version: 66.06
glider: 108
mission: 14
dive: 12
start: 6 10 110 4 39 10
data:
$ID,108
$MISSION,14
$DIVE,12
$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,-178922.42
$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,36
$R_STBD_OVSHOOT,38
$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
$GPS1,042955,6706.266,-5656.280,35,1.8,36,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-76.2
$GPS2,043850,6706.280,-5656.325,10,1.8,10,-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,237.0,12333,-18.1,-10.000
$D_GRID,494
$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,-69.78,0.000,2,0.000,0.000,336,2268,3340,0,0,0,0,0,0
$GC,91,-0.78,-146.1,3.2,-1.8,14,119,10.62,2.17,-8.65,0.000,4,0.255,0.086,2932,3584,3657,0,0,0,0,0,0
$GC,423,-0.78,-146.1,42.8,-11.4,73,429,0.00,2.10,0.00,0.000,6,0.000,0.048,2932,2240,3662,0,0,0,0,0,0
$GC,766,-0.78,-146.1,82.8,-11.7,134,772,0.00,2.17,0.00,0.000,4,0.000,0.070,2922,3589,3662,0,0,0,0,0,0
$GC,1075,-0.78,-146.1,119.4,-11.8,174,1081,0.10,2.08,0.00,0.000,6,0.170,0.049,2947,2238,3661,0,0,0,0,0,0
$GC,1400,-0.78,-146.1,147.3,-7.5,205,1404,0.00,2.17,0.00,0.000,4,0.000,0.071,2939,3596,3661,0,0,0,0,0,0
$GC,1709,-0.78,-146.1,171.6,-7.7,232,1715,0.00,2.08,0.00,0.000,6,0.000,0.050,2939,2246,3661,0,0,0,0,0,0
$GC,2035,-0.78,-146.1,194.9,-6.6,263,2038,0.00,2.15,0.00,0.000,4,0.000,0.071,2930,3594,3661,0,0,0,0,0,0
$GC,2343,-0.78,-146.1,220.6,-8.1,290,2349,0.00,2.08,0.00,0.000,6,0.000,0.050,2930,2241,3661,0,0,0,0,0,0
$GC,2668,-0.78,-146.1,246.8,-8.4,321,2672,0.00,2.15,0.00,0.000,4,0.000,0.070,2920,3592,3661,0,0,0,0,0,0
$GC,2978,-0.78,-146.1,276.3,-9.3,348,2984,0.12,2.08,0.00,0.000,6,0.160,0.049,2954,2235,3661,0,0,0,0,0,0
$GC,3304,-0.78,-146.1,300.1,-7.1,379,3307,0.00,2.15,0.00,0.000,4,0.000,0.069,2947,3592,3661,0,0,0,0,0,0
$GC,3612,-0.78,-146.1,322.8,-7.1,406,3618,0.00,2.05,0.00,0.000,6,0.000,0.048,2947,2237,3661,0,0,0,0,0,0
$GC,3937,-0.78,-146.1,344.0,-6.5,437,3941,0.00,2.12,0.00,0.000,4,0.000,0.068,2937,3597,3661,0,0,0,0,0,0
$GC,4248,-0.78,-146.1,366.2,-7.1,464,4253,0.00,2.05,0.00,0.000,6,0.000,0.048,2937,2244,3662,0,0,0,0,0,0
$GC,4573,-0.78,-146.1,388.6,-7.2,495,4577,0.00,2.10,0.00,0.000,4,0.000,0.067,2927,3591,3662,0,0,0,0,0,0
$GC,4881,-0.78,-146.1,412.6,-7.8,522,4887,0.10,2.03,0.00,0.000,6,0.164,0.047,2954,2248,3662,0,0,0,0,0,0
$GC,5206,-0.78,-146.1,434.1,-6.9,553,5210,0.00,2.10,0.00,0.000,4,0.000,0.067,2947,3585,3663,0,0,0,0,0,0
$GC,5514,-0.78,-146.1,456.8,-6.9,580,5520,0.00,2.03,0.00,0.000,6,0.000,0.047,2946,2242,3663,0,0,0,0,0,0
$STATE,5741,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5741,begin apogee
$GC,5748,-0.17,0.0,472.2,6.3,602,5874,0.40,0.00,118.95,1.141,6,0.122,0.000,3082,2153,3057,0,0,0,0,0,0
$STATE,5875,end apogee,CONTROL_FINISHED_OK
$STATE,5875,begin climb
$GC,5878,0.78,146.1,474.7,0.0,615,6012,0.60,3.17,120.00,1.079,4,0.081,0.054,3305,310,2461,0,0,0,0,0,0
$GC,6317,0.78,146.1,430.8,11.0,655,6322,0.00,2.97,0.00,0.000,6,0.000,0.054,3305,2142,2457,0,0,1,0,0,0
$GC,6642,0.78,146.1,392.5,12.1,685,6646,0.00,2.97,0.00,0.000,4,0.000,0.056,3318,310,2457,0,0,0,0,0,0
