version: 66.06
glider: 108
mission: 14
dive: 21
start: 6 11 110 4 36 33
data:
$ID,108
$MISSION,14
$DIVE,21
$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,-179219.02
$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
$GPS1,042810,6710.854,-5659.949,11,3.0,31,-37.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-75.0
$GPS2,043613,6710.811,-5700.109,8,1.5,13,-37.8
$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,221.7,20069,-18.1,-10.000
$D_GRID,404
$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,16,-0.78,-146.1,0.0,0.0,0,84,0.00,0.00,-64.85,0.000,2,0.000,0.000,344,2231,3220,0,0,0,0,0,0
$GC,87,-0.78,-146.1,3.2,-2.2,13,119,10.55,2.25,-12.70,0.000,4,0.253,0.071,2944,845,3657,0,0,0,0,0,0
$GC,426,-0.78,-146.1,39.1,-9.6,73,431,0.00,2.28,0.00,0.000,6,0.000,0.058,2936,2258,3661,0,0,0,0,0,0
$GC,769,-0.78,-146.1,73.5,-9.6,134,774,0.00,2.25,0.00,0.000,4,0.000,0.056,2936,836,3661,0,0,0,0,0,0
$GC,1078,-0.78,-146.1,105.1,-9.5,184,1084,0.10,2.28,0.00,0.000,6,0.168,0.058,2952,2261,3661,0,0,0,0,0,0
$GC,1403,-0.78,-146.1,132.3,-8.0,215,1407,0.00,2.22,0.00,0.000,4,0.000,0.056,2953,844,3661,0,0,0,0,0,0
$GC,1712,-0.78,-146.1,156.3,-6.7,242,1716,0.00,2.25,0.00,0.000,6,0.000,0.059,2946,2260,3660,0,0,0,0,0,0
$GC,2037,-0.78,-146.1,179.3,-6.7,272,2041,0.00,2.22,0.00,0.000,4,0.000,0.056,2946,839,3660,0,0,0,0,0,0
$GC,2346,-0.78,-146.1,201.5,-6.8,299,2350,0.00,2.25,0.00,0.000,6,0.000,0.059,2936,2259,3660,0,0,0,0,0,0
$GC,2671,-0.78,-146.1,223.2,-7.2,329,2675,0.00,2.20,0.00,0.000,4,0.000,0.055,2936,848,3660,0,0,0,0,0,0
$GC,2980,-0.78,-146.1,248.2,-8.2,356,2986,0.10,2.22,0.00,0.000,6,0.164,0.058,2954,2257,3660,0,0,0,0,0,0
$GC,3305,-0.78,-146.1,269.0,-6.1,387,3309,0.00,2.20,0.00,0.000,4,0.000,0.055,2954,840,3660,0,0,0,0,0,0
$GC,3614,-0.78,-146.1,290.5,-7.0,414,3619,0.00,2.22,0.00,0.000,6,0.000,0.058,2948,2250,3660,0,0,0,0,0,0
$GC,3945,-0.78,-146.1,314.0,-6.9,445,3949,0.00,2.22,0.00,0.000,4,0.000,0.055,2947,832,3660,0,0,0,0,0,0
$GC,4254,-0.78,-146.1,338.0,-8.3,472,4260,0.00,2.25,0.00,0.000,6,0.000,0.058,2938,2265,3661,0,0,0,0,0,0
$GC,4579,-0.78,-146.1,363.1,-7.9,503,4583,0.00,2.20,0.00,0.000,4,0.000,0.054,2938,843,3661,0,0,0,0,0,0
$GC,4889,-0.78,-146.1,387.7,-8.2,530,4894,0.00,2.22,0.00,0.000,6,0.000,0.057,2928,2264,3661,0,0,0,0,0,0
$STATE,4967,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4967,begin apogee
$GC,4974,-0.17,0.0,394.1,8.1,538,5095,0.45,0.00,118.00,1.090,6,0.123,0.000,3080,2149,3058,0,0,0,0,0,0
$STATE,5096,end apogee,CONTROL_FINISHED_OK
$STATE,5096,begin climb
$GC,5099,0.78,146.1,396.7,0.0,550,5227,0.60,2.42,118.57,1.032,4,0.081,0.064,3290,3559,2461,0,0,0,0,0,0
$GC,5531,0.78,146.1,351.3,11.8,589,5536,0.00,2.22,0.00,0.000,6,0.000,0.046,3301,2153,2456,0,0,0,0,0,0
$GC,5862,0.78,146.1,312.6,11.4,620,5866,0.00,2.28,0.00,0.000,4,0.000,0.064,3301,3563,2457,0,0,0,0,0,0
