version: 66.06
glider: 108
mission: 14
dive: 27
start: 6 11 110 19 27 9
data:
$ID,108
$MISSION,14
$DIVE,27
$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,-179349.44
$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,45
$R_STBD_OVSHOOT,29
$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,2
$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
$GPS1,191728,6710.788,-5702.178,8,3.1,28,-37.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-75.2
$GPS2,192651,6710.747,-5702.226,11,2.9,30,-37.8
$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,217.3,19904,-18.1,-10.000
$D_GRID,421
$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,-0.78,-146.1,0.0,0.0,0,88,0.00,0.00,-69.25,0.000,2,0.000,0.000,339,2231,3337,0,0,0,0,0,0
$GC,92,-0.78,-146.1,3.2,-2.3,14,118,10.25,2.22,-8.95,0.000,4,0.243,0.084,2932,3592,3657,0,0,0,0,0,0
$GC,130,-0.78,-146.1,9.5,-12.4,21,135,0.00,2.12,0.00,0.000,6,0.000,0.047,2932,2242,3659,0,0,0,0,0,0
$GC,472,-0.78,-146.1,44.6,-10.3,82,477,0.00,2.20,0.00,0.000,4,0.000,0.057,2932,841,3662,0,0,0,0,0,0
$GC,781,-0.78,-146.1,73.5,-8.7,137,787,0.10,2.25,0.00,0.000,6,0.166,0.059,2948,2249,3662,0,0,0,0,0,0
$GC,1125,-0.78,-146.1,99.7,-7.4,198,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2248,3662,0,0,0,0,0,0
$GC,1452,-0.78,-146.1,122.9,-6.8,229,1456,0.00,2.20,0.00,0.000,4,0.000,0.056,2948,846,3662,0,0,0,0,0,0
$GC,1529,-0.78,-146.1,128.9,-7.6,235,1534,0.00,2.22,0.00,0.000,6,0.000,0.059,2941,2257,3661,0,0,0,0,0,0
$GC,1854,-0.78,-146.1,153.7,-8.0,266,1855,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2256,3661,0,0,0,0,0,0
$GC,2175,-0.78,-146.1,179.6,-7.9,296,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2257,3661,0,0,0,0,0,0
$GC,2491,-0.78,-146.1,205.8,-8.5,326,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2257,3661,0,0,0,0,0,0
$GC,2813,-0.78,-146.1,232.4,-8.2,356,2817,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2257,3661,0,0,0,0,0,0
$GC,3138,-0.78,-146.1,258.6,-7.9,387,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2257,3661,0,0,0,0,0,0
$GC,3456,-0.78,-146.1,282.6,-6.7,417,3458,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2257,3661,0,0,0,0,0,0
$GC,3775,-0.78,-146.1,304.1,-6.7,447,3779,0.00,2.08,0.00,0.000,4,0.000,0.069,2930,3592,3661,0,0,0,0,0,0
$GC,3826,-0.78,-146.1,308.0,-8.1,451,3830,0.00,2.05,0.00,0.000,6,0.000,0.048,2930,2243,3661,0,0,0,0,0,0
$GC,4151,-0.78,-146.1,331.2,-6.7,481,4155,0.00,2.12,0.00,0.000,4,0.000,0.056,2930,848,3661,0,0,0,0,0,0
$GC,4258,-0.78,-146.1,339.2,-7.6,490,4263,0.10,2.20,0.00,0.000,6,0.164,0.058,2948,2252,3661,0,0,0,0,0,0
$GC,4583,-0.78,-146.1,359.2,-6.0,520,4584,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2252,3662,0,0,0,0,0,0
$GC,4902,-0.78,-146.1,378.3,-6.0,550,4905,0.00,2.08,0.00,0.000,4,0.000,0.068,2940,3593,3662,0,0,0,0,0,0
