version: 66.06
glider: 108
mission: 14
dive: 22
start: 6 11 110 7 13 4
data:
$ID,108
$MISSION,14
$DIVE,22
$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,-179233.27
$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,37
$R_STBD_OVSHOOT,26
$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
$GPS1,070707,6710.479,-5700.998,25,1.3,25,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.07
$_SM_ANGLEo,-76.0
$GPS2,071244,6710.474,-5701.008,12,1.4,12,-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,219.9,19411,-18.1,-10.000
$D_GRID,427
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.78,-146.1,0.0,0.0,0,90,0.00,0.00,-69.93,0.000,2,0.000,0.000,338,2246,3354,0,0,0,0,0,0
$GC,93,-0.78,-146.1,3.2,-3.3,14,120,10.50,2.30,-7.90,0.000,4,0.250,0.071,2945,845,3659,0,0,0,0,0,0
$GC,426,-0.78,-146.1,39.2,-9.5,73,432,0.00,2.28,0.00,0.000,6,0.000,0.058,2938,2256,3663,0,0,0,0,0,0
$GC,770,-0.78,-146.1,73.0,-9.8,134,775,0.00,2.25,0.00,0.000,4,0.000,0.055,2938,830,3663,0,0,0,0,0,0
$GC,1078,-0.78,-146.1,103.1,-9.4,186,1084,0.00,2.25,0.00,0.000,6,0.000,0.058,2928,2256,3663,0,0,0,0,0,0
$GC,1403,-0.78,-146.1,132.1,-8.5,217,1408,0.10,2.22,0.00,0.000,4,0.171,0.056,2955,836,3662,0,0,0,0,0,0
$GC,1714,-0.78,-146.1,153.2,-6.4,244,1718,0.00,2.22,0.00,0.000,6,0.000,0.058,2948,2251,3662,0,0,0,0,0,0
$GC,2040,-0.78,-146.1,175.0,-6.8,274,2044,0.00,2.22,0.00,0.000,4,0.000,0.057,2948,839,3661,0,0,0,0,0,0
$GC,2348,-0.78,-146.1,199.3,-7.5,301,2354,0.00,2.25,0.00,0.000,6,0.000,0.058,2938,2264,3661,0,0,0,0,0,0
$GC,2673,-0.78,-146.1,224.2,-7.7,332,2677,0.00,2.22,0.00,0.000,4,0.000,0.055,2938,832,3662,0,0,0,0,0,0
$GC,2983,-0.78,-146.1,249.9,-8.5,359,2987,0.00,2.22,0.00,0.000,6,0.000,0.059,2929,2248,3662,0,0,0,0,0,0
$GC,3314,-0.78,-146.1,276.2,-7.9,390,3319,0.10,2.20,0.00,0.000,4,0.170,0.056,2955,838,3661,0,0,0,0,0,0
$GC,3623,-0.78,-146.1,296.5,-6.6,417,3629,0.00,2.22,0.00,0.000,6,0.000,0.058,2949,2258,3661,0,0,0,0,0,0
$GC,3948,-0.78,-146.1,316.1,-5.8,448,3952,0.00,2.20,0.00,0.000,4,0.000,0.055,2949,838,3661,0,0,0,0,0,0
$GC,4259,-0.78,-146.1,335.4,-6.1,475,4263,0.00,2.20,0.00,0.000,6,0.000,0.058,2939,2251,3661,0,0,0,0,0,0
$GC,4584,-0.78,-146.1,355.5,-6.3,505,4588,0.00,2.17,0.00,0.000,4,0.000,0.054,2939,840,3661,0,0,0,0,0,0
$GC,4891,-0.78,-146.1,376.7,-6.4,532,4897,0.00,2.22,0.00,0.000,6,0.000,0.058,2930,2260,3662,0,0,0,0,0,0
$GC,5217,-0.78,-146.1,399.3,-7.2,563,5221,0.00,2.20,0.00,0.000,4,0.000,0.054,2930,833,3662,0,0,0,0,0,0
$STATE,5243,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5243,begin apogee
$GC,5252,-0.17,0.0,401.5,7.7,565,5377,0.47,0.00,118.40,1.091,6,0.123,0.000,3081,2151,3058,0,0,0,0,0,0
$STATE,5378,end apogee,CONTROL_FINISHED_OK
$STATE,5378,begin climb
$GC,5381,0.78,146.1,403.8,0.0,578,5510,0.60,2.38,118.75,1.030,4,0.078,0.064,3291,3557,2462,0,0,0,0,0,0
$GC,5815,0.78,146.1,355.6,12.9,617,5819,0.00,2.22,0.00,0.000,6,0.000,0.046,3302,2146,2456,0,0,0,0,0,0
$GC,6146,0.78,146.1,316.8,11.4,648,6150,0.00,2.28,0.00,0.000,4,0.000,0.064,3302,3556,2457,0,0,0,0,0,0
$GC,6455,0.78,146.1,274.3,14.8,675,6459,0.00,2.20,0.00,0.000,6,0.000,0.047,3311,2141,2457,0,0,0,0,0,0
