version: 66.06
glider: 108
mission: 14
dive: 24
start: 6 11 110 12 28 45
data:
$ID,108
$MISSION,14
$DIVE,24
$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,-179284.12
$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,31
$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
$GPS1,122237,6711.209,-5700.560,29,1.1,29,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-76.7
$GPS2,122825,6711.203,-5700.596,9,1.1,14,-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,220.6,20773,-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,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,-69.68,0.000,2,0.000,0.000,340,2236,3352,0,0,0,0,0,0
$GC,93,-0.78,-146.1,3.1,-1.4,14,120,10.43,2.25,-8.27,0.000,4,0.247,0.070,2945,848,3659,0,0,0,0,0,0
$GC,424,-0.78,-146.1,38.5,-9.8,73,429,0.00,2.28,0.00,0.000,6,0.000,0.058,2938,2259,3663,0,0,0,0,0,0
$GC,767,-0.78,-146.1,70.8,-8.8,134,773,0.00,2.25,0.00,0.000,4,0.000,0.055,2938,837,3663,0,0,0,0,0,0
$GC,1077,-0.78,-146.1,100.6,-9.2,188,1083,0.10,2.25,0.00,0.000,6,0.164,0.059,2954,2247,3663,0,0,0,0,0,0
$GC,1402,-0.78,-146.1,126.7,-8.3,219,1406,0.00,2.20,0.00,0.000,4,0.000,0.055,2954,845,3663,0,0,0,0,0,0
$GC,1711,-0.78,-146.1,151.4,-7.8,246,1715,0.00,2.25,0.00,0.000,6,0.000,0.059,2948,2264,3662,0,0,0,0,0,0
$GC,2036,-0.78,-146.1,176.2,-7.2,276,2040,0.00,2.22,0.00,0.000,4,0.000,0.055,2948,837,3662,0,0,0,0,0,0
$GC,2346,-0.78,-146.1,199.4,-6.6,303,2350,0.00,2.22,0.00,0.000,6,0.000,0.058,2938,2256,3661,0,0,0,0,0,0
$GC,2671,-0.78,-146.1,222.5,-7.3,333,2675,0.00,2.20,0.00,0.000,4,0.000,0.055,2938,841,3661,0,0,0,0,0,0
$GC,2980,-0.78,-146.1,246.6,-7.8,360,2984,0.00,2.22,0.00,0.000,6,0.000,0.059,2929,2250,3661,0,0,0,0,0,0
$GC,3305,-0.78,-146.1,272.2,-8.3,390,3309,0.00,2.20,0.00,0.000,4,0.000,0.056,2928,833,3661,0,0,0,0,0,0
$GC,3615,-0.78,-146.1,298.5,-9.2,417,3620,0.12,2.25,0.00,0.000,6,0.156,0.058,2954,2262,3661,0,0,0,0,0,0
$GC,3940,-0.78,-146.1,318.6,-6.4,447,3944,0.00,2.17,0.00,0.000,4,0.000,0.054,2954,842,3661,0,0,0,0,0,0
$GC,4250,-0.78,-146.1,340.2,-6.5,474,4254,0.00,2.22,0.00,0.000,6,0.000,0.058,2948,2260,3661,0,0,0,0,0,0
$GC,4575,-0.78,-146.1,361.9,-6.6,504,4579,0.00,2.17,0.00,0.000,4,0.000,0.054,2948,832,3662,0,0,0,0,0,0
$STATE,4679,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4679,begin apogee
$GC,4688,-0.17,0.0,369.3,6.5,513,4809,0.43,0.00,118.03,1.070,6,0.119,0.000,3085,2161,3058,0,0,0,0,0,0
$STATE,4810,end apogee,CONTROL_FINISHED_OK
$STATE,4810,begin climb
$GC,4813,0.78,146.1,371.9,0.0,525,4941,0.60,2.40,118.60,1.006,4,0.077,0.065,3296,3563,2462,0,0,0,0,0,0
$GC,5244,0.78,146.1,324.5,13.1,564,5250,0.00,2.25,0.00,0.000,6,0.000,0.045,3307,2141,2456,0,0,0,0,0,0
$GC,5569,0.78,146.1,288.3,11.3,595,5573,0.00,2.28,0.00,0.000,4,0.000,0.064,3307,3561,2456,0,0,0,0,0,0
$GC,5878,0.78,146.1,247.2,13.8,622,5883,0.12,2.20,0.00,0.000,6,0.173,0.047,3285,2141,2457,0,0,0,0,0,0
