version: 66.06
glider: 108
mission: 14
dive: 29
start: 6 12 110 1 28 52
data:
$ID,108
$MISSION,14
$DIVE,29
$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,-179377.84
$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,38
$R_STBD_OVSHOOT,29
$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,0
$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
$GPS1,012302,6710.052,-5706.237,36,2.0,37,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-76.3
$GPS2,012832,6710.091,-5706.333,9,1.3,9,-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,208.3,18950,-18.1,-10.000
$D_GRID,483
$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,-69.62,0.000,2,0.000,0.000,337,2254,3363,0,0,0,0,0,0
$GC,93,-0.78,-146.1,3.2,-3.1,14,120,10.40,2.30,-8.00,0.000,4,0.248,0.071,2942,847,3658,0,0,0,0,0,0
$GC,346,-0.78,-146.1,31.2,-9.7,59,351,0.00,2.28,0.00,0.000,6,0.000,0.057,2934,2261,3663,0,0,0,0,0,0
$GC,690,-0.78,-146.1,63.6,-9.0,120,695,0.00,2.25,0.00,0.000,4,0.000,0.055,2934,837,3663,0,0,0,0,0,0
$GC,702,-0.78,-146.1,64.9,-9.2,122,708,0.10,2.28,0.00,0.000,6,0.164,0.058,2950,2259,3663,0,0,0,0,0,0
$GC,1048,-0.78,-146.1,93.0,-7.3,183,1053,0.00,2.22,0.00,0.000,4,0.000,0.055,2951,844,3663,0,0,0,0,0,0
$GC,1060,-0.78,-146.1,94.0,-7.9,185,1066,0.00,2.25,0.00,0.000,6,0.000,0.058,2943,2256,3663,0,0,0,0,0,0
$GC,1390,-0.78,-146.1,120.9,-7.7,222,1391,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2256,3663,0,0,0,0,0,0
$GC,1711,-0.78,-146.1,144.3,-7.1,252,1712,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2255,3662,0,0,0,0,0,0
$GC,2029,-0.78,-146.1,169.2,-7.9,282,2033,0.00,2.10,0.00,0.000,4,0.000,0.070,2932,3599,3662,0,0,0,0,0,0
$GC,2052,-0.78,-146.1,171.4,-8.4,284,2056,0.00,2.08,0.00,0.000,6,0.000,0.048,2933,2245,3661,0,0,0,0,0,0
$GC,2383,-0.78,-146.1,197.6,-7.6,315,2386,0.00,2.15,0.00,0.000,4,0.000,0.068,2923,3597,3662,0,0,0,0,0,0
$GC,2395,-0.78,-146.1,198.5,-7.6,316,2399,0.10,2.05,0.00,0.000,6,0.169,0.048,2949,2241,3661,0,0,0,0,0,0
$GC,2725,-0.78,-146.1,221.8,-7.0,347,2729,0.00,2.15,0.00,0.000,4,0.000,0.057,2949,840,3661,0,0,0,0,0,0
$GC,2742,-0.78,-146.1,223.1,-7.4,348,2747,0.00,2.22,0.00,0.000,6,0.000,0.058,2941,2249,3661,0,0,0,0,0,0
$GC,3067,-0.78,-146.1,246.8,-7.0,379,3068,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2249,3661,0,0,0,0,0,0
$GC,3388,-0.78,-146.1,266.6,-6.3,409,3393,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2249,3661,0,0,0,0,0,0
$GC,3715,-0.78,-146.1,288.3,-6.6,440,3719,0.00,2.20,0.00,0.000,4,0.000,0.056,2942,836,3661,0,0,0,0,0,0
$GC,3727,-0.78,-146.1,289.3,-6.6,441,3731,0.00,2.22,0.00,0.000,6,0.000,0.058,2931,2252,3661,0,0,0,0,0,0
$STATE,3878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3878,begin apogee
$GC,3885,-0.17,0.0,300.0,7.6,455,4005,0.45,0.00,117.00,1.026,6,0.124,0.000,3083,2153,3058,0,0,0,0,0,0
$STATE,4006,end apogee,CONTROL_FINISHED_OK
$STATE,4006,begin climb
$GC,4009,0.78,146.1,302.9,0.0,467,4131,0.60,0.00,118.03,0.970,6,0.081,0.000,3292,2153,2462,0,0,0,0,0,0
