version: 66.06
glider: 108
mission: 14
dive: 19
start: 6 10 110 23 39 4
data:
$ID,108
$MISSION,14
$DIVE,19
$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,-179188.64
$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,42
$R_STBD_OVSHOOT,33
$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
$GPS1,233256,6709.678,-5654.465,25,2.4,44,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-76.9
$GPS2,233846,6709.723,-5654.523,11,2.3,30,-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,234.4,18801,-18.1,-10.000
$D_GRID,408
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,85,0.00,0.00,-64.97,0.000,2,0.000,0.000,339,2228,3247,0,0,0,0,0,0
$GC,89,-0.78,-146.1,3.3,-3.4,13,116,10.52,2.28,-11.10,0.000,4,0.252,0.071,2938,840,3656,0,0,0,0,0,0
$GC,421,-0.78,-146.1,40.1,-10.6,72,427,0.00,2.28,0.00,0.000,6,0.000,0.058,2931,2249,3661,0,0,0,0,0,0
$GC,765,-0.78,-146.1,73.4,-9.9,133,770,0.00,2.22,0.00,0.000,4,0.000,0.057,2931,847,3661,0,0,0,0,0,0
$GC,1073,-0.78,-146.1,101.1,-8.8,187,1080,0.10,2.25,0.00,0.000,6,0.171,0.058,2947,2258,3661,0,0,0,0,0,0
$GC,1398,-0.78,-146.1,126.3,-7.4,218,1402,0.00,2.22,0.00,0.000,4,0.000,0.056,2947,841,3661,0,0,0,0,0,0
$GC,1707,-0.78,-146.1,150.5,-7.6,245,1713,0.00,2.25,0.00,0.000,6,0.000,0.059,2940,2256,3660,0,0,0,0,0,0
$GC,2032,-0.78,-146.1,175.3,-7.3,276,2036,0.00,2.20,0.00,0.000,4,0.000,0.056,2939,833,3660,0,0,0,0,0,0
$GC,2343,-0.78,-146.1,200.6,-8.2,303,2347,0.00,2.22,0.00,0.000,6,0.000,0.059,2930,2252,3660,0,0,0,0,0,0
$GC,2668,-0.78,-146.1,224.9,-7.8,333,2672,0.00,2.20,0.00,0.000,4,0.000,0.056,2930,832,3660,0,0,0,0,0,0
$GC,2976,-0.78,-146.1,249.3,-7.8,360,2982,0.12,2.25,0.00,0.000,6,0.158,0.059,2955,2257,3660,0,0,0,0,0,0
$GC,3301,-0.78,-146.1,269.2,-6.2,391,3305,0.00,2.20,0.00,0.000,4,0.000,0.055,2955,841,3660,0,0,0,0,0,0
$GC,3611,-0.78,-146.1,290.1,-6.6,418,3616,0.00,2.20,0.00,0.000,6,0.000,0.058,2948,2245,3660,0,0,0,0,0,0
$GC,3942,-0.78,-146.1,311.7,-6.6,449,3946,0.00,2.17,0.00,0.000,4,0.000,0.055,2948,844,3660,0,0,0,0,0,0
$GC,4252,-0.78,-146.1,333.5,-6.8,476,4256,0.00,2.20,0.00,0.000,6,0.000,0.058,2939,2253,3661,0,0,0,0,0,0
$GC,4582,-0.78,-146.1,356.3,-6.9,507,4586,0.00,2.17,0.00,0.000,4,0.000,0.054,2939,845,3660,0,0,0,0,0,0
$STATE,4733,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4733,begin apogee
$GC,4742,-0.17,0.0,367.1,7.1,520,4863,0.45,0.00,117.78,1.076,6,0.121,0.000,3082,2158,3058,0,0,0,0,0,0
$STATE,4864,end apogee,CONTROL_FINISHED_OK
$STATE,4864,begin climb
$GC,4867,0.78,146.1,369.1,0.0,532,4995,0.60,2.40,118.47,1.011,4,0.082,0.065,3291,3562,2461,0,0,0,0,0,0
$GC,5300,0.78,146.1,321.6,12.8,571,5304,0.00,2.22,0.00,0.000,6,0.000,0.046,3301,2142,2457,0,0,0,0,0,0
$GC,5625,0.78,146.1,285.0,10.6,601,5629,0.00,2.30,0.00,0.000,4,0.000,0.064,3301,3567,2457,0,0,0,0,0,0
$GC,5934,0.78,146.1,246.0,13.0,628,5938,0.00,2.20,0.00,0.000,6,0.000,0.047,3310,2149,2457,0,0,0,0,0,0
$GC,6259,0.78,146.1,211.0,10.2,658,6263,0.00,2.22,0.00,0.000,4,0.000,0.064,3310,3557,2457,0,0,0,0,0,0
