version: 66.06
glider: 108
mission: 14
dive: 13
start: 6 10 110 7 45 6
data:
$ID,108
$MISSION,14
$DIVE,13
$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,400
$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,-178937.42
$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,36
$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
$GPS1,073537,6706.163,-5656.425,39,1.1,39,-37.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.16
$_SM_ANGLEo,-76.7
$GPS2,074444,6706.217,-5656.273,12,1.2,12,-37.6
$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,237.4,12238,-18.1,-10.000
$D_GRID,494
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.78,-146.1,0.0,0.0,0,83,0.00,0.00,-64.85,0.000,2,0.000,0.000,341,2265,3227,0,0,0,0,0,0
$GC,86,-0.78,-146.1,3.0,-1.2,13,118,10.38,2.33,-12.88,0.000,4,0.246,0.071,2941,850,3657,0,0,0,0,0,0
$GC,422,-0.78,-146.1,38.7,-10.7,73,428,0.00,2.28,0.00,0.000,6,0.000,0.059,2934,2256,3661,0,0,0,0,0,0
$GC,765,-0.78,-146.1,74.9,-10.4,134,771,0.00,2.22,0.00,0.000,4,0.000,0.057,2934,850,3661,0,0,0,0,0,0
$GC,1074,-0.78,-146.1,105.0,-9.1,184,1081,0.10,2.25,0.00,0.000,6,0.169,0.060,2950,2256,3660,0,0,0,0,0,0
$GC,1400,-0.78,-146.1,130.9,-8.0,215,1404,0.00,2.22,0.00,0.000,4,0.000,0.057,2950,841,3660,0,0,0,0,0,0
$GC,1709,-0.78,-146.1,157.0,-7.6,242,1713,0.00,2.25,0.00,0.000,6,0.000,0.061,2943,2253,3660,0,0,0,0,0,0
$GC,2034,-0.78,-146.1,182.0,-7.8,272,2038,0.00,2.20,0.00,0.000,4,0.000,0.058,2943,850,3660,0,0,0,0,0,0
$GC,2344,-0.78,-146.1,208.8,-8.9,299,2348,0.00,2.22,0.00,0.000,6,0.000,0.060,2933,2254,3660,0,0,0,0,0,0
$GC,2674,-0.78,-146.1,237.1,-9.1,330,2678,0.00,2.20,0.00,0.000,4,0.000,0.057,2933,844,3660,0,0,0,0,0,0
$GC,2984,-0.78,-146.1,267.1,-9.5,357,2989,0.10,2.22,0.00,0.000,6,0.170,0.060,2950,2256,3660,0,0,0,0,0,0
$GC,3314,-0.78,-146.1,293.1,-7.5,388,3318,0.00,2.20,0.00,0.000,4,0.000,0.057,2950,837,3660,0,0,0,0,0,0
$GC,3623,-0.78,-146.1,316.6,-7.3,415,3628,0.00,2.22,0.00,0.000,6,0.000,0.059,2943,2248,3660,0,0,0,0,0,0
$GC,3948,-0.78,-146.1,341.7,-7.7,446,3952,0.00,2.17,0.00,0.000,4,0.000,0.056,2943,848,3660,0,0,0,0,0,0
$GC,4258,-0.78,-146.1,366.5,-7.7,473,4262,0.00,2.22,0.00,0.000,6,0.000,0.058,2933,2265,3660,0,0,0,0,0,0
$GC,4583,-0.78,-146.1,391.9,-7.7,503,4587,0.00,2.20,0.00,0.000,4,0.000,0.055,2934,841,3661,0,0,0,0,0,0
$GC,4893,-0.78,-146.1,415.4,-7.6,530,4898,0.10,2.20,0.00,0.000,6,0.167,0.058,2951,2256,3661,0,0,0,0,0,0
