version: 66.06
glider: 108
mission: 14
dive: 16
start: 6 10 110 16 9 52
data:
$ID,108
$MISSION,14
$DIVE,16
$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,-178983.64
$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,36
$R_STBD_OVSHOOT,25
$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
$GPS1,160331,6708.219,-5653.893,38,1.2,38,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-73.4
$GPS2,160932,6708.270,-5653.777,9,1.4,9,-37.7
$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,238.9,16430,-18.1,-10.000
$D_GRID,435
$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,-146.1,0.0,0.0,0,82,0.00,0.00,-64.95,0.000,2,0.000,0.000,340,2248,3246,0,0,0,0,0,0
$GC,86,-0.78,-146.1,3.2,-2.6,13,113,10.52,2.28,-10.77,0.000,4,0.252,0.067,2942,834,3656,0,0,0,0,0,0
$GC,419,-0.78,-146.1,39.7,-10.1,72,424,0.00,2.28,0.00,0.000,6,0.000,0.059,2934,2258,3661,0,0,0,0,0,0
$GC,762,-0.78,-146.1,72.6,-8.3,133,768,0.00,2.25,0.00,0.000,4,0.000,0.057,2934,835,3661,0,0,0,0,0,0
$GC,1073,-0.78,-146.1,101.4,-9.6,187,1079,0.10,2.28,0.00,0.000,6,0.167,0.060,2950,2261,3660,0,0,0,0,0,0
$GC,1401,-0.78,-146.1,128.0,-8.3,218,1405,0.00,2.20,0.00,0.000,4,0.000,0.056,2950,841,3660,0,0,0,0,0,0
$GC,1710,-0.78,-146.1,154.7,-8.3,245,1714,0.00,2.25,0.00,0.000,6,0.000,0.060,2943,2256,3660,0,0,0,0,0,0
$GC,2036,-0.78,-146.1,181.1,-7.7,275,2040,0.00,2.22,0.00,0.000,4,0.000,0.056,2943,830,3660,0,0,0,0,0,0
$GC,2345,-0.78,-146.1,206.2,-8.2,302,2350,0.00,2.22,0.00,0.000,6,0.000,0.060,2933,2244,3660,0,0,0,0,0,0
$GC,2676,-0.78,-146.1,234.1,-8.4,333,2680,0.00,2.20,0.00,0.000,4,0.000,0.056,2933,833,3660,0,0,0,0,0,0
$GC,2985,-0.78,-146.1,260.3,-7.9,360,2990,0.10,2.25,0.00,0.000,6,0.168,0.060,2950,2264,3659,0,0,0,0,0,0
$GC,3316,-0.78,-146.1,282.6,-6.6,391,3320,0.00,2.22,0.00,0.000,4,0.000,0.055,2950,830,3660,0,0,0,0,0,0
$GC,3627,-0.78,-146.1,304.9,-7.0,418,3631,0.00,2.25,0.00,0.000,6,0.000,0.059,2943,2258,3660,0,0,0,0,0,0
$GC,3952,-0.78,-146.1,327.9,-7.3,448,3956,0.00,2.20,0.00,0.000,4,0.000,0.055,2943,839,3660,0,0,0,0,0,0
$GC,4262,-0.78,-146.1,351.6,-7.9,475,4266,0.00,2.20,0.00,0.000,6,0.000,0.058,2934,2252,3660,0,0,0,0,0,0
$GC,4587,-0.78,-146.1,375.8,-7.2,505,4591,0.00,2.17,0.00,0.000,4,0.000,0.054,2934,827,3661,0,0,0,0,0,0
$GC,4896,-0.78,-146.1,399.8,-8.1,532,4901,0.10,2.25,0.00,0.000,6,0.168,0.058,2952,2265,3661,0,0,0,0,0,0
$STATE,4942,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4942,begin apogee
$GC,4949,-0.17,0.0,403.0,6.3,536,5071,0.38,0.00,118.15,1.094,6,0.120,0.000,3082,2129,3058,0,0,0,0,0,0
$STATE,5072,end apogee,CONTROL_FINISHED_OK
$STATE,5072,begin climb
$GC,5075,0.78,146.1,405.5,0.0,548,5203,0.60,2.47,118.95,1.036,4,0.081,0.064,3291,3560,2461,0,0,0,0,0,0
$GC,5508,0.78,146.1,358.8,12.2,587,5512,0.00,2.22,0.00,0.000,6,0.000,0.047,3302,2145,2457,0,0,0,0,0,0
$GC,5838,0.78,146.1,322.7,10.8,618,5842,0.00,2.28,0.00,0.000,4,0.000,0.064,3302,3556,2457,0,0,0,0,0,0
$GC,5882,0.78,146.1,317.3,13.4,621,5887,0.00,2.20,0.00,0.000,6,0.000,0.047,3312,2139,2456,0,0,0,0,0,0
