version: 66.06
glider: 108
mission: 14
dive: 14
start: 6 10 110 10 40 33
data:
$ID,108
$MISSION,14
$DIVE,14
$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,-178955.09
$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,-40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,29
$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
$GPS1,103354,6706.850,-5654.502,39,0.8,39,-37.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-75.2
$GPS2,104013,6706.913,-5654.484,9,1.0,15,-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,240.6,13910,-18.1,-10.000
$D_GRID,454
$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,16,-0.78,-146.1,0.0,0.0,0,83,0.00,0.00,-64.53,0.000,2,0.000,0.000,338,2258,3235,0,0,0,0,0,0
$GC,86,-0.78,-146.1,3.2,-2.4,13,118,10.65,2.35,-12.00,0.000,4,0.255,0.072,2944,839,3657,0,0,0,0,0,0
$GC,422,-0.78,-146.1,40.7,-10.6,73,428,0.00,2.30,0.00,0.000,6,0.000,0.060,2935,2261,3661,0,0,0,0,0,0
$GC,767,-0.78,-146.1,75.3,-9.3,134,772,0.00,2.25,0.00,0.000,4,0.000,0.058,2936,842,3661,0,0,0,0,0,0
$GC,1076,-0.78,-146.1,106.0,-9.7,183,1082,0.10,2.25,0.00,0.000,6,0.168,0.061,2952,2249,3661,0,0,0,0,0,0
$GC,1401,-0.78,-146.1,130.2,-7.3,214,1405,0.00,2.22,0.00,0.000,4,0.000,0.058,2953,840,3660,0,0,0,0,0,0
$GC,1710,-0.78,-146.1,153.4,-7.2,241,1715,0.00,2.25,0.00,0.000,6,0.000,0.061,2946,2253,3660,0,0,0,0,0,0
$GC,2036,-0.78,-146.1,178.4,-7.5,271,2040,0.00,2.20,0.00,0.000,4,0.000,0.058,2946,835,3660,0,0,0,0,0,0
$GC,2345,-0.78,-146.1,202.4,-7.5,298,2349,0.00,2.25,0.00,0.000,6,0.000,0.061,2936,2251,3660,0,0,0,0,0,0
$GC,2670,-0.78,-146.1,227.8,-7.6,328,2674,0.00,2.22,0.00,0.000,4,0.000,0.058,2935,844,3659,0,0,0,0,0,0
$GC,2980,-0.78,-146.1,252.1,-7.7,355,2986,0.10,2.25,0.00,0.000,6,0.167,0.060,2953,2263,3660,0,0,0,0,0,0
$GC,3305,-0.78,-146.1,272.8,-6.6,386,3309,0.00,2.22,0.00,0.000,4,0.000,0.057,2953,832,3660,0,0,0,0,0,0
$GC,3614,-0.78,-146.1,292.7,-6.2,413,3619,0.00,2.25,0.00,0.000,6,0.000,0.060,2947,2257,3660,0,0,0,0,0,0
$GC,3940,-0.78,-146.1,313.7,-6.7,443,3943,0.00,2.17,0.00,0.000,4,0.000,0.057,2947,841,3660,0,0,0,0,0,0
$GC,4249,-0.78,-146.1,335.4,-7.0,470,4253,0.00,2.20,0.00,0.000,6,0.000,0.059,2937,2249,3660,0,0,0,0,0,0
$GC,4580,-0.78,-146.1,359.1,-6.8,501,4584,0.00,2.20,0.00,0.000,4,0.000,0.057,2938,830,3660,0,0,0,0,0,0
$GC,4889,-0.78,-146.1,382.1,-7.4,528,4894,0.10,2.25,0.00,0.000,6,0.162,0.059,2956,2262,3660,0,0,0,0,0,0
$GC,5216,-0.78,-146.1,400.6,-5.6,558,5220,0.00,2.17,0.00,0.000,4,0.000,0.054,2956,839,3661,0,0,0,0,0,0
$GC,5525,-0.78,-146.1,419.7,-6.5,585,5529,0.00,2.20,0.00,0.000,6,0.000,0.058,2950,2258,3662,0,0,0,0,0,0
$STATE,5592,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5592,begin apogee
$GC,5600,-0.17,0.0,423.9,6.4,591,5725,0.38,0.00,118.20,1.111,6,0.119,0.000,3079,2142,3057,0,0,0,0,0,0
$STATE,5726,end apogee,CONTROL_FINISHED_OK
$STATE,5728,begin climb
$GC,5731,0.78,146.1,425.8,0.0,604,5860,0.62,2.47,119.25,1.049,4,0.079,0.066,3298,3564,2462,0,0,0,0,0,0
$GC,5975,0.78,146.1,399.7,14.5,626,5979,0.00,2.28,0.00,0.000,6,0.000,0.047,3307,2153,2457,0,0,0,0,0,0
$GC,6300,0.78,146.1,356.5,13.2,656,6304,0.00,2.28,0.00,0.000,4,0.000,0.064,3308,3568,2457,0,0,0,0,0,0
