version: 66.06
glider: 108
mission: 14
dive: 20
start: 6 11 110 2 7 10
data:
$ID,108
$MISSION,14
$DIVE,20
$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,-179202.94
$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,41
$R_STBD_OVSHOOT,33
$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,1
$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
$GPS1,020124,6710.798,-5657.363,36,1.0,37,-37.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-76.5
$GPS2,020650,6710.795,-5657.476,12,1.2,12,-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,227.0,20259,-18.1,-10.000
$D_GRID,385
$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,-146.1,0.0,0.0,0,85,0.00,0.00,-64.82,0.000,2,0.000,0.000,337,2236,3222,0,0,0,0,0,0
$GC,88,-0.78,-146.1,3.2,-3.2,13,120,10.60,2.25,-12.57,0.000,4,0.253,0.071,2941,850,3657,0,0,0,0,0,0
$GC,425,-0.78,-146.1,39.6,-9.4,73,430,0.00,2.25,0.00,0.000,6,0.000,0.059,2934,2249,3661,0,0,0,0,0,0
$GC,769,-0.78,-146.1,70.9,-8.7,134,774,0.00,2.22,0.00,0.000,4,0.000,0.057,2934,847,3661,0,0,0,0,0,0
$GC,1078,-0.78,-146.1,98.8,-9.1,189,1085,0.10,2.25,0.00,0.000,6,0.167,0.058,2951,2257,3660,0,0,0,0,0,0
$GC,1406,-0.78,-146.1,123.2,-7.3,221,1410,0.00,2.22,0.00,0.000,4,0.000,0.056,2951,839,3660,0,0,0,0,0,0
$GC,1715,-0.78,-146.1,146.7,-7.3,248,1719,0.00,2.25,0.00,0.000,6,0.000,0.059,2944,2256,3660,0,0,0,0,0,0
$GC,2041,-0.78,-146.1,172.1,-7.8,278,2045,0.00,2.22,0.00,0.000,4,0.000,0.056,2944,832,3660,0,0,0,0,0,0
$GC,2351,-0.78,-146.1,198.9,-8.4,305,2355,0.00,2.25,0.00,0.000,6,0.000,0.059,2934,2252,3660,0,0,0,0,0,0
$GC,2676,-0.78,-146.1,227.3,-9.0,335,2679,0.00,2.20,0.00,0.000,4,0.000,0.056,2934,841,3660,0,0,0,0,0,0
$GC,2985,-0.78,-146.1,256.1,-9.7,362,2991,0.10,2.22,0.00,0.000,6,0.168,0.058,2951,2249,3660,0,0,0,0,0,0
$GC,3310,-0.78,-146.1,280.0,-7.1,393,3314,0.00,2.20,0.00,0.000,4,0.000,0.055,2951,835,3660,0,0,0,0,0,0
$GC,3619,-0.78,-146.1,302.6,-6.9,420,3624,0.00,2.25,0.00,0.000,6,0.000,0.058,2945,2265,3661,0,0,0,0,0,0
$GC,3944,-0.78,-146.1,325.2,-6.8,451,3948,0.00,2.20,0.00,0.000,4,0.000,0.054,2944,846,3660,0,0,0,0,0,0
$GC,4253,-0.78,-146.1,347.2,-7.1,478,4259,0.00,2.17,0.00,0.000,6,0.000,0.058,2937,2249,3661,0,0,0,0,0,0
$GC,4579,-0.78,-146.1,370.3,-7.2,509,4582,0.00,2.17,0.00,0.000,4,0.000,0.054,2936,844,3661,0,0,0,0,0,0
$STATE,4611,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4611,begin apogee
$GC,4620,-0.17,0.0,373.1,7.9,512,4741,0.45,0.00,117.80,1.081,6,0.123,0.000,3080,2158,3058,0,0,0,0,0,0
$STATE,4742,end apogee,CONTROL_FINISHED_OK
$STATE,4742,begin climb
$GC,4745,0.78,146.1,375.9,0.0,524,4873,0.60,2.40,118.40,1.019,4,0.082,0.064,3289,3562,2462,0,0,0,0,0,0
$GC,5176,0.78,146.1,329.4,13.0,563,5182,0.00,2.25,0.00,0.000,6,0.000,0.046,3299,2140,2457,0,0,0,0,0,0
$GC,5501,0.78,146.1,293.5,11.2,594,5505,0.00,2.28,0.00,0.000,4,0.000,0.064,3299,3562,2457,0,0,0,0,0,0