$GC,6172,0.78,146.1,272.5,12.9,647,6176,0.00,2.20,0.00,0.000,6,0.000,0.048,3310,2136,2457,0,0,0,0,0,0
$GC,6502,0.78,146.1,237.5,10.2,678,6506,0.00,2.25,0.00,0.000,4,0.000,0.064,3310,3559,2457,0,0,0,0,0,0
$GC,6811,0.78,146.1,199.4,12.5,705,6816,0.12,2.17,0.00,0.000,6,0.176,0.047,3288,2145,2458,0,0,0,0,0,0
$GC,7136,0.82,178.4,170.9,8.5,735,7168,0.00,2.30,26.08,0.937,4,0.000,0.064,3288,3563,2328,0,0,0,0,0,0
$GC,7472,0.83,184.3,136.3,9.7,765,7484,0.00,2.20,5.47,0.713,6,0.000,0.048,3293,2149,2306,0,0,0,0,0,0
$GC,7803,0.85,201.3,107.0,9.2,796,7824,0.00,2.30,15.00,0.867,4,0.000,0.066,3293,3562,2236,0,0,0,0,0,0
$GC,8130,0.85,201.4,73.5,10.0,847,8135,0.00,2.20,0.00,0.000,6,0.000,0.048,3303,2148,2232,0,0,0,0,0,0
$GC,8473,0.87,218.0,41.1,9.2,908,8495,0.00,2.30,14.30,0.844,4,0.000,0.067,3303,3562,2168,0,0,0,0,0,0
$FREEZE,8.72,1.966,-1.829,0,1,0
$FREEZE,8.13,1.956,-1.828,0,1,0
$FREEZE,7.66,1.845,-1.821,0,1,0
$FREEZE,7.01,1.838,-1.820,0,1,0
$FREEZE,6.54,1.824,-1.819,0,1,0
$FREEZE,6.06,1.817,-1.818,0,1,0
$FREEZE,5.34,1.794,-1.815,0,1,0
$FREEZE,4.84,1.775,-1.814,0,1,0
$GC,8800,0.88,228.0,6.1,9.5,966,8818,0.00,2.20,8.98,0.769,6,0.000,0.049,3311,2148,2128,0,0,0,0,0,0
$FREEZE,3.73,1.770,-1.813,0,1,0
$FREEZE,3.37,1.771,-1.812,0,1,0
$FREEZE,2.90,1.772,-1.811,0,1,0
$STATE,8834,end climb,SURFACE_DEPTH_REACHED
$STATE,8834,begin surface coast
$FREEZE,2.33,1.777,-1.811,0,1,0
$FREEZE,2.00,1.776,-1.811,0,1,0
$FREEZE,1.53,1.778,-1.810,0,1,0
$FREEZE,1.24,1.802,-1.810,0,1,0
$FREEZE,1.25,1.700,-0.183,0,1,0
$FREEZE,1.22,1.767,-0.992,0,1,0
$FREEZE,1.25,1.796,-1.524,0,1,0
$FINISH,1.2,1.022342
$STATE,8875,end surface coast,CONTROL_FINISHED_OK
$STATE,8875,begin surface
$SM_CCo,8894,57.92,0.844,0,0,1834,300.00
$SM_GC,2.24,0.00,0.00,57.92,0.000,0.000,0.844,338,2246,1834,-12.80,-0.11,300.00
$RAFOS_CLK,328
$RAFOS,6,1276231742,4.833333,4.817222,93,87,48,44,44,40,810,809,252,180,1559,297
$RAFOS,5,1276231262,4.700000,4.683889,80,73,47,45,45,43,666,667,1140,1452,1865,291
$RAFOS,3,1276230305,4.433333,4.418056,44,43,43,42,41,39,1308,1066,1383,625,1038,1
$RAFOS_FIX,6710.759766,-5704.413086,110610,040456,2,86,4.83
$IRIDIUM_FIX,6641.98,-5658.57,050999,040452
$TT8_MAMPS,0.026845
$HUMID,39.36
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.3
$ALTIM_BOTTOM_PING,350.1,58.7
$24V_AH,23.7,5.426
$10V_AH,10.3,2.583
$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,19.925,63.150,306.400,57.925,0.000,46.673,113.587,132.799,1.250,0.000,15.452,1679.913,4938.783,420.974,1880.383,520.856,0.000,1351.881,0.000,1843.791,720.000,11.625,0.000
$DEVICE_MAMPS,253.110,79.768,1089.907,843.700,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,708.340,668.555,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,144588
$DATA_FILE_SIZE,37873,979
$CAP_FILE_SIZE,105717,0
$CFSIZE,260165632,247365632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.3
$GPS,110610,070707,6710.479,-5700.998,25,1.3,25,-37.8