version: 66.06
glider: 108
mission: 14
dive: 15
start: 6 10 110 13 27 39
data:
$ID,108
$MISSION,14
$DIVE,15
$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,-178971.66
$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
$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,40
$R_STBD_OVSHOOT,32
$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
$GPS1,132106,6707.854,-5654.432,12,1.0,28,-37.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-74.9
$GPS2,132719,6707.934,-5654.425,8,1.0,14,-37.7
$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,238.2,15682,-18.1,-10.000
$D_GRID,436
$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,-146.1,0.0,0.0,0,77,0.00,0.00,-59.95,0.000,2,0.000,0.000,338,2244,3139,0,0,0,0,0,0
$GC,81,-0.78,-146.1,3.0,-1.5,12,113,10.40,2.30,-16.08,0.000,4,0.247,0.071,2940,839,3656,0,0,0,0,0,0
$GC,418,-0.78,-146.1,37.2,-10.3,72,423,0.00,2.28,0.00,0.000,6,0.000,0.059,2932,2247,3660,0,0,0,0,0,0
$GC,763,-0.78,-146.1,71.3,-9.6,133,769,0.00,2.22,0.00,0.000,4,0.000,0.057,2932,845,3659,0,0,0,0,0,0
$GC,1072,-0.78,-146.1,100.9,-9.5,187,1078,0.10,2.25,0.00,0.000,6,0.171,0.059,2948,2258,3659,0,0,0,0,0,0
$GC,1397,-0.78,-146.1,126.7,-8.0,218,1401,0.00,2.22,0.00,0.000,4,0.000,0.057,2948,843,3659,0,0,0,0,0,0
$GC,1707,-0.78,-146.1,152.4,-8.0,245,1711,0.00,2.25,0.00,0.000,6,0.000,0.060,2941,2255,3659,0,0,0,0,0,0
$GC,2032,-0.78,-146.1,178.4,-8.1,275,2036,0.00,2.22,0.00,0.000,4,0.000,0.057,2941,830,3659,0,0,0,0,0,0
$GC,2341,-0.78,-146.1,205.5,-8.6,302,2346,0.00,2.25,0.00,0.000,6,0.000,0.060,2931,2264,3659,0,0,0,0,0,0
$GC,2667,-0.78,-146.1,233.0,-8.4,332,2671,0.00,2.22,0.00,0.000,4,0.000,0.057,2931,836,3659,0,0,0,0,0,0
$GC,2976,-0.78,-146.1,258.6,-7.6,359,2981,0.10,2.25,0.00,0.000,6,0.170,0.059,2948,2259,3659,0,0,0,0,0,0
$GC,3302,-0.78,-146.1,279.6,-6.2,389,3306,0.00,2.20,0.00,0.000,4,0.000,0.055,2948,842,3659,0,0,0,0,0,0
$GC,3612,-0.78,-146.1,300.6,-6.5,416,3616,0.00,2.22,0.00,0.000,6,0.000,0.059,2941,2255,3659,0,0,0,0,0,0
$GC,3938,-0.78,-146.1,322.1,-6.7,446,3942,0.00,2.17,0.00,0.000,4,0.000,0.055,2942,836,3660,0,0,0,0,0,0
$GC,4246,-0.78,-146.1,344.0,-6.9,473,4252,0.00,2.22,0.00,0.000,6,0.000,0.058,2932,2254,3660,0,0,0,0,0,0
$GC,4571,-0.78,-146.1,366.5,-6.8,504,4575,0.00,2.17,0.00,0.000,4,0.000,0.054,2932,844,3660,0,0,0,0,0,0
$GC,4882,-0.78,-146.1,390.5,-7.9,531,4886,0.10,2.22,0.00,0.000,6,0.163,0.058,2950,2263,3661,0,0,0,0,0,0
$STATE,5112,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5112,begin apogee
$GC,5119,-0.17,0.0,405.1,6.6,552,5240,0.38,0.00,117.85,1.093,6,0.117,0.000,3081,2147,3058,0,0,0,0,0,0
$STATE,5241,end apogee,CONTROL_FINISHED_OK
$STATE,5241,begin climb
$GC,5244,0.78,146.1,407.4,0.0,564,5373,0.60,2.42,118.97,1.031,4,0.084,0.063,3289,3566,2462,0,0,0,0,0,0
$GC,5677,0.78,146.1,361.2,12.2,603,5681,0.00,2.25,0.00,0.000,6,0.000,0.048,3299,2146,2457,0,0,0,0,0,0
$GC,6008,0.78,146.1,325.8,10.4,634,6012,0.00,2.28,0.00,0.000,4,0.000,0.064,3299,3558,2457,0,0,0,0,0,0
