version: 66.06
glider: 108
mission: 14
dive: 18
start: 6 10 110 21 2 20
data:
$ID,108
$MISSION,14
$DIVE,18
$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,440
$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,-179155.42
$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,-40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,18
$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
$GPS1,205555,6708.514,-5652.917,8,1.1,8,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.0
$GPS2,210202,6708.559,-5652.914,15,1.7,15,-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,240.2,17161,-18.1,-10.000
$D_GRID,429
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.78,-146.1,0.0,0.0,0,89,0.00,0.00,-69.20,0.000,2,0.000,0.000,347,2247,3286,0,0,0,0,0,0
$GC,92,-0.78,-146.1,3.3,-3.2,14,119,10.32,2.25,-9.98,0.000,4,0.252,0.072,2942,831,3657,0,0,0,0,0,0
$GC,423,-0.78,-146.1,40.5,-10.1,73,429,0.00,2.33,0.00,0.000,6,0.000,0.061,2934,2273,3662,0,0,0,0,0,0
$GC,767,-0.78,-146.1,72.1,-9.0,134,772,0.00,2.28,0.00,0.000,4,0.000,0.058,2934,838,3662,0,0,0,0,0,0
$GC,1077,-0.78,-146.1,100.0,-8.5,189,1083,0.10,2.25,0.00,0.000,6,0.171,0.061,2951,2262,3662,0,0,0,0,0,0
$GC,1402,-0.78,-146.1,122.7,-7.1,220,1406,0.00,2.25,0.00,0.000,4,0.000,0.058,2951,829,3662,0,0,0,0,0,0
$GC,1711,-0.78,-146.1,146.8,-7.9,247,1715,0.00,2.28,0.00,0.000,6,0.000,0.061,2944,2257,3662,0,0,0,0,0,0
$GC,2036,-0.78,-146.1,171.1,-7.2,277,2040,0.00,2.22,0.00,0.000,4,0.000,0.058,2944,837,3662,0,0,0,0,0,0
$GC,2346,-0.78,-146.1,195.4,-8.3,304,2350,0.00,2.22,0.00,0.000,6,0.000,0.060,2934,2250,3662,0,0,0,0,0,0
$GC,2676,-0.78,-146.1,221.0,-8.1,335,2680,0.00,2.25,0.00,0.000,4,0.000,0.058,2935,827,3662,0,0,0,0,0,0
$GC,2986,-0.78,-146.1,245.9,-7.3,362,2991,0.10,2.22,0.00,0.000,6,0.168,0.060,2951,2249,3663,0,0,0,0,0,0
$GC,3316,-0.78,-146.1,266.8,-5.9,393,3320,0.00,2.17,0.00,0.000,4,0.000,0.057,2951,839,3663,0,0,0,0,0,0
$GC,3626,-0.78,-146.1,286.9,-6.4,420,3630,0.00,2.22,0.00,0.000,6,0.000,0.059,2946,2250,3663,0,0,0,0,0,0
$GC,3957,-0.78,-146.1,307.9,-6.3,451,3961,0.00,2.22,0.00,0.000,4,0.000,0.056,2946,831,3663,0,0,0,0,0,0
$GC,4266,-0.78,-146.1,329.1,-6.5,478,4270,0.00,2.25,0.00,0.000,6,0.000,0.058,2937,2265,3664,0,0,0,0,0,0
$GC,4591,-0.78,-146.1,350.9,-6.7,508,4595,0.00,2.22,0.00,0.000,4,0.000,0.055,2937,826,3664,0,0,0,0,0,0
$GC,4901,-0.78,-146.1,372.8,-6.6,535,4906,0.10,2.22,0.00,0.000,6,0.166,0.057,2954,2259,3664,0,0,0,0,0,0
$STATE,5091,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5091,begin apogee
$GC,5098,-0.17,0.0,383.6,5.0,553,5224,0.38,0.00,118.45,1.090,6,0.120,0.000,3085,2141,3058,0,0,0,0,0,0
$STATE,5224,end apogee,CONTROL_FINISHED_OK
$STATE,5224,begin climb
$GC,5227,0.78,146.1,385.5,0.0,566,5356,0.60,2.42,118.82,1.023,4,0.080,0.064,3293,3552,2462,0,0,0,0,0,0