$GC,6786,0.78,146.1,233.2,12.4,706,6790,0.00,2.25,0.00,0.000,4,0.000,0.065,3312,3561,2457,0,0,0,0,0,0
$GC,7096,0.78,146.1,190.0,14.4,733,7101,0.12,2.17,0.00,0.000,6,0.174,0.048,3289,2142,2457,0,0,0,0,0,0
$GC,7426,0.80,160.4,156.9,9.3,764,7447,0.00,2.33,12.02,0.874,4,0.000,0.065,3289,3556,2403,0,0,0,0,0,0
$GC,7752,0.80,160.4,122.4,10.6,793,7756,0.00,2.17,0.00,0.000,6,0.000,0.047,3294,2147,2400,0,0,0,0,0,0
$GC,8081,0.82,179.7,93.8,9.1,829,8102,0.00,2.30,16.40,0.875,4,0.000,0.065,3294,3569,2324,0,0,0,0,0,0
$GC,8407,0.82,179.7,58.9,11.1,887,8412,0.00,2.20,0.00,0.000,6,0.000,0.048,3305,2149,2321,0,0,0,0,0,0
$GC,8751,0.87,215.2,29.4,8.4,948,8787,0.00,2.33,28.77,0.861,4,0.000,0.067,3305,3552,2178,0,0,0,0,0,0
$FREEZE,8.69,1.867,-1.825,0,1,0
$FREEZE,8.19,1.839,-1.823,0,1,0
$FREEZE,7.76,1.811,-1.820,0,1,0
$FREEZE,7.23,1.779,-1.818,0,1,0
$FREEZE,6.75,1.780,-1.818,0,1,0
$FREEZE,6.30,1.775,-1.817,0,1,0
$FREEZE,5.77,1.765,-1.815,0,1,0
$FREEZE,5.30,1.762,-1.814,0,1,0
$FREEZE,4.80,1.762,-1.814,0,1,0
$FREEZE,4.24,1.760,-1.813,0,1,0
$FREEZE,3.85,1.755,-1.812,0,1,0
$FREEZE,3.30,1.755,-1.812,0,1,0
$FREEZE,2.79,1.757,-1.811,0,1,0
$STATE,9040,end climb,SURFACE_DEPTH_REACHED
$STATE,9040,begin surface coast
$FREEZE,2.33,1.758,-1.811,0,1,0
$FREEZE,1.80,1.759,-1.810,0,1,0
$FREEZE,1.38,1.757,-1.810,0,1,0
$FREEZE,1.23,1.742,-1.206,0,1,0
$FREEZE,1.17,1.755,-1.811,0,1,0
$FREEZE,1.19,1.716,-1.812,0,1,0
$FINISH,1.2,1.026435
$STATE,9075,end surface coast,CONTROL_FINISHED_OK
$STATE,9075,begin surface
$SM_CCo,9095,67.20,0.834,0,0,1834,300.00
$SM_GC,2.13,0.00,0.00,67.20,0.000,0.000,0.834,341,2240,1834,-12.78,-0.28,300.00
$RAFOS_CLK,332
$RAFOS,6,1276246146,8.833333,8.818334,89,83,47,44,41,40,792,793,393,195,1439,92
$RAFOS,5,1276245670,8.700000,8.686111,44,41,41,41,40,39,88,398,1490,1560,61,1
$RAFOS,4,1276245183,8.566667,8.550834,83,80,51,47,43,40,884,885,750,1892,1567,476
$RAFOS,3,1276244710,8.433333,8.419444,46,46,43,43,43,41,200,1759,247,243,575,543
$RAFOS,2,1276244223,8.300000,8.284166,49,47,44,42,42,39,1238,375,314,210,522,1093
$RAFOS,1,1276243747,8.166667,8.151944,54,47,47,45,43,41,1558,1543,1574,1048,1575,1
$RAFOS,0,1276243263,8.033334,8.017500,55,48,46,43,42,42,913,914,1507,1059,606,1055
$RAFOS_FIX,6713.756348,-5705.205566,110610,080840,2,86,1.26
$IRIDIUM_FIX,6641.98,-5658.57,050999,040437
$TT8_MAMPS,0.027612
$HUMID,39.36
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.2
$ALTIM_BOTTOM_PING,350.1,66.4
$24V_AH,23.7,5.539
$10V_AH,10.3,2.646
$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,19.900,66.875,294.350,67.200,0.000,30.467,32.439,141.645,1.250,0.000,13.622,1719.267,5019.204,423.309,1904.453,439.952,0.000,1368.120,0.000,1873.125,2520.000,16.196,0.000
$DEVICE_MAMPS,250.042,71.331,1091.441,833.729,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,733.508,686.955,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,143700
$DATA_FILE_SIZE,37832,1006
$CAP_FILE_SIZE,106718,0
$CFSIZE,260165632,247304192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.6
$GPS,110610,094715,6710.642,-5700.798,8,2.2,27,-37.8