$GC,6317,0.78,146.1,287.5,12.3,661,6321,0.00,2.20,0.00,0.000,6,0.000,0.047,3309,2139,2457,0,0,0,0,0,0
$GC,6647,0.78,146.1,250.7,11.2,692,6651,0.00,2.28,0.00,0.000,4,0.000,0.065,3309,3564,2458,0,0,0,0,0,0
$GC,6956,0.78,146.1,211.6,12.7,719,6961,0.12,2.17,0.00,0.000,6,0.174,0.047,3287,2146,2457,0,0,0,0,0,0
$GC,7287,0.82,173.2,182.5,8.8,750,7317,0.00,2.35,21.92,0.930,4,0.000,0.066,3286,3564,2350,0,0,0,0,0,0
$GC,7622,0.82,173.2,146.7,10.9,780,7626,0.00,2.20,0.00,0.000,6,0.000,0.047,3292,2144,2348,0,0,0,0,0,0
$GC,7947,0.86,208.0,116.5,8.4,810,7981,0.00,2.35,28.20,0.905,4,0.000,0.066,3292,3557,2209,0,0,0,0,0,0
$GC,8287,0.86,208.0,81.1,11.6,856,8292,0.00,2.20,0.00,0.000,6,0.000,0.048,3300,2148,2202,0,0,0,0,0,0
$GC,8630,0.89,233.1,49.7,8.9,917,8656,0.00,2.28,20.62,0.862,4,0.000,0.066,3300,3555,2106,0,0,0,0,0,0
$GC,8963,0.89,233.1,15.6,11.2,976,8969,0.00,2.20,0.00,0.000,6,0.000,0.049,3307,2147,2099,0,0,0,0,0,0
$FREEZE,8.66,1.658,-1.827,0,1,0
$FREEZE,8.23,1.593,-1.823,0,1,0
$FREEZE,7.74,1.553,-1.820,0,1,0
$FREEZE,7.43,1.593,-1.820,0,1,0
$FREEZE,7.12,1.551,-1.818,0,1,0
$FREEZE,6.85,1.506,-1.817,0,1,0
$FREEZE,6.51,1.410,-1.815,0,1,0
$FREEZE,6.03,1.365,-1.812,0,1,0
$FREEZE,5.74,1.237,-1.812,0,1,0
$FREEZE,5.32,1.147,-1.806,0,1,0
$FREEZE,5.09,1.061,-1.803,0,1,0
$FREEZE,4.68,1.006,-1.799,0,1,0
$FREEZE,4.35,0.993,-1.796,0,1,0
$FREEZE,3.93,0.969,-1.793,0,1,0
$FREEZE,3.66,0.942,-1.791,0,1,0
$FREEZE,3.39,0.955,-1.789,0,1,0
$FREEZE,2.94,0.943,-1.788,0,1,0
$STATE,9126,end climb,SURFACE_DEPTH_REACHED
$STATE,9126,begin surface coast
$FREEZE,2.57,0.941,-1.786,0,1,0
$FREEZE,2.19,0.951,-1.784,0,1,0
$FREEZE,1.72,0.941,-1.784,0,1,0
$FREEZE,1.39,0.950,-1.783,0,1,0
$FREEZE,1.27,1.037,-1.777,0,1,0
$FREEZE,1.26,1.061,-0.888,0,1,0
$FREEZE,1.30,0.974,-1.780,0,1,0
$FREEZE,1.31,1.033,-1.773,0,1,0
$FREEZE,1.36,0.989,-1.290,0,1,0
$FREEZE,1.31,0.987,-0.891,0,1,0
$FREEZE,1.29,1.025,-0.962,0,1,0
$FINISH,1.3,1.014200
$STATE,9191,end surface coast,CONTROL_FINISHED_OK
$STATE,9191,begin surface
$SM_CCo,9211,53.53,0.854,0,0,1834,300.00
$SM_GC,2.18,0.00,0.00,53.53,0.000,0.000,0.854,342,2245,1834,-12.78,-0.14,300.00
$RAFOS_CLK,338
$RAFOS_FIX,6711.395996,-5700.576172,100610,121228,2,72,1.31
$IRIDIUM_FIX,6636.54,-5659.96,040999,101051
$TT8_MAMPS,0.026845
$HUMID,39.17
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,19.1
$ALTIM_BOTTOM_PING,350.0,69.9
$24V_AH,23.7,4.683
$10V_AH,10.3,2.221
$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,19.825,63.225,307.575,53.525,0.000,27.422,33.968,180.805,1.250,0.000,15.937,1721.691,5096.313,409.951,1943.359,462.503,0.000,1368.020,0.000,1907.098,0.000,11.970,0.000
$DEVICE_MAMPS,246.974,81.302,1092.975,853.671,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,736.735,694.558,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151608
$DATA_FILE_SIZE,37870,1016
$CAP_FILE_SIZE,107178,0
$CFSIZE,260165632,247685120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.9
$GPS,100610,160331,6708.219,-5653.893,38,1.2,38,-37.7