version: 66.06
glider: 108
mission: 14
dive: 25
start: 6 11 110 14 55 40
data:
$ID,108
$MISSION,14
$DIVE,25
$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,-179300.88
$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,44
$R_STBD_OVSHOOT,32
$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
$GPS1,144934,6711.542,-5701.555,9,2.1,29,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-75.9
$GPS2,145520,6711.515,-5701.662,14,0.8,14,-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,218.5,21327,-18.1,-10.000
$D_GRID,400
$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,-69.80,0.000,2,0.000,0.000,337,2226,3365,0,0,0,0,0,0
$GC,93,-0.78,-146.1,3.5,-4.5,14,120,10.32,2.25,-7.45,0.000,4,0.243,0.070,2945,836,3659,0,0,0,0,0,0
$GC,425,-0.78,-146.1,42.2,-9.2,73,430,0.00,2.28,0.00,0.000,6,0.000,0.058,2937,2247,3663,0,0,0,0,0,0
$GC,768,-0.78,-146.1,73.1,-8.5,134,774,0.00,2.22,0.00,0.000,4,0.000,0.055,2938,840,3663,0,0,0,0,0,0
$GC,1077,-0.78,-146.1,104.3,-10.3,185,1083,0.10,2.25,0.00,0.000,6,0.164,0.059,2954,2259,3663,0,0,0,0,0,0
$GC,1402,-0.78,-146.1,127.8,-6.9,216,1406,0.00,2.20,0.00,0.000,4,0.000,0.056,2955,843,3662,0,0,0,0,0,0
$GC,1711,-0.78,-146.1,150.5,-7.9,243,1715,0.00,2.22,0.00,0.000,6,0.000,0.059,2947,2257,3662,0,0,0,0,0,0
$GC,2041,-0.78,-146.1,177.7,-8.1,274,2045,0.00,2.20,0.00,0.000,4,0.000,0.055,2947,845,3662,0,0,0,0,0,0
$GC,2351,-0.78,-146.1,204.5,-8.6,301,2355,0.00,2.22,0.00,0.000,6,0.000,0.058,2937,2254,3662,0,0,0,0,0,0
$GC,2681,-0.78,-146.1,233.0,-8.6,332,2685,0.00,2.20,0.00,0.000,4,0.000,0.055,2937,838,3661,0,0,0,0,0,0
$GC,2990,-0.78,-146.1,258.9,-8.0,359,2995,0.10,2.22,0.00,0.000,6,0.164,0.059,2955,2262,3661,0,0,0,0,0,0
$GC,3316,-0.78,-146.1,280.5,-6.5,389,3320,0.00,2.17,0.00,0.000,4,0.000,0.054,2955,845,3661,0,0,0,0,0,0
$GC,3625,-0.78,-146.1,301.7,-6.7,416,3630,0.00,2.22,0.00,0.000,6,0.000,0.058,2949,2261,3661,0,0,0,0,0,0
$GC,3950,-0.78,-146.1,322.0,-6.4,447,3954,0.00,2.20,0.00,0.000,4,0.000,0.054,2949,838,3661,0,0,0,0,0,0
$GC,4260,-0.78,-146.1,343.5,-6.9,474,4264,0.00,2.20,0.00,0.000,6,0.000,0.058,2941,2253,3661,0,0,0,0,0,0
$GC,4585,-0.78,-146.1,366.3,-7.0,504,4589,0.00,2.17,0.00,0.000,4,0.000,0.054,2940,841,3661,0,0,0,0,0,0
$STATE,4784,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4784,begin apogee
$GC,4793,-0.17,0.0,381.5,7.6,521,4914,0.45,0.00,118.18,1.078,6,0.120,0.000,3084,2153,3058,0,0,0,0,0,0
$STATE,4915,end apogee,CONTROL_FINISHED_OK
$STATE,4915,begin climb
$GC,4918,0.78,146.1,384.2,0.0,533,5046,0.60,2.40,118.72,1.020,4,0.077,0.065,3295,3557,2461,0,0,0,0,0,0
$GC,5351,0.78,146.1,339.8,11.7,572,5355,0.00,2.20,0.00,0.000,6,0.000,0.046,3305,2156,2455,0,0,0,0,0,0
$GC,5681,0.78,146.1,304.6,10.8,603,5685,0.00,2.28,0.00,0.000,4,0.000,0.064,3305,3568,2456,0,0,0,0,0,0
$GC,5990,0.78,146.1,266.0,11.7,630,5995,0.10,2.20,0.00,0.000,6,0.182,0.047,3291,2136,2456,0,0,0,0,0,0
$GC,6315,0.81,168.6,235.1,9.0,660,6340,0.00,2.35,18.48,0.940,4,0.000,0.064,3291,3557,2370,0,0,0,0,0,0
