version: 66.09
glider: 108
mission: 16
dive: 13
start: 9 8 111 6 23 56
data:
$ID,108
$MISSION,16
$DIVE,13
$N_DIVES,30
$D_SURF,4
$D_FLARE,3
$D_TGT,120
$D_ABORT,150
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,44
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51502
$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,0.25
$TGT_DEFAULT_LAT,-2030
$TGT_DEFAULT_LON,5900
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-186758.95
$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,3294
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,47
$ROLL_AD_RATE,250
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,588
$VBD_MAX,3951
$C_VBD,3156
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,600
$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,-1
$PRESSURE_YINT,-22.96838
$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,5
$ALTIM_PING_DEPTH,80
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,64
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044220644
$SEABIRD_T_H,0.00065538363
$SEABIRD_T_I,2.8550956e-05
$SEABIRD_T_J,3.214675e-06
$SEABIRD_C_G,-10.084064
$SEABIRD_C_H,1.1288997
$SEABIRD_C_I,-0.0014441535
$SEABIRD_C_J,0.00017831143
$GPS1,080911,061637,4807.043,-12222.931,16,1.4,16,16.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-82.4
$GPS2,080911,062325,4807.036,-12222.938,21,1.1,21,16.7
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$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,132.1,2243,-16.6,-9.091
$D_GRID,105
$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,-0.73,-146.6,0.0,0.0,0,110,0.00,0.00,-90.82,0.000,2,0.000,0.000,339,2223,3438,0,0,0,0,0,0
$GC,113,-0.73,-146.6,3.5,-7.1,16,139,10.40,2.25,-5.80,0.000,4,0.244,0.060,3060,786,3759,0,0,0,0,0,0
$GC,293,-0.42,-146.6,34.8,-14.6,47,301,0.35,2.17,0.00,0.000,6,0.146,0.046,3160,2189,3765,0,0,0,0,0,0
$GC,442,-0.52,-146.6,46.7,-7.5,72,448,0.00,2.15,0.00,0.000,4,0.000,0.055,3152,3608,3766,0,0,0,0,0,0
$GC,485,-0.64,-146.6,50.6,-8.3,79,492,0.20,2.10,0.00,0.000,6,0.067,0.037,3053,2184,3766,0,0,0,0,0,0
$GC,629,-0.33,-146.6,71.5,-14.6,104,636,0.40,0.00,0.00,0.000,6,0.138,0.000,3182,2178,3767,0,0,0,0,0,0
$GC,776,-0.58,-146.6,81.5,-6.1,129,783,0.22,2.17,0.00,0.000,4,0.067,0.054,3068,3598,3767,0,0,0,0,0,0
$GC,808,-0.40,-146.6,85.2,-12.2,134,816,0.30,2.08,0.00,0.000,6,0.139,0.037,3162,2188,3767,0,0,0,0,0,0
$GC,955,-0.56,-146.6,96.7,-7.5,159,962,0.15,0.00,0.00,0.000,6,0.084,0.000,3090,2187,3767,0,0,0,0,0,0
$STATE,1028,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1028,begin apogee
$GC,1036,-0.17,0.0,105.3,-11.9,172,1156,0.43,0.00,110.03,0.899,6,0.127,0.000,3233,1989,3155,0,0,0,0,0,0
$STATE,1156,end apogee,CONTROL_FINISHED_OK
$STATE,1157,begin climb
$GC,1159,0.73,146.6,110.4,0.0,192,1280,0.85,2.33,110.62,0.859,4,0.093,0.046,3534,602,2558,0,0,0,0,0,0
$GC,1349,0.47,146.6,97.0,11.7,224,1357,0.30,2.28,0.00,0.000,6,0.155,0.044,3446,2005,2559,0,0,0,0,0,0
$GC,1498,0.59,184.6,84.9,7.5,249,1535,0.12,2.22,29.67,0.835,4,0.094,0.050,3499,3408,2402,0,0,0,0,0,0
$GC,1585,0.32,184.6,74.9,13.5,263,1593,0.38,2.17,0.00,0.000,6,0.148,0.037,3400,2007,2402,0,0,0,0,0,0
$GC,1730,0.76,261.5,64.9,5.9,288,1797,0.35,2.28,58.83,0.849,4,0.056,0.044,3561,598,2090,0,0,0,0,0,0
$GC,1833,0.61,261.5,50.4,16.5,305,1840,0.25,2.28,0.00,0.000,6,0.148,0.044,3490,1999,2089,0,0,0,0,0,0
$GC,1980,0.68,261.5,32.9,11.3,330,1986,0.00,2.20,0.00,0.000,4,0.000,0.054,3490,3409,2084,0,0,0,0,0,0
$GC,2056,0.68,261.5,22.9,13.3,343,2062,0.00,2.17,0.00,0.000,6,0.000,0.038,3498,1995,2083,0,0,0,0,0,0
$GC,2201,0.75,261.5,6.8,10.4,368,2209,0.12,2.17,0.00,0.000,4,0.092,0.047,3566,590,2082,0,0,0,0,0,0
$STATE,2225,end climb,SURFACE_DEPTH_REACHED
$STATE,2225,begin surface coast
$FINISH,2.2,1.020693
$STATE,2237,end surface coast,CONTROL_FINISHED_OK
$STATE,2237,begin surface
$SM_CCo,2260,81.97,0.073,0,0,1321,450.13
$SM_GC,1.65,0.00,0.00,81.97,0.000,0.000,0.073,343,2203,1321,-9.22,0.11,450.13,0,0,0,0,0,0
$RAFOS_CLK,45
$RAFOS,2,1315464241,6.750000,6.733611,51,44,43,42,41,40,2297,2454,1474,1891,1626,233
$RAFOS,1,1315463058,6.416667,6.405000,60,44,44,44,41,40,339,1636,2157,339,1371,92
$RAFOS_FIX,4742.557617,-12145.949219,070911,232357,3,103,0.00
$IRIDIUM_FIX,4751.72,-12221.84,080911,060605
$TT8_MAMPS,0.026215,0.026215
$HUMID,58.86
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,19.40
$XPDR_PINGS,140
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,24.3,1.487
$10V_AH,10.5,1.347
$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,23.600,35.850,309.150,81.975,0.000,0.000,0.000,240.925,35.500,0.000,22.763,818.868,555.152,475.764,787.182,130.383,0.000,1075.286,0.000,550.560,960.000,4.144,0.000
$DEVICE_MAMPS,244.035,60.435,898.875,73.440,0.000,0.000,0.000,227.696,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,249.102,274.097,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319584
$DATA_FILE_SIZE,13492,374
$CAP_FILE_SIZE,50670,0
$CFSIZE,260165632,249499648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1482.9
$GPS,080911,070410,4806.846,-12222.663,26,0.9,26,16.7