version: 66.06
glider: 108
mission: 14
dive: 11
start: 6 10 110 1 40 3
data:
$ID,108
$MISSION,14
$DIVE,11
$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,270
$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,-178909.62
$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
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,55
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$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
$GPS1,013406,6706.299,-5653.423,31,0.9,31,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-76.2
$GPS2,013943,6706.331,-5653.503,10,1.2,15,-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,245.3,13238,-18.1,-10.000
$D_GRID,463
$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,-69.85,0.000,2,0.000,0.000,335,2086,3346,0,0,0,0,0,0
$GC,91,-0.78,-146.1,3.2,-2.9,14,118,10.52,2.47,-8.48,0.000,4,0.251,0.083,2931,3590,3656,0,0,0,0,0,0
$GC,422,-0.78,-146.1,40.2,-10.1,73,428,0.00,2.10,0.00,0.000,6,0.000,0.048,2931,2243,3661,0,0,0,0,0,0
$GC,766,-0.78,-146.1,73.1,-9.1,134,771,0.00,2.15,0.00,0.000,4,0.000,0.070,2921,3591,3661,0,0,0,0,0,0
$GC,1074,-0.78,-146.1,104.6,-10.3,185,1080,0.12,2.08,0.00,0.000,6,0.163,0.049,2955,2248,3660,0,0,0,0,0,0
$GC,1399,-0.78,-146.1,129.6,-7.6,216,1403,0.00,2.15,0.00,0.000,4,0.000,0.070,2947,3594,3660,0,0,0,0,0,0
$GC,1708,-0.78,-146.1,156.5,-9.0,243,1714,0.00,2.08,0.00,0.000,6,0.000,0.049,2947,2242,3660,0,0,0,0,0,0
$GC,2033,-0.78,-146.1,185.8,-9.2,274,2037,0.00,2.15,0.00,0.000,4,0.000,0.070,2937,3592,3660,0,0,0,0,0,0
$GC,2342,-0.78,-146.1,216.2,-10.4,301,2347,0.00,2.05,0.00,0.000,6,0.000,0.049,2937,2250,3660,0,0,0,0,0,0
$GC,2667,-0.78,-146.1,243.0,-6.8,332,2671,0.00,2.12,0.00,0.000,4,0.000,0.069,2928,3598,3660,0,0,0,0,0,0
$GC,2976,-0.78,-146.1,266.7,-7.7,359,2982,0.10,2.08,0.00,0.000,6,0.170,0.049,2954,2238,3660,0,0,0,0,0,0
$GC,3301,-0.78,-146.1,285.0,-5.5,390,3305,0.00,2.15,0.00,0.000,4,0.000,0.070,2946,3595,3660,0,0,0,0,0,0
$GC,3611,-0.78,-146.1,304.3,-6.8,417,3616,0.00,2.03,0.00,0.000,6,0.000,0.048,2946,2248,3660,0,0,0,0,0,0
$GC,3936,-0.78,-146.1,326.1,-7.3,448,3940,0.00,2.12,0.00,0.000,4,0.000,0.069,2937,3601,3660,0,0,0,0,0,0
$GC,4246,-0.78,-146.1,351.9,-9.1,475,4251,0.00,2.05,0.00,0.000,6,0.000,0.048,2936,2249,3660,0,0,0,0,0,0
$GC,4571,-0.78,-146.1,379.3,-8.5,506,4575,0.00,2.12,0.00,0.000,4,0.000,0.067,2926,3600,3661,0,0,0,0,0,0
$GC,4879,-0.78,-146.1,406.3,-8.2,533,4886,0.10,2.05,0.00,0.000,6,0.166,0.048,2953,2244,3661,0,0,0,0,0,0
$GC,5205,-0.78,-146.1,428.6,-6.5,564,5208,0.00,2.12,0.00,0.000,4,0.000,0.068,2946,3596,3661,0,0,0,0,0,0
$STATE,5483,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5483,begin apogee
$GC,5492,-0.17,0.0,448.7,7.0,589,5618,0.40,0.00,118.20,1.126,6,0.122,0.000,3082,2147,3057,0,0,0,0,0,0
$STATE,5618,end apogee,CONTROL_FINISHED_OK
$STATE,5618,begin climb
$GC,5621,0.78,146.1,452.0,0.0,602,5755,0.60,3.17,119.62,1.065,4,0.080,0.055,3305,304,2460,0,0,0,0,0,0
$GC,6060,0.78,146.1,407.9,11.4,642,6065,0.00,3.00,0.00,0.000,6,0.000,0.054,3305,2150,2456,0,0,1,0,0,0
$GC,6385,0.78,146.1,369.7,11.5,672,6390,0.00,3.00,0.00,0.000,4,0.000,0.055,3318,297,2456,0,0,0,0,0,0