$GC,5218,-0.78,-146.1,435.1,-6.0,560,5222,0.00,2.17,0.00,0.000,4,0.000,0.054,2951,844,3661,0,0,0,0,0,0
$GC,5527,-0.78,-146.1,454.6,-6.3,587,5531,0.00,2.20,0.00,0.000,6,0.000,0.058,2946,2263,3662,0,0,0,0,0,0
$STATE,5669,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5669,begin apogee
$GC,5676,-0.17,0.0,463.3,6.1,600,5802,0.40,0.00,118.65,1.138,6,0.123,0.000,3081,2147,3058,0,0,0,0,0,0
$STATE,5803,end apogee,CONTROL_FINISHED_OK
$STATE,5803,begin climb
$GC,5806,0.78,146.1,464.8,0.0,613,5935,0.60,2.42,120.12,1.075,4,0.081,0.063,3290,3563,2460,0,0,0,0,0,0
$GC,6082,0.78,146.1,433.5,14.5,638,6086,0.00,2.25,0.00,0.000,6,0.000,0.047,3301,2150,2456,0,0,0,0,0,0
$GC,6412,0.78,146.1,392.4,11.9,669,6416,0.00,2.30,0.00,0.000,4,0.000,0.065,3301,3567,2456,0,0,0,0,0,0
$GC,6423,0.78,146.1,390.9,11.9,669,6429,0.00,2.22,0.00,0.000,6,0.000,0.045,3311,2146,2455,0,0,0,0,0,0
$GC,6748,0.78,146.1,350.8,12.1,700,6752,0.00,2.28,0.00,0.000,4,0.000,0.066,3311,3566,2456,0,0,0,0,0,0
$GC,6759,0.78,146.1,349.3,12.2,701,6764,0.12,2.20,0.00,0.000,6,0.182,0.046,3290,2147,2455,0,0,0,0,0,0
$GC,7084,0.78,146.1,313.8,10.9,731,7088,0.00,2.28,0.00,0.000,4,0.000,0.067,3290,3566,2455,0,0,0,0,0,0
$GC,7101,0.78,146.1,311.9,10.9,732,7105,0.00,2.17,0.00,0.000,6,0.000,0.046,3297,2149,2455,0,0,0,0,0,0
$GC,7431,0.78,146.1,275.6,10.4,763,7435,0.00,2.22,0.00,0.000,4,0.000,0.066,3297,3556,2455,0,0,0,0,0,0
$GC,7441,0.78,146.1,274.4,10.5,763,7447,0.00,2.17,0.00,0.000,6,0.000,0.047,3307,2134,2455,0,0,0,0,0,0
$GC,7766,0.78,146.1,238.6,10.9,794,7770,0.00,2.25,0.00,0.000,4,0.000,0.066,3307,3559,2456,0,0,0,0,0,0
$GC,7817,0.78,146.1,232.3,13.1,798,7823,0.12,2.17,0.00,0.000,6,0.180,0.048,3285,2143,2456,0,0,0,0,0,0
$GC,8142,0.80,164.3,201.9,9.2,829,8163,0.00,2.30,14.75,0.932,4,0.000,0.067,3285,3569,2387,0,0,0,0,0,0
$GC,8175,0.83,186.4,198.7,9.0,832,8200,0.00,2.20,19.00,0.929,6,0.000,0.047,3293,2149,2297,0,0,0,0,0,0
$GC,8525,0.83,186.4,161.6,10.4,865,8529,0.00,2.25,0.00,0.000,4,0.000,0.065,3292,3563,2293,0,0,0,0,0,0
$GC,8835,0.83,186.4,123.0,12.5,892,8839,0.00,2.17,0.00,0.000,6,0.000,0.048,3303,2144,2292,0,0,0,0,0,0
$GC,9167,0.83,186.4,85.0,12.6,933,9172,0.00,2.25,0.00,0.000,4,0.000,0.066,3303,3556,2292,0,0,0,0,0,0
$GC,9246,0.83,186.4,73.7,14.6,947,9252,0.00,2.17,0.00,0.000,6,0.000,0.048,3312,2146,2292,0,0,0,0,0,0
$GC,9590,0.83,186.4,34.1,11.0,1008,9595,0.00,2.25,0.00,0.000,4,0.000,0.067,3312,3562,2292,0,0,0,0,0,0