$GC,6310,0.78,146.1,354.9,13.5,656,6316,0.12,2.22,0.00,0.000,6,0.178,0.045,3286,2148,2456,0,0,0,0,0,0
$GC,6635,0.78,146.1,315.9,11.5,687,6639,0.00,2.28,0.00,0.000,4,0.000,0.066,3286,3559,2457,0,0,0,0,0,0
$GC,6944,0.78,146.1,273.8,14.0,714,6948,0.00,2.20,0.00,0.000,6,0.000,0.048,3293,2140,2457,0,0,0,0,0,0
$GC,7269,0.78,146.1,236.0,11.3,744,7273,0.00,2.25,0.00,0.000,4,0.000,0.065,3293,3566,2458,0,0,0,0,0,0
$GC,7447,0.78,146.1,213.8,12.3,759,7453,0.00,2.17,0.00,0.000,6,0.000,0.047,3303,2148,2457,0,0,0,0,0,0
$GC,7772,0.78,146.1,178.7,10.9,790,7776,0.00,2.22,0.00,0.000,4,0.000,0.066,3303,3557,2457,0,0,0,0,0,0
$GC,8082,0.78,146.1,139.7,12.1,817,8088,0.10,2.17,0.00,0.000,6,0.189,0.048,3289,2139,2458,0,0,0,0,0,0
$GC,8407,0.80,156.9,109.1,9.5,848,8421,0.00,2.28,9.48,0.841,4,0.000,0.067,3288,3560,2418,0,0,0,0,0,0
$GC,8727,0.80,156.9,73.2,12.3,897,8733,0.00,2.17,0.00,0.000,6,0.000,0.049,3293,2146,2415,0,0,0,0,0,0
$GC,9071,0.84,192.1,39.9,8.4,958,9108,0.00,2.33,28.12,0.877,4,0.000,0.066,3293,3557,2274,0,0,0,0,0,0
$FREEZE,8.43,1.815,-1.832,0,1,0
$FREEZE,7.84,1.869,-1.831,0,1,0
$FREEZE,7.35,1.891,-1.830,0,1,0
$FREEZE,6.68,1.902,-1.829,0,1,0
$FREEZE,6.18,1.921,-1.827,0,1,0
$FREEZE,5.38,1.680,-1.818,0,1,0
$FREEZE,4.83,1.420,-1.805,0,1,0
$FREEZE,4.02,1.280,-1.796,0,1,0
$FREEZE,3.37,1.018,-1.791,0,1,0
$FREEZE,2.79,0.978,-1.788,0,1,0
$STATE,9411,end climb,SURFACE_DEPTH_REACHED
$STATE,9411,begin surface coast
$FREEZE,2.27,0.968,-1.787,0,1,0
$FREEZE,1.61,0.975,-1.785,0,1,0
$FREEZE,1.34,0.990,-1.783,0,1,0
$FREEZE,1.23,0.998,-1.783,0,1,0
$FREEZE,1.24,0.983,-1.113,0,1,0
$FINISH,1.2,1.016425
$STATE,9440,end surface coast,CONTROL_FINISHED_OK
$STATE,9440,begin surface
$SM_CCo,9461,84.93,0.841,0,0,1835,300.00
$SM_GC,2.22,0.00,0.00,84.93,0.000,0.000,0.841,339,2245,1835,-12.79,-0.14,300.00
$RAFOS_CLK,352
$RAFOS,6,1276174141,12.833333,12.816944,52,48,46,46,44,43,845,1079,785,844,609,1873
$RAFOS,5,1276173667,12.700000,12.685278,68,55,43,41,38,38,656,657,1391,1,431,1883
$RAFOS,4,1276173184,12.566667,12.551111,75,74,50,48,44,42,885,886,1365,205,112,1632
$RAFOS,3,1276172709,12.433333,12.419167,43,43,43,41,41,41,154,744,1098,1645,116,1732
$RAFOS,2,1276172223,12.300000,12.284166,45,44,43,41,41,40,1833,1689,419,592,1127,1336
$RAFOS,1,1276171747,12.166667,12.151944,40,40,39,39,38,38,333,1120,1392,1755,1,1714
$RAFOS,0,1276171264,12.033333,12.017777,45,44,42,41,41,40,1682,403,1560,1,727,101
$RAFOS_FIX,6711.395996,-5700.576172,100610,121228,2,72,1.31
$IRIDIUM_FIX,6636.54,-5655.33,040999,070756
$TT8_MAMPS,0.026845
$HUMID,38.77
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,350.7,87.6
$24V_AH,23.7,4.567
$10V_AH,10.4,2.160
$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,20.075,71.800,275.050,84.925,0.000,30.083,37.412,176.605,1.000,0.000,17.044,1750.218,5323.631,428.367,1952.132,473.291,0.000,1391.120,0.000,1913.983,2520.000,9.035,0.000
$DEVICE_MAMPS,255.411,78.234,1111.383,840.632,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,745.782,701.371,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151596
$DATA_FILE_SIZE,40975,1024
$CAP_FILE_SIZE,111051,0
$CFSIZE,260165632,247738368
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.6
$GPS,100610,132106,6707.854,-5654.432,12,1.0,28,-37.7