$GC,5808,0.78,146.1,253.3,13.1,621,5814,0.00,2.20,0.00,0.000,6,0.000,0.046,3309,2136,2457,0,0,0,0,0,0
$GC,6133,0.78,146.1,215.2,11.2,652,6137,0.00,2.28,0.00,0.000,4,0.000,0.064,3309,3563,2458,0,0,0,0,0,0
$GC,6442,0.78,146.1,175.1,13.2,679,6448,0.12,2.17,0.00,0.000,6,0.173,0.047,3286,2148,2458,0,0,0,0,0,0
$GC,6767,0.82,178.4,146.9,8.5,710,6798,0.00,2.30,26.12,0.923,4,0.000,0.063,3286,3562,2329,0,0,0,0,0,0
$GC,7103,0.82,178.4,111.0,10.3,740,7107,0.00,2.20,0.00,0.000,6,0.000,0.047,3292,2147,2324,0,0,0,0,0,0
$GC,7440,0.85,200.5,81.7,9.0,789,7466,0.00,2.33,18.00,0.871,4,0.000,0.065,3292,3560,2239,0,0,0,0,0,0
$GC,7773,0.86,208.6,47.0,9.6,848,7789,0.00,2.20,7.68,0.761,6,0.000,0.048,3300,2145,2206,0,0,0,0,0,0
$GC,8126,0.87,221.0,15.0,9.4,911,8143,0.00,2.30,11.20,0.802,4,0.000,0.064,3300,3563,2156,0,0,0,0,0,0
$FREEZE,8.96,2.015,-1.829,0,1,0
$FREEZE,8.48,1.951,-1.825,0,1,0
$FREEZE,7.98,1.923,-1.823,0,1,0
$FREEZE,7.40,1.911,-1.821,0,1,0
$FREEZE,6.96,1.897,-1.819,0,1,0
$FREEZE,6.39,1.881,-1.818,0,1,0
$FREEZE,5.83,1.876,-1.817,0,1,0
$FREEZE,5.43,1.874,-1.816,0,1,0
$FREEZE,4.87,1.851,-1.816,0,1,0
$FREEZE,4.36,1.820,-1.814,0,1,0
$FREEZE,3.87,1.800,-1.812,0,1,0
$FREEZE,3.34,1.752,-1.812,0,1,0
$FREEZE,2.97,1.738,-1.811,0,1,0
$STATE,8254,end climb,SURFACE_DEPTH_REACHED
$STATE,8254,begin surface coast
$FREEZE,2.57,1.428,-1.806,0,1,0
$FREEZE,2.07,0.948,-1.781,0,1,0
$FREEZE,1.45,0.346,-1.777,0,1,0
$FREEZE,1.25,0.327,-1.786,0,1,0
$FREEZE,1.21,0.397,-1.035,0,1,0
$FREEZE,1.18,0.777,-0.918,0,1,0
$FREEZE,1.23,0.321,-0.851,0,1,0
$FINISH,1.2,1.012568
$STATE,8294,end surface coast,CONTROL_FINISHED_OK
$STATE,8295,begin surface
$SM_CCo,8315,62.92,0.844,0,0,1835,300.00
$SM_GC,2.29,0.00,0.00,62.92,0.000,0.000,0.844,344,2231,1835,-12.77,-0.54,300.00
$RAFOS_CLK,298
$RAFOS,2,1276229823,4.300000,4.284167,46,45,42,41,41,41,854,1642,788,218,451,1641
$RAFOS,1,1276229343,4.166667,4.150833,47,47,45,45,44,40,1140,1922,102,823,697,1
$RAFOS,0,1276228866,4.033333,4.018333,45,43,42,41,41,41,964,1630,493,494,892,1245
$RAFOS_FIX,6713.119629,-5701.284180,110610,000044,2,94,2.04
$IRIDIUM_FIX,6641.98,-5646.26,040999,232347
$TT8_MAMPS,0.029913
$HUMID,39.40
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,16.60
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.4
$ALTIM_BOTTOM_PING,350.6,37.3
$24V_AH,23.7,5.310
$10V_AH,10.4,2.521
$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,19.975,62.450,299.200,62.925,0.000,29.509,31.812,138.288,1.250,0.000,13.678,1603.831,4497.647,423.941,1761.300,418.251,0.000,1300.105,0.000,1732.904,1440.000,11.536,0.000
$DEVICE_MAMPS,253.110,71.331,1080.703,844.467,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,683.053,641.508,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,145500
$DATA_FILE_SIZE,37895,941
$CAP_FILE_SIZE,99146,0
$CFSIZE,260165632,247427072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.0
$GPS,110610,042810,6710.854,-5659.949,11,3.0,31,-37.8