$GC,6207,0.78,146.1,279.9,11.6,652,6211,0.10,2.28,0.00,0.000,4,0.189,0.066,3287,3559,2457,0,0,0,0,0,0
$GC,6515,0.78,146.1,244.2,11.8,679,6519,0.00,2.20,0.00,0.000,6,0.000,0.047,3293,2135,2457,0,0,0,0,0,0
$GC,6840,0.81,170.1,214.3,8.9,709,6865,0.00,2.33,19.83,0.943,4,0.000,0.065,3293,3562,2363,0,0,0,0,0,0
$GC,7170,0.81,170.1,178.1,11.9,738,7174,0.00,2.20,0.00,0.000,6,0.000,0.046,3303,2142,2359,0,0,0,0,0,0
$GC,7495,0.82,177.0,145.6,9.7,768,7506,0.00,2.33,6.60,0.772,4,0.000,0.065,3303,3556,2336,0,0,0,0,0,0
$GC,7811,0.82,177.0,108.5,12.0,796,7815,0.00,2.17,0.00,0.000,6,0.000,0.048,3313,2143,2334,0,0,0,0,0,0
$GC,8152,0.83,181.1,75.2,9.8,849,8163,0.00,2.28,4.88,0.671,4,0.000,0.067,3313,3563,2319,0,0,0,0,0,0
$GC,8467,0.83,181.1,39.2,10.8,905,8473,0.10,2.17,0.00,0.000,6,0.183,0.048,3298,2151,2317,0,0,0,0,0,0
$GC,8813,0.90,238.7,13.0,7.4,966,8865,0.00,2.38,46.30,0.869,4,0.000,0.067,3298,3560,2083,0,0,0,0,0,0
$FREEZE,8.53,1.692,-1.822,0,1,0
$FREEZE,8.01,1.679,-1.820,0,1,0
$FREEZE,7.40,1.616,-1.818,0,1,0
$FREEZE,6.88,1.506,-1.815,0,1,0
$FREEZE,6.42,1.420,-1.811,0,1,0
$FREEZE,5.79,1.404,-1.808,0,1,0
$FREEZE,5.35,1.334,-1.803,0,1,0
$FREEZE,4.88,1.269,-1.800,0,1,0
$FREEZE,4.36,1.265,-1.798,0,1,0
$FREEZE,3.82,1.269,-1.796,0,1,0
$FREEZE,3.39,1.257,-1.795,0,1,0
$FREEZE,2.89,1.188,-1.790,0,1,0
$STATE,8932,end climb,SURFACE_DEPTH_REACHED
$STATE,8932,begin surface coast
$FREEZE,2.43,1.196,-1.789,0,1,0
$FREEZE,1.86,1.189,-1.787,0,1,0
$FREEZE,1.34,1.201,-1.788,0,1,0
$FREEZE,1.40,1.271,-1.785,0,1,0
$FREEZE,1.29,1.324,-1.782,0,1,0
$FREEZE,1.35,1.277,-1.782,0,1,0
$FINISH,1.4,1.026045
$STATE,8967,end surface coast,CONTROL_FINISHED_OK
$STATE,8967,begin surface
$SM_CCo,8987,47.85,0.828,0,0,1835,300.00
$SM_GC,2.35,0.00,0.00,47.85,0.000,0.000,0.828,336,2228,1835,-12.81,-0.62,300.00
$RAFOS_CLK,333
$RAFOS,6,1276188541,16.833334,16.816944,49,43,42,41,41,41,61,102,1758,873,383,537
$RAFOS,5,1276188065,16.700001,16.684723,90,89,45,43,43,40,660,661,193,785,1717,1380
$RAFOS,4,1276187587,16.566668,16.551945,65,53,48,47,42,41,875,876,823,650,1136,1513
$RAFOS,3,1276187105,16.433332,16.418056,45,43,42,42,42,41,205,1429,61,552,1721,1846
$RAFOS,2,1276186626,16.299999,16.285000,44,41,40,39,39,39,1662,337,893,1016,1476,1501
$RAFOS_FIX,6710.418945,-5658.222168,100610,161628,2,78,2.84
$IRIDIUM_FIX,6636.54,-5656.94,040999,131357
$TT8_MAMPS,0.026845
$HUMID,39.05
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.6
$ALTIM_BOTTOM_PING,300.1,117.3
$24V_AH,23.7,4.798
$10V_AH,10.4,2.283
$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,20.000,67.550,314.700,47.850,0.000,30.160,33.250,171.270,0.750,0.000,11.355,1679.654,4965.249,408.200,1895.147,454.613,0.000,1349.400,0.000,1862.926,1800.000,7.351,0.000
$DEVICE_MAMPS,251.576,73.632,1093.742,827.593,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,720.348,679.336,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,151616
$DATA_FILE_SIZE,37816,994
$CAP_FILE_SIZE,107285,0
$CFSIZE,260165632,247627776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.7
$GPS,100610,184155,6708.057,-5652.867,13,1.3,30,-37.7