$GC,6694,0.78,146.1,333.5,11.2,699,6700,0.12,2.97,0.00,0.000,6,0.178,0.054,3287,2150,2457,0,0,1,0,0,0
$GC,7019,0.78,146.1,300.1,10.5,729,7024,0.00,2.95,0.00,0.000,4,0.000,0.056,3298,305,2456,0,0,0,0,0,0
$GC,7328,0.78,146.1,267.1,10.5,756,7333,0.00,2.95,0.00,0.000,6,0.000,0.055,3297,2155,2457,0,0,1,0,0,0
$GC,7653,0.78,146.1,232.3,10.2,786,7657,0.00,2.92,0.00,0.000,4,0.000,0.055,3310,305,2457,0,0,0,0,0,0
$GC,7961,0.78,146.1,200.9,10.1,813,7966,0.00,2.95,0.00,0.000,6,0.000,0.055,3310,2164,2457,0,0,1,0,0,0
$GC,8286,0.78,146.1,166.0,10.9,843,8291,0.00,2.95,0.00,0.000,4,0.000,0.057,3324,304,2457,0,0,0,0,0,0
$GC,8595,0.78,146.1,133.6,10.2,870,8601,0.12,2.92,0.00,0.000,6,0.175,0.056,3291,2155,2457,0,0,1,0,0,0
$GC,8920,0.80,161.8,104.0,9.3,900,8943,0.00,3.00,12.80,0.884,4,0.000,0.058,3299,310,2398,0,0,0,0,0,0
$GC,9248,0.82,180.2,73.8,9.2,954,9270,0.00,2.95,15.80,0.881,6,0.000,0.056,3299,2164,2323,0,0,1,0,0,0
$GC,9607,0.83,187.4,38.0,9.7,1018,9623,0.00,3.05,6.82,0.753,4,0.000,0.058,3312,306,2292,0,0,0,0,0,0
$FREEZE,8.99,2.152,-1.840,0,1,0
$FREEZE,8.49,2.134,-1.839,0,1,0
$FREEZE,7.90,2.128,-1.838,0,1,0
$FREEZE,7.50,2.113,-1.837,0,1,0
$FREEZE,6.89,2.120,-1.836,0,1,0
$FREEZE,6.30,2.109,-1.836,0,1,0
$FREEZE,5.81,2.113,-1.835,0,1,0
$FREEZE,5.34,2.106,-1.835,0,1,0
$GC,9928,0.86,209.8,7.5,9.0,1075,9957,0.00,2.95,19.17,0.858,6,0.000,0.056,3312,2152,2201,0,0,1,0,0,0
$FREEZE,4.22,2.092,-1.834,0,1,0
$FREEZE,3.70,2.090,-1.833,0,1,0
$FREEZE,3.18,2.092,-1.833,0,1,0
$FREEZE,2.66,2.086,-1.832,0,1,0
$STATE,9979,end climb,SURFACE_DEPTH_REACHED
$STATE,9979,begin surface coast
$FREEZE,2.03,2.083,-1.832,0,1,0
$FREEZE,1.45,2.084,-1.832,0,1,0
$FREEZE,1.18,1.980,-1.836,0,1,0
$FREEZE,1.20,2.019,-1.095,0,1,0
$FREEZE,1.22,2.023,-0.966,0,1,0
$FREEZE,1.26,1.981,-1.014,0,1,0
$FINISH,1.3,1.014949
$STATE,10015,end surface coast,CONTROL_FINISHED_OK
$STATE,10015,begin surface
$SM_CCo,10034,71.32,0.849,0,0,1835,300.00
$SM_GC,2.13,0.00,0.00,71.32,0.000,0.000,0.849,336,2268,1835,-12.81,0.51,300.00
$RAFOS_CLK,372
$RAFOS,2,1276143422,4.300000,4.283889,43,41,41,40,40,40,750,212,1205,387,1595,1415
$RAFOS,1,1276142942,4.166667,4.150556,44,42,41,41,41,39,1836,1109,210,1887,1377,288
$RAFOS,0,1276142466,4.033333,4.018333,47,46,42,42,42,41,1757,738,61,1127,236,380
$RAFOS_FIX,6706.945801,-5656.290039,100610,000022,3,85,0.80
$IRIDIUM_FIX,6636.54,-5649.29,030999,232328
$TT8_MAMPS,0.029913
$HUMID,39.17
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,350.3,113.0
$24V_AH,23.6,4.205
$10V_AH,10.3,1.957
$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,20.150,80.200,292.425,71.325,0.000,27.871,32.171,142.496,1.250,0.000,17.345,1869.184,5567.744,448.817,2101.994,451.672,0.000,1482.089,0.000,2065.260,1440.000,12.134,0.000
$DEVICE_MAMPS,250.809,97.409,1125.956,849.069,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,792.562,746.993,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151640
$DATA_FILE_SIZE,44095,1090
$CAP_FILE_SIZE,114972,0
$CFSIZE,260165632,247922688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$SOUNDSPEED,1465.1
$GPS,100610,042955,6706.266,-5656.280,35,1.8,36,-37.6