$GC,6203,0.79,155.8,215.1,9.6,652,6217,0.00,2.33,8.62,0.841,4,0.000,0.065,3285,3563,2421,0,0,0,0,0,0
$GC,6521,0.79,155.8,178.7,11.3,680,6527,0.00,2.20,0.00,0.000,6,0.000,0.046,3292,2138,2420,0,0,0,0,0,0
$GC,6846,0.81,167.1,146.3,9.5,711,6861,0.00,2.30,10.62,0.855,4,0.000,0.064,3292,3565,2375,0,0,0,0,0,0
$GC,7166,0.81,167.1,111.0,11.3,739,7170,0.00,2.20,0.00,0.000,6,0.000,0.047,3302,2137,2373,0,0,0,0,0,0
$GC,7504,0.82,180.3,77.9,9.4,789,7521,0.00,2.35,11.68,0.836,4,0.000,0.065,3302,3565,2322,0,0,0,0,0,0
$GC,7825,0.82,180.3,42.1,10.9,846,7831,0.00,2.20,0.00,0.000,6,0.000,0.048,3312,2144,2318,0,0,0,0,0,0
$FREEZE,8.99,2.201,-1.833,0,1,0
$FREEZE,8.52,2.126,-1.832,0,1,0
$FREEZE,8.05,2.079,-1.829,0,1,0
$FREEZE,7.52,2.004,-1.826,0,1,0
$FREEZE,6.58,1.914,-1.821,0,1,0
$FREEZE,6.08,1.871,-1.819,0,1,0
$FREEZE,5.64,1.835,-1.817,0,1,0
$FREEZE,5.09,1.842,-1.816,0,1,0
$GC,8173,0.86,207.6,7.5,8.8,907,8202,0.00,2.33,21.95,0.847,4,0.000,0.065,3312,3555,2210,0,0,0,0,0,0
$FREEZE,4.08,1.764,-1.813,0,1,0
$FREEZE,3.71,1.745,-1.811,0,1,0
$FREEZE,3.24,1.735,-1.810,0,1,0
$FREEZE,2.80,1.723,-1.809,0,1,0
$STATE,8224,end climb,SURFACE_DEPTH_REACHED
$STATE,8224,begin surface coast
$FREEZE,2.11,1.689,-1.807,0,1,0
$FREEZE,1.62,1.700,-1.807,0,1,0
$FREEZE,1.24,1.679,-1.805,0,1,0
$FREEZE,1.18,1.636,-0.927,0,1,0
$FREEZE,1.26,1.675,-0.214,0,1,0
$FREEZE,1.16,1.656,-0.939,0,1,0
$FREEZE,1.23,1.657,-0.848,0,1,0
$FINISH,1.2,1.012510
$STATE,8265,end surface coast,CONTROL_FINISHED_OK
$STATE,8265,begin surface
$SM_CCo,8286,73.28,0.832,0,0,1834,300.00
$SM_GC,2.19,0.00,0.00,73.28,0.000,0.000,0.832,337,2226,1834,-12.80,-0.68,300.00
$RAFOS_CLK,306
$RAFOS,6,1276260543,12.833333,12.817500,95,80,47,45,43,42,806,808,1719,497,1875,1080
$RAFOS,5,1276260061,12.700000,12.683611,87,85,47,45,40,40,679,680,1705,1192,829,1886
$RAFOS,4,1276259583,12.566667,12.550834,92,71,47,46,41,41,886,887,622,1328,391,1736
$RAFOS,2,1276258623,12.300000,12.284166,50,45,44,43,43,41,1762,26,1359,1354,156,867
$RAFOS_FIX,6712.293945,-5704.827637,110610,121201,3,91,4.17
$IRIDIUM_FIX,6641.98,-5658.57,050999,090904
$TT8_MAMPS,0.026845
$HUMID,38.97
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.5,18.2
$ALTIM_BOTTOM_PING,300.4,83.8
$24V_AH,23.7,5.760
$10V_AH,10.4,2.764
$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,19.850,62.625,289.500,73.275,0.000,31.077,49.460,135.624,0.750,0.000,16.151,1572.369,4538.067,420.214,1755.154,430.316,0.000,1291.815,0.000,1724.549,1080.000,7.259,0.000
$DEVICE_MAMPS,246.974,69.797,1069.965,832.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,671.702,629.162,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,141976
$DATA_FILE_SIZE,34699,923
$CAP_FILE_SIZE,99485,0
$CFSIZE,260165632,247201792
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.9
$GPS,110610,144934,6711.542,-5701.555,9,2.1,29,-37.8