version: 66.09
glider: 108
mission: 16
dive: 22
start: 9 8 111 13 31 21
data:
$ID,108
$MISSION,16
$DIVE,22
$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,-186770.2
$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,43
$R_STBD_OVSHOOT,46
$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
$GPS1,080911,132618,4807.107,-12222.788,18,1.3,18,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-84.2
$GPS2,080911,133050,4807.116,-12222.804,16,1.0,17,16.7
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$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,301.2,2207,-16.6,-9.091
$D_GRID,107
$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,-146.6,0.0,0.0,0,82,0.00,0.00,-63.35,0.000,2,0.000,0.000,346,2221,3289,0,0,0,0,0,0
$GC,85,-0.73,-146.6,3.3,-5.5,11,112,10.40,2.22,-8.62,0.000,4,0.242,0.058,3062,785,3757,0,0,0,0,0,0
$GC,255,-0.46,-146.6,32.8,-14.4,40,262,0.30,2.20,0.00,0.000,6,0.148,0.046,3144,2200,3761,0,0,0,0,0,0
$GC,401,-0.46,-146.6,46.8,-8.8,65,408,0.00,2.12,0.00,0.000,4,0.000,0.056,3136,3604,3762,0,0,0,0,0,0
$GC,461,-0.51,-146.6,52.7,-10.1,75,468,0.00,2.12,0.00,0.000,6,0.000,0.037,3136,2176,3762,0,0,0,0,0,0
$GC,606,-0.51,-146.6,66.0,-9.4,100,612,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2175,3763,0,0,0,0,0,0
$GC,750,-0.55,-146.6,79.0,-9.0,125,756,0.00,0.00,0.00,0.000,6,0.000,0.000,3137,2175,3763,0,0,0,0,0,0
$GC,899,-0.62,-146.6,92.2,-8.4,150,907,0.12,2.20,0.00,0.000,4,0.090,0.054,3054,3603,3763,0,0,0,0,0,0
$GC,943,-0.33,-146.6,98.0,-14.3,157,950,0.40,2.10,0.00,0.000,6,0.137,0.037,3182,2185,3763,0,0,0,0,0,0
$STATE,1064,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1064,begin apogee
$GC,1071,-0.17,0.0,106.6,-6.0,178,1188,0.17,0.00,111.55,0.898,6,0.118,0.000,3239,1989,3156,0,0,0,0,0,0
$STATE,1189,end apogee,CONTROL_FINISHED_OK
$STATE,1189,begin climb
$GC,1192,0.73,146.6,111.3,0.0,198,1316,0.85,2.30,111.00,0.855,4,0.090,0.046,3541,612,2557,0,0,0,0,0,0
$GC,1403,0.45,146.6,96.1,13.1,234,1411,0.35,2.28,0.00,0.000,6,0.153,0.044,3441,2011,2555,0,0,0,0,0,0
$GC,1550,0.59,183.7,84.5,7.6,259,1587,0.12,2.22,29.08,0.828,4,0.095,0.050,3495,3404,2405,0,0,0,0,0,0
$GC,1612,0.36,183.7,77.8,12.5,269,1620,0.32,2.20,0.00,0.000,6,0.148,0.037,3412,1999,2403,0,0,0,0,0,0
$GC,1761,0.70,238.4,67.2,6.8,294,1808,0.28,0.00,41.97,0.838,6,0.060,0.000,3532,1999,2183,0,0,0,0,0,0
$GC,1946,0.55,238.4,41.4,15.0,326,1953,0.20,0.00,0.00,0.000,6,0.148,0.000,3476,1998,2180,0,0,0,0,0,0
$GC,2091,0.66,238.4,26.4,9.6,351,2097,0.00,2.22,0.00,0.000,4,0.000,0.053,3476,3413,2178,0,0,0,0,0,0
$GC,2111,0.73,238.4,24.0,10.1,354,2118,0.12,2.17,0.00,0.000,6,0.093,0.038,3539,1998,2178,0,0,0,0,0,0
$GC,2255,0.60,238.4,4.7,12.5,379,2262,0.17,2.17,0.00,0.000,4,0.147,0.047,3498,592,2178,0,0,0,0,0,0
$STATE,2267,end climb,SURFACE_DEPTH_REACHED
$STATE,2267,begin surface coast
$FINISH,2.9,1.020423
$STATE,2276,end surface coast,CONTROL_FINISHED_OK
$STATE,2276,begin surface
$SM_CCo,2298,92.30,0.073,0,0,1320,450.13
$SM_GC,1.35,0.00,0.00,92.30,0.000,0.000,0.073,345,2205,1320,-9.22,0.14,450.13,0,0,0,0,0,0
$RAFOS_CLK,50
$RAFOS,0,1315490644,14.083333,14.067778,45,45,41,39,38,38,151,599,1476,1149,61,441
$RAFOS,2,1315489446,13.750000,13.735000,43,42,41,40,40,40,141,1769,1611,561,992,1269
$RAFOS_FIX,4742.557617,-12145.949219,070911,232357,3,103,0.00
$IRIDIUM_FIX,4748.51,-12226.29,080911,121249
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.95
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,19.40
$XPDR_PINGS,144
$ALTIM_TOP_PING,19.3,999.0
$ALTIM_BOTTOM_PING,80.3,41.1
$24V_AH,24.3,2.212
$10V_AH,10.6,1.708
$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,22.325,31.375,293.600,92.300,0.000,0.000,0.000,171.800,36.750,0.000,18.513,847.138,527.774,453.606,723.119,129.408,0.000,979.652,0.000,561.228,780.000,7.131,0.000
$DEVICE_MAMPS,241.740,60.435,898.110,73.440,0.000,0.000,0.000,241.194,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,255.316,283.898,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319456
$DATA_FILE_SIZE,13492,382
$CAP_FILE_SIZE,49249,0
$CFSIZE,260165632,249204736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1482.9
$GPS,080911,141218,4807.327,-12222.989,19,1.8,19,16.7