17,2.17,0.00,0.000,6,0.161,0.049,2928,2087,3660,0,0,0,0,0,0
$GC,3055,-1.01,-146.1,296.6,-9.0,360,3060,0.10,2.28,0.00,0.000,4,0.119,0.069,2876,3515,3660,0,0,0,0,0,0
$GC,3312,-0.90,-146.1,327.0,-11.8,382,3318,0.17,2.17,0.00,0.000,6,0.160,0.048,2925,2088,3660,0,0,0,0,0,0
$GC,3638,-1.03,-146.1,353.8,-7.9,413,3642,0.10,2.28,0.00,0.000,4,0.120,0.068,2871,3520,3660,0,0,0,0,0,0
$GC,3896,-0.91,-146.1,382.6,-10.8,435,3902,0.17,2.17,0.00,0.000,6,0.162,0.048,2921,2087,3661,0,0,0,0,0,0
$GC,4222,-1.02,-146.1,409.1,-7.9,466,4226,0.10,2.25,0.00,0.000,4,0.117,0.067,2867,3509,3661,0,0,0,0,0,0
$GC,4479,-0.89,-146.1,437.9,-11.3,488,4485,0.20,2.15,0.00,0.000,6,0.157,0.048,2925,2094,3661,0,0,0,0,0,0
$STATE,4536,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4536,begin apogee
$GC,4543,-0.17,0.0,443.1,8.1,494,4669,0.47,0.00,118.43,1.127,6,0.132,0.000,3083,2197,3057,0,0,0,0,0,0
$STATE,4670,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4673,0.78,146.1,446.1,0.0,507,4802,0.60,2.38,119.57,1.067,4,0.081,0.054,3302,798,2461,0,0,0,0,0,0
$GC,5054,0.73,146.1,410.2,10.9,541,5060,0.10,2.30,0.00,0.000,6,0.176,0.056,3278,2201,2457,0,0,0,0,0,0
$GC,5379,0.75,157.8,378.8,9.5,572,5394,0.00,2.25,10.20,0.953,4,0.000,0.053,3287,771,2413,0,0,0,0,0,0
$GC,5647,0.75,157.8,352.3,10.5,596,5652,0.00,2.33,0.00,0.000,6,0.000,0.056,3286,2214,2413,0,0,0,0,0,0
$GC,5972,0.75,158.9,319.5,9.9,626,5976,0.00,2.25,0.00,0.000,4,0.000,0.054,3296,792,2412,0,0,0,0,0,0
$GC,6230,0.75,158.9,293.2,10.1,648,6235,0.00,2.25,0.00,0.000,6,0.000,0.056,3296,2203,2412,0,0,0,0,0,0
$GC,6555,0.75,158.9,258.1,11.4,679,6559,0.00,2.22,0.00,0.000,4,0.000,0.054,3305,787,2412,0,0,0,0,0,0
$GC,6812,0.75,158.9,227.4,12.7,701,6818,0.10,2.25,0.00,0.000,6,0.178,0.057,3280,2206,2412,0,0,0,0,0,0
$GC,7138,0.82,158.9,191.3,11.2,732,7142,0.00,2.20,0.00,0.000,4,0.000,0.055,3287,785,2412,0,0,0,0,0,0
$GC,7396,0.90,158.9,163.1,11.0,754,7402,0.10,2.25,0.00,0.000,6,0.117,0.057,3332,2211,2412,0,0,0,0,0,0
$GC,7721,0.81,158.9,125.1,11.1,785,7726,0.15,2.22,0.00,0.000,4,0.168,0.056,3298,797,2412,0,0,0,0,0,0
$GC,7979,0.93,205.1,102.5,7.9,807,8026,0.10,2.20,38.08,0.930,6,0.117,0.058,3343,2201,2219,0,0,0,0,0,0
$GC,8364,0.84,205.1,57.0,12.4,874,8370,0.15,2.22,0.00,0.000,4,0.166,0.056,3310,797,2213,0,0,0,0,0,0
$GC,8624,0.94,205.1,32.4,10.0,920,8630,0.00,2.25,0.00,0.000,6,0.000,0.058,3310,2200,2213,0,0,0,0,0,0
$FREEZE,8.44,2.252,-1.840,0,1,0
$FREEZE,8.00,2.250,-1.840,0,1,0
$FREEZE,7.47,2.257,-1.840,0,1,0
$FREEZE,6.91,2.252,-1.839,0,1,0
$FREEZE,6.31,2.246,-1.839,0,1,0
$FREEZE,5.81,2.249,-1.838,0,1,0
$FREEZE,5.33,2.236,-1.838,0,1,0
$FREEZE,4.76,2.239,-1.838,0,1,0
$FREEZE,4.25,2.248,-1.837,0,1,0
$FREEZE,3.63,2.237,-1.836,0,1,0
$FREEZE,3.14,2.232,-1.836,0,1,0
$FREEZE,2.72,2.226,-1.836,0,1,0
$STATE,8941,end climb,SURFACE_DEPTH_REACHED
$STATE,8941,begin surface coast
$FREEZE,1.88,2.225,-1.835,0,1,0
$FREEZE,1.18,2.225,-1.834,0,1,0
$FREEZE,1.29,2.206,-1.077,0,1,0
$FREEZE,1.25,2.014,-1.847,0,1,0
$FREEZE,1.24,2.000,-1.726,0,1,0
$FREEZE,1.23,2.129,-0.497,0,1,0
$FINISH,1.2,1.007290
$STATE,8977,end surface coast,CONTROL_FINISHED_OK
$STATE,8977,begin surface
$SM_CCo,8996,74.50,0.861,0,0,1835,300.00
$SM_GC,2.32,0.00,0.00,74.50,0.000,0.000,0.861,335,2085,1835,-12.82,-0.40,300.00
$RAFOS_CLK,330
$RAFOS,6,1276130948,0.833333,0.818889,89,79,45,45,44,42,803,804,240,1201,1419,1548
$RAFOS,5,1276130462,0.700000,0.683889,105,94,48,47,42,41,668,669,1559,801,789,1794
$RAFOS,4,1276129985,0.566667,0.551389,60,51,43,42,42,41,877,878,1728,1933,107,1404
$RAFOS,3,1276129506,0.433333,0.418333,48,45,42,42,41,41,828,1133,1513,261,392,1679
$RAFOS,2,1276129028,0.300000,0.285556,45,44,43,42,42,41,979,554,200,992,1147,1044
$RAFOS,1,1276128551,0.166667,0.153056,42,42,40,40,39,39,746,1730,869,675,1,779
$RAFOS,0,1276128064,0.033333,0.017778,46,45,43,41,40,39,784,1368,150,1,778,1437
$RAFOS_FIX,6706.945801,-5656.290039,100610,000022,3,85,0.80
$IRIDIUM_FIX,6636.54,-5644.66,030999,202019
$TT8_MAMPS,0.026845
$HUMID,39.13
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,300.3,157.6
$24V_AH,23.6,4.089
$10V_AH,10.4,1.889
$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,22.200,67.575,286.275,74.500,0.000,30.971,34.348,132.113,0.750,0.000,16.170,1690.396,4982.661,432.422,1869.765,433.381,0.000,1363.132,0.000,1837.985,2520.000,7.461,0.000
$DEVICE_MAMPS,254.644,82.836,1127.490,860.574,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,717.419,672.369,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151676
$DATA_FILE_SIZE,37913,982
$CAP_FILE_SIZE,110675,0
$CFSIZE,260165632,247992320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.2
$GPS,100610,013406,6706.299,-5653.423,31,0.9,31,-37.6