$GC,6567,0.78,146.1,171.9,12.4,685,6573,0.12,2.17,0.00,0.000,6,0.177,0.047,3288,2143,2457,0,0,0,0,0,0
$GC,6892,0.81,169.1,141.8,8.9,716,6916,0.00,2.33,18.70,0.908,4,0.000,0.064,3288,3561,2368,0,0,0,0,0,0
$GC,7220,0.81,169.1,106.9,10.2,745,7226,0.00,2.20,0.00,0.000,6,0.000,0.047,3293,2140,2364,0,0,0,0,0,0
$GC,7560,0.85,199.7,77.2,8.6,799,7591,0.00,2.33,24.75,0.884,4,0.000,0.065,3293,3560,2241,0,0,0,0,0,0
$GC,7896,0.85,199.7,42.9,10.8,859,7901,0.00,2.17,0.00,0.000,6,0.000,0.048,3303,2150,2238,0,0,0,0,0,0
$GC,8241,0.89,235.6,11.9,8.4,920,8277,0.00,2.33,28.98,0.852,4,0.000,0.066,3303,3551,2096,0,0,0,0,0,0
$FREEZE,8.17,1.955,-1.824,0,1,0
$FREEZE,7.62,1.932,-1.823,0,1,0
$FREEZE,7.09,1.924,-1.821,0,1,0
$FREEZE,6.58,1.915,-1.820,0,1,0
$FREEZE,6.08,1.905,-1.819,0,1,0
$FREEZE,5.39,1.796,-1.813,0,1,0
$FREEZE,4.89,1.751,-1.812,0,1,0
$FREEZE,4.33,1.713,-1.810,0,1,0
$FREEZE,3.89,1.656,-1.806,0,1,0
$FREEZE,3.25,1.614,-1.804,0,1,0
$FREEZE,2.69,1.388,-1.795,0,1,0
$STATE,8338,end climb,SURFACE_DEPTH_REACHED
$STATE,8338,begin surface coast
$FREEZE,2.22,0.863,-1.792,0,1,0
$FREEZE,1.83,0.691,-1.786,0,1,0
$FREEZE,1.37,0.540,-1.771,0,1,0
$FREEZE,1.21,-0.467,-1.791,0,1,0
$FREEZE,1.22,0.265,-0.918,0,1,0
$FREEZE,1.23,0.500,-1.506,0,1,0
$FINISH,1.2,1.022145
$STATE,8373,end surface coast,CONTROL_FINISHED_OK
$STATE,8373,begin surface
$SM_CCo,8394,51.15,0.831,0,0,1835,300.00
$SM_GC,2.44,0.00,0.00,51.15,0.000,0.000,0.831,338,2237,1835,-12.81,-0.37,300.00
$RAFOS_CLK,308
$RAFOS,6,1276217342,0.833333,0.817222,127,124,47,43,41,40,823,824,1195,1691,1233,1762
$RAFOS,5,1276216871,0.700000,0.686389,53,49,48,47,43,40,637,639,1811,1628,351,1735
$RAFOS,4,1276216389,0.566667,0.552500,62,61,48,47,41,40,860,859,1563,1587,1306,980
$RAFOS,3,1276215905,0.433333,0.418056,52,46,46,43,42,41,1118,1895,1061,1117,887,1794
$RAFOS,2,1276215422,0.300000,0.283889,53,46,45,42,41,39,195,1823,1906,1907,878,551
$RAFOS,1,1276214950,0.166667,0.152778,44,41,41,41,40,39,259,217,1152,1487,1153,1222
$RAFOS,0,1276214465,0.033333,0.018056,52,51,45,43,42,42,1369,210,1476,61,724,1825
$RAFOS_FIX,6713.119629,-5701.284180,110610,000044,2,94,2.04
$IRIDIUM_FIX,6636.54,-5656.94,040999,212117
$TT8_MAMPS,0.026845
$HUMID,38.93
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.1
$ALTIM_BOTTOM_PING,300.1,81.6
$24V_AH,23.7,5.198
$10V_AH,10.3,2.463
$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,20.000,62.400,308.675,51.150,0.000,24.252,37.557,138.075,0.750,0.000,32.594,1606.373,4557.506,410.890,1805.662,416.658,0.000,1301.143,0.000,1757.778,2520.000,7.253,0.000
$DEVICE_MAMPS,252.343,71.331,1076.101,830.661,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,684.805,644.085,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,146284
$DATA_FILE_SIZE,37882,944
$CAP_FILE_SIZE,100253,0
$CFSIZE,260165632,247480320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.5
$GPS,110610,020124,6710.798,-5657.363,36,1.0,37,-37.7