$GC,4449,0.78,146.1,264.4,10.7,509,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2153,2457,0,0,0,0,0,0
$GC,4770,0.78,146.1,231.4,10.1,539,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,2153,2456,0,0,0,0,0,0
$GC,5089,0.79,155.3,200.4,9.6,569,5099,0.00,0.00,8.32,0.818,6,0.000,0.000,3292,2153,2424,0,0,0,0,0,0
$GC,5414,0.80,161.3,168.5,9.7,600,5426,0.00,2.28,6.38,0.759,4,0.000,0.064,3293,3566,2399,0,0,0,0,0,0
$GC,5483,0.80,161.3,160.8,11.4,606,5487,0.00,2.22,0.00,0.000,6,0.000,0.048,3303,2140,2397,0,0,0,0,0,0
$GC,5808,0.80,161.3,125.4,11.2,636,5809,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,2140,2397,0,0,0,0,0,0
$GC,6132,0.84,193.3,94.7,8.5,671,6162,0.00,0.00,26.25,0.887,6,0.000,0.000,3303,2140,2269,0,0,0,0,0,0
$GC,6503,0.87,214.1,63.3,9.1,737,6529,0.00,2.38,17.60,0.841,4,0.000,0.065,3303,3561,2183,0,0,0,0,0,0
$GC,6558,0.87,214.1,58.0,10.1,747,6564,0.00,2.22,0.00,0.000,6,0.000,0.048,3313,2145,2181,0,0,0,0,0,0
$GC,6902,0.87,214.1,26.4,10.0,808,6907,0.00,2.20,0.00,0.000,4,0.000,0.057,3323,743,2180,0,0,0,0,0,0
$GC,6999,0.88,225.0,16.7,9.5,825,7015,0.00,2.28,9.75,0.771,6,0.000,0.057,3323,2162,2139,0,0,0,0,0,0
$FREEZE,8.89,2.062,-1.823,0,1,0
$FREEZE,8.36,2.008,-1.821,0,1,0
$FREEZE,7.81,1.943,-1.818,0,1,0
$FREEZE,7.37,1.867,-1.816,0,1,0
$FREEZE,6.84,1.784,-1.813,0,1,0
$FREEZE,6.48,1.768,-1.811,0,1,0
$FREEZE,5.96,1.736,-1.810,0,1,0
$FREEZE,5.48,1.694,-1.808,0,1,0
$FREEZE,5.00,1.688,-1.807,0,1,0
$FREEZE,4.58,1.433,-1.802,0,1,0
$FREEZE,4.06,1.373,-1.800,0,1,0
$FREEZE,3.60,1.371,-1.798,0,1,0
$FREEZE,3.15,1.402,-1.795,0,1,0
$FREEZE,2.75,1.398,-1.794,0,1,0
$STATE,7155,end climb,SURFACE_DEPTH_REACHED
$STATE,7155,begin surface coast
$FREEZE,2.37,1.301,-1.790,0,1,0
$FREEZE,1.82,1.264,-1.788,0,1,0
$FREEZE,1.31,1.264,-1.787,0,1,0
$FREEZE,1.22,1.328,-0.813,0,1,0
$FREEZE,1.17,1.323,-1.781,0,1,0
$FREEZE,1.21,1.312,-1.784,0,1,0
$FREEZE,1.22,1.302,-1.785,0,1,0
$FINISH,1.2,1.026075
$STATE,7196,end surface coast,CONTROL_FINISHED_OK
$STATE,7198,begin surface
$SM_CCo,7217,60.00,0.837,0,0,1835,300.00
$SM_GC,2.24,0.00,0.00,60.00,0.000,0.000,0.837,337,2265,1835,-12.80,0.42,300.00
$RAFOS_CLK,267
$RAFOS_FIX,6711.144531,-5707.714844,120610,000022,3,96,0.43
$IRIDIUM_FIX,6641.98,-5709.24,050999,222219
$TT8_MAMPS,0.027612
$HUMID,38.81
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.4,18.2
$ALTIM_BOTTOM_PING,300.0,6.5
$24V_AH,23.8,6.325
$10V_AH,10.4,3.077
$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,19.650,44.600,303.325,60.000,0.000,24.707,32.102,141.469,0.750,0.000,11.378,1394.030,4097.733,434.025,1266.972,407.476,0.000,1095.961,0.000,1257.539,0.000,7.051,0.000
$DEVICE_MAMPS,247.741,103.545,1026.246,836.797,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,631.412,588.044,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,136688
$DATA_FILE_SIZE,34701,860
$CAP_FILE_SIZE,84189,0
$CFSIZE,260165632,246935552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1462.5
$GPS,120610,033107,6710.001,-5708.433,8,1.6,9,-37.8