$GC,6644,0.81,168.6,196.4,12.0,689,6650,0.00,2.17,0.00,0.000,6,0.000,0.047,3295,2151,2367,0,0,0,0,0,0
$GC,6969,0.81,168.6,161.8,11.0,720,6973,0.00,2.25,0.00,0.000,4,0.000,0.064,3296,3557,2367,0,0,0,0,0,0
$GC,7278,0.81,168.6,123.0,12.4,747,7282,0.00,2.17,0.00,0.000,6,0.000,0.047,3306,2143,2367,0,0,0,0,0,0
$GC,7610,0.81,171.1,88.9,9.9,786,7615,0.00,2.25,0.00,0.000,4,0.000,0.065,3306,3559,2367,0,0,0,0,0,0
$GC,7919,0.81,171.1,54.8,10.4,841,7925,0.00,2.17,0.00,0.000,6,0.000,0.048,3316,2140,2367,0,0,0,0,0,0
$GC,8265,0.86,209.9,25.2,8.2,902,8306,0.00,2.35,32.88,0.871,4,0.000,0.066,3315,3559,2200,0,0,0,0,0,0
$FREEZE,8.70,2.139,-1.834,0,1,0
$FREEZE,8.05,2.140,-1.832,0,1,0
$FREEZE,7.54,2.150,-1.832,0,1,0
$FREEZE,7.04,2.137,-1.829,0,1,0
$FREEZE,6.64,2.153,-1.828,0,1,0
$FREEZE,6.11,2.157,-1.827,0,1,0
$FREEZE,5.54,2.153,-1.826,0,1,0
$FREEZE,5.09,2.116,-1.823,0,1,0
$FREEZE,4.50,2.050,-1.822,0,1,0
$FREEZE,3.98,2.017,-1.818,0,1,0
$FREEZE,3.27,1.848,-1.814,0,1,0
$FREEZE,2.73,1.861,-1.813,0,1,0
$STATE,8491,end climb,SURFACE_DEPTH_REACHED
$STATE,8491,begin surface coast
$FREEZE,2.21,1.790,-1.810,0,1,0
$FREEZE,1.47,1.761,-1.808,0,1,0
$FREEZE,1.26,1.756,-1.807,0,1,0
$FREEZE,1.23,1.749,-1.190,0,1,0
$FREEZE,1.25,1.755,-1.792,0,1,0
$FINISH,1.3,1.026152
$STATE,8520,end surface coast,CONTROL_FINISHED_OK
$STATE,8520,begin surface
$SM_CCo,8541,71.03,0.832,0,0,1835,300.00
$SM_GC,2.07,0.00,0.00,71.03,0.000,0.000,0.832,337,2236,1835,-12.80,-0.40,300.00
$RAFOS_CLK,309
$RAFOS,6,1276274947,16.833334,16.818611,52,47,46,46,42,41,781,205,349,784,162,1056
$RAFOS,5,1276274464,16.700001,16.684444,76,71,48,45,45,44,666,664,940,435,1251,1519
$RAFOS,4,1276273986,16.566668,16.551666,77,74,48,42,42,38,865,866,1027,296,1762,1696
$RAFOS,3,1276273510,16.433332,16.419445,49,45,40,39,39,39,1777,900,714,1808,696,1199
$RAFOS,2,1276273027,16.299999,16.285278,44,42,41,40,40,39,733,386,1415,408,1856,1395
$RAFOS,1,1276272542,16.166666,16.150555,43,42,41,40,40,39,1139,301,1,366,1368,1109
$RAFOS,0,1276272068,16.033333,16.018888,49,47,43,43,41,39,1745,1418,239,888,1237,1734
$RAFOS_FIX,6712.833496,-5705.218750,110610,161628,2,76,0.57
$IRIDIUM_FIX,6636.54,-5931.51,050999,121244
$TT8_MAMPS,0.026845
$HUMID,39.09
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.3
$ALTIM_BOTTOM_PING,300.2,96.3
$24V_AH,23.7,5.872
$10V_AH,10.4,2.824
$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,19.700,62.250,288.250,71.025,0.000,26.532,49.627,140.273,0.750,0.000,16.133,1607.541,4699.008,415.512,1809.174,436.180,0.000,1313.412,0.000,1777.360,2520.000,7.293,0.000
$DEVICE_MAMPS,243.139,69.797,1077.635,832.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,691.886,647.205,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,141084
$DATA_FILE_SIZE,37960,948
$CAP_FILE_SIZE,101115,0
$CFSIZE,260165632,247144448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1463.9
$GPS,110610,172036,6711.179,-5702.218,24,2.0,24,-37.8