$GC,5660,0.78,146.1,337.6,12.6,605,5664,0.00,2.22,0.00,0.000,6,0.000,0.046,3303,2143,2457,0,0,0,0,0,0
$GC,5991,0.78,146.1,301.1,10.8,636,5995,0.00,2.30,0.00,0.000,4,0.000,0.064,3303,3567,2457,0,0,0,0,0,0
$GC,6300,0.78,146.1,260.5,13.0,663,6305,0.10,2.20,0.00,0.000,6,0.186,0.047,3289,2143,2456,0,0,0,0,0,0
$GC,6630,0.79,150.7,227.2,9.8,694,6641,0.00,2.28,4.68,0.702,4,0.000,0.064,3290,3556,2443,0,0,0,0,0,0
$GC,6946,0.79,150.7,190.4,11.7,722,6950,0.00,2.17,0.00,0.000,6,0.000,0.047,3295,2140,2443,0,0,0,0,0,0
$GC,7276,0.81,167.2,160.1,9.2,753,7297,0.00,2.30,14.62,0.900,4,0.000,0.066,3295,3559,2375,0,0,0,0,0,0
$GC,7601,0.81,167.2,124.5,11.7,782,7606,0.00,2.17,0.00,0.000,6,0.000,0.048,3305,2147,2373,0,0,0,0,0,0
$GC,7930,0.81,167.6,92.4,10.0,819,7936,0.00,2.25,0.00,0.000,4,0.000,0.066,3305,3559,2373,0,0,0,0,0,0
$GC,8240,0.81,167.6,58.0,10.6,874,8245,0.00,2.17,0.00,0.000,6,0.000,0.049,3315,2147,2373,0,0,0,0,0,0
$GC,8583,0.86,205.7,26.3,8.3,935,8620,0.00,2.28,30.90,0.875,4,0.000,0.064,3315,3555,2218,0,0,0,0,0,0
$FREEZE,8.95,1.957,-1.828,0,1,0
$FREEZE,8.34,1.943,-1.827,0,1,0
$FREEZE,7.72,1.942,-1.825,0,1,0
$FREEZE,7.23,1.942,-1.825,0,1,0
$FREEZE,6.64,1.939,-1.824,0,1,0
$FREEZE,6.08,1.934,-1.823,0,1,0
$FREEZE,5.53,1.722,-1.813,0,1,0
$FREEZE,5.01,1.579,-1.810,0,1,0
$FREEZE,4.41,1.507,-1.805,0,1,0
$FREEZE,3.83,1.432,-1.802,0,1,0
$FREEZE,3.54,1.396,-1.799,0,1,0
$FREEZE,2.99,1.309,-1.794,0,1,0
$STATE,8810,end climb,SURFACE_DEPTH_REACHED
$STATE,8810,begin surface coast
$FREEZE,2.49,1.275,-1.793,0,1,0
$FREEZE,1.95,1.105,-1.787,0,1,0
$FREEZE,1.53,0.902,-1.783,0,1,0
$FREEZE,1.33,0.874,-1.780,0,1,0
$FREEZE,1.36,0.891,-1.779,0,1,0
$FREEZE,1.26,1.068,-0.488,0,1,0
$FINISH,1.3,1.007154
$STATE,8845,end surface coast,CONTROL_FINISHED_OK
$STATE,8845,begin surface
$SM_CCo,8866,74.45,0.842,0,0,1834,300.00
$SM_GC,2.17,0.00,0.00,74.45,0.000,0.000,0.842,340,2228,1834,-12.79,-0.62,300.00
$RAFOS_CLK,415
$RAFOS,1,1276200544,20.166666,20.151112,55,45,45,43,43,42,1893,1518,150,1372,1650,1449
$RAFOS_FIX,6710.418945,-5658.222168,100610,161628,2,78,2.84
$IRIDIUM_FIX,6641.98,-5656.94,040999,212110
$TT8_MAMPS,0.026845
$HUMID,38.38
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,350.3,47.8
$24V_AH,23.7,5.087
$10V_AH,10.4,2.403
$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,19.775,62.925,287.475,74.450,0.000,0.000,0.000,0.000,1.250,0.000,17.001,1623.397,4940.419,417.555,1874.852,166.134,0.000,1340.638,0.000,1835.213,0.000,11.869,0.000
$DEVICE_MAMPS,252.343,77.467,1089.907,842.166,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,711.403,671.354,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,147328
$DATA_FILE_SIZE,37939,982
$CAP_FILE_SIZE,129781,0
$CFSIZE,260165632,247513088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.8
$GPS,100610,233256,6709.678,-5654.465,25,2.4,44,-37.7