$GC,6950,0.78,146.1,354.5,12.3,712,6956,0.12,2.97,0.00,0.000,6,0.176,0.054,3286,2162,2457,0,0,1,0,0,0
$GC,7275,0.78,146.1,319.0,10.8,742,7280,0.00,2.95,0.00,0.000,4,0.000,0.056,3297,316,2456,0,0,0,0,0,0
$GC,7584,0.78,146.1,284.8,11.1,769,7589,0.00,2.92,0.00,0.000,6,0.000,0.055,3297,2149,2457,0,0,1,0,0,0
$GC,7909,0.78,146.1,249.6,10.2,799,7914,0.00,2.92,0.00,0.000,4,0.000,0.056,3310,316,2456,0,0,0,0,0,0
$GC,8218,0.78,146.1,216.3,10.7,826,8223,0.00,2.92,0.00,0.000,6,0.000,0.056,3310,2155,2457,0,0,1,0,0,0
$GC,8543,0.78,146.1,182.1,10.1,856,8547,0.00,2.92,0.00,0.000,4,0.000,0.056,3323,313,2457,0,0,0,0,0,0
$GC,8851,0.78,146.1,150.9,10.2,883,8857,0.12,2.92,0.00,0.000,6,0.175,0.057,3290,2157,2458,0,0,1,0,0,0
$GC,9176,0.79,152.1,119.2,9.7,913,9188,0.00,2.92,6.03,0.769,4,0.000,0.056,3298,314,2436,0,0,0,0,0,0
$GC,9493,0.79,152.1,87.2,10.3,951,9498,0.00,2.90,0.00,0.000,6,0.000,0.056,3298,2156,2436,0,0,1,0,0,0
$GC,9837,0.81,171.1,51.2,9.1,1012,9859,0.00,2.97,16.08,0.879,4,0.000,0.058,3311,304,2359,0,0,0,0,0,0
$GC,10167,0.83,187.5,19.8,9.3,1070,10188,0.00,2.95,13.70,0.842,6,0.000,0.056,3312,2151,2292,0,0,1,0,0,0
$FREEZE,8.49,2.193,-1.838,0,1,0
$FREEZE,7.98,2.194,-1.838,0,1,0
$FREEZE,7.42,2.193,-1.837,0,1,0
$FREEZE,6.88,2.197,-1.837,0,1,0
$FREEZE,6.35,2.196,-1.837,0,1,0
$FREEZE,5.77,2.201,-1.836,0,1,0
$FREEZE,5.23,2.207,-1.836,0,1,0
$FREEZE,4.84,2.213,-1.835,0,1,0
$FREEZE,4.26,2.195,-1.832,0,1,0
$FREEZE,3.71,2.131,-1.830,0,1,0
$FREEZE,3.19,2.034,-1.828,0,1,0
$FREEZE,2.67,1.948,-1.825,0,1,0
$STATE,10345,end climb,SURFACE_DEPTH_REACHED
$STATE,10345,begin surface coast
$FREEZE,2.02,1.917,-1.823,0,1,0
$FREEZE,1.53,1.916,-1.822,0,1,0
$FREEZE,1.32,1.865,-1.824,0,1,0
$FREEZE,1.21,1.738,-1.249,0,1,0
$FREEZE,1.32,1.686,-1.812,0,1,0
$FREEZE,1.26,1.669,-1.040,0,1,0
$FINISH,1.3,1.015342
$STATE,10383,end surface coast,CONTROL_FINISHED_OK
$STATE,10384,begin surface
$SM_CCo,10402,88.53,0.848,0,0,1835,300.00
$SM_GC,2.17,0.00,0.00,88.53,0.000,0.000,0.848,341,2264,1835,-12.78,0.40,300.00
$RAFOS_CLK,394
$RAFOS,6,1276145345,4.833333,4.818056,63,57,48,47,45,42,816,818,1573,1785,1470,1515
$RAFOS,5,1276144865,4.700000,4.684722,137,117,46,46,43,41,653,653,1796,405,516,1337
$RAFOS,3,1276143906,4.433333,4.418334,46,42,42,42,41,41,216,264,885,1736,1315,1819
$RAFOS_FIX,6707.701660,-5658.622559,100610,040400,2,100,5.68
$IRIDIUM_FIX,6636.54,-5659.96,040999,040445
$TT8_MAMPS,0.026845
$HUMID,38.46
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,350.3,136.2
$24V_AH,23.6,4.328
$10V_AH,10.3,2.027
$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,20.200,79.525,274.750,88.525,0.000,53.920,67.025,214.796,1.000,0.000,12.167,1912.917,5915.862,447.687,2165.922,585.630,0.000,1505.241,0.000,2130.160,720.000,9.173,0.000
$DEVICE_MAMPS,254.644,105.846,1140.529,848.302,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,805.287,759.717,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151628
$DATA_FILE_SIZE,44114,1108
$CAP_FILE_SIZE,121431,0
$CFSIZE,260165632,247857152
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,7,0,0
$SOUNDSPEED,1466.0
$GPS,100610,073537,6706.163,-5656.425,39,1.1,39,-37.6