$GC,9602,0.83,186.4,32.6,11.5,1010,9607,0.00,2.17,0.00,0.000,6,0.000,0.048,3322,2143,2292,0,0,0,0,0,0
$FREEZE,8.42,2.034,-1.835,0,1,0
$FREEZE,7.98,2.035,-1.834,0,1,0
$FREEZE,7.30,2.034,-1.834,0,1,0
$FREEZE,6.69,2.029,-1.833,0,1,0
$FREEZE,6.20,2.024,-1.833,0,1,0
$FREEZE,5.73,2.016,-1.832,0,1,0
$FREEZE,5.07,2.019,-1.831,0,1,0
$FREEZE,4.44,2.034,-1.831,0,1,0
$FREEZE,3.93,2.054,-1.830,0,1,0
$FREEZE,3.32,1.859,-1.821,0,1,0
$FREEZE,2.87,1.711,-1.814,0,1,0
$STATE,9894,end climb,SURFACE_DEPTH_REACHED
$STATE,9894,begin surface coast
$FREEZE,2.25,1.637,-1.812,0,1,0
$FREEZE,1.65,1.628,-1.809,0,1,0
$FREEZE,1.39,1.634,-1.810,0,1,0
$FREEZE,1.37,1.641,-1.810,0,1,0
$FREEZE,1.24,1.653,-1.808,0,1,0
$FINISH,1.2,1.026381
$STATE,9923,end surface coast,CONTROL_FINISHED_OK
$STATE,9923,begin surface
$SM_CCo,9942,88.60,0.858,0,0,1835,300.00
$SM_GC,2.32,0.00,0.00,88.60,0.000,0.000,0.858,338,2258,1835,-12.80,0.23,300.00
$RAFOS_CLK,376
$RAFOS,6,1276159745,8.833333,8.818055,100,92,46,44,43,42,817,818,939,612,210,1554
$RAFOS,5,1276159263,8.700000,8.684167,138,130,44,44,43,41,666,665,1333,786,1327,1906
$RAFOS,4,1276158786,8.566667,8.551666,50,48,46,43,42,42,677,678,1374,1301,1,1545
$RAFOS,3,1276158301,8.433333,8.416945,53,50,49,42,42,41,1437,480,514,1437,1845,168
$RAFOS,2,1276157831,8.300000,8.286389,50,43,41,41,41,40,1001,1152,552,1009,150,183
$RAFOS,1,1276157343,8.166667,8.150833,48,46,46,43,40,39,1245,1738,788,61,1919,373
$RAFOS,0,1276156866,8.033334,8.018333,51,50,44,42,41,41,1385,205,138,434,1,1246
$RAFOS_FIX,6708.272949,-5658.630371,100610,080856,2,119,1.12
$IRIDIUM_FIX,6636.54,-5659.96,040999,070721
$TT8_MAMPS,0.026845
$HUMID,39.01
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.40
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,18.4
$ALTIM_BOTTOM_PING,350.0,127.7
$24V_AH,23.6,4.451
$10V_AH,10.4,2.095
$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,19.850,85.100,272.525,88.600,0.000,48.905,70.925,216.812,1.000,0.000,14.373,1827.673,5741.057,441.193,1960.535,613.158,0.000,1425.701,0.000,1926.947,2520.000,9.150,0.000
$DEVICE_MAMPS,246.207,94.341,1138.228,857.506,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,776.074,733.108,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151652
$DATA_FILE_SIZE,41013,1067
$CAP_FILE_SIZE,119153,0
$CFSIZE,260165632,247795712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.4
$GPS,100610,103354,6706.850,-5654.502,39,0.8,39,-37.6