$GC,4953,-0.78,-146.1,381.7,-6.8,554,4957,0.00,2.03,0.00,0.000,6,0.000,0.046,2940,2248,3662,0,0,0,0,0,0
$GC,5277,-0.78,-146.1,403.8,-6.8,584,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2247,3662,0,0,0,0,0,0
$STATE,5529,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,5532,begin apogee
$GC,5539,-0.17,0.0,419.8,6.1,608,5664,0.43,0.00,118.85,1.092,6,0.122,0.000,3084,2141,3057,0,0,0,0,0,0
$STATE,5665,end apogee,CONTROL_FINISHED_OK
$STATE,5665,begin climb
$GC,5668,0.78,146.1,421.3,0.0,621,5796,0.57,2.35,119.10,1.034,4,0.077,0.054,3308,748,2462,0,0,0,0,0,0
$GC,5842,0.78,146.1,405.9,12.1,637,5846,0.00,2.38,0.00,0.000,6,0.000,0.055,3308,2158,2461,0,0,0,0,0,0
$GC,6166,0.78,146.1,366.5,12.5,667,6170,0.00,2.25,0.00,0.000,4,0.000,0.065,3309,3562,2457,0,0,0,0,0,0
$GC,6220,0.78,146.1,358.7,14.8,671,6226,0.12,2.20,0.00,0.000,6,0.176,0.045,3287,2150,2456,0,0,0,0,0,0
$GC,6545,0.80,161.2,325.7,9.3,702,6566,0.00,2.30,12.62,0.933,4,0.000,0.055,3295,737,2400,0,0,0,0,0,0
$GC,6616,0.80,161.2,318.4,10.3,708,6621,0.00,2.28,0.00,0.000,6,0.000,0.054,3295,2155,2400,0,0,0,0,0,0
$GC,6941,0.80,161.2,284.1,10.3,739,6945,0.00,2.22,0.00,0.000,4,0.000,0.065,3295,3565,2399,0,0,0,0,0,0
$GC,6996,0.80,161.2,277.4,13.0,743,7001,0.00,2.17,0.00,0.000,6,0.000,0.046,3305,2149,2399,0,0,0,0,0,0
$GC,7321,0.80,161.2,238.7,12.4,774,7322,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2148,2399,0,0,0,0,0,0
$GC,7641,0.80,161.2,202.0,11.1,804,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2148,2399,0,0,0,0,0,0
$GC,7960,0.80,161.2,167.2,10.9,834,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2149,2398,0,0,0,0,0,0
$GC,8279,0.80,161.2,134.7,10.5,864,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2146,2399,0,0,0,0,0,0
$GC,8597,0.80,161.2,102.6,10.1,894,8598,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,2146,2399,0,0,0,0,0,0
$GC,8929,0.81,164.9,71.3,9.8,951,8939,0.00,0.00,4.85,0.673,6,0.000,0.000,3305,2146,2384,0,0,0,0,0,0
$GC,9277,0.86,205.5,39.7,8.1,1013,9318,0.00,2.33,32.83,0.873,4,0.000,0.066,3305,3554,2218,0,0,0,0,0,0
$GC,9347,0.86,206.8,33.2,9.9,1026,9351,0.00,2.20,0.00,0.000,6,0.000,0.048,3315,2150,2215,0,0,0,0,0,0
$FREEZE,8.74,2.399,-1.839,0,1,0
$FREEZE,8.39,2.400,-1.839,0,1,0
$FREEZE,7.79,2.397,-1.838,0,1,0
$FREEZE,7.23,2.402,-1.838,0,1,0
$FREEZE,6.75,2.402,-1.837,0,1,0
$FREEZE,6.31,2.395,-1.837,0,1,0
$FREEZE,5.75,2.398,-1.837,0,1,0
$FREEZE,5.18,2.397,-1.836,0,1,0
$FREEZE,4.68,2.395,-1.836,0,1,0
$FREEZE,4.17,2.397,-1.835,0,1,0
$FREEZE,3.67,2.381,-1.835,0,1,0
$FREEZE,3.09,2.375,-1.834,0,1,0
$FREEZE,2.49,2.377,-1.834,0,1,0
$STATE,9681,end climb,SURFACE_DEPTH_REACHED
$STATE,9681,begin surface coast
$FREEZE,2.16,2.375,-1.834,0,1,0
$FREEZE,1.68,2.373,-1.833,0,1,0
$FREEZE,1.37,2.364,-1.833,0,1,0
$FREEZE,1.40,2.365,-1.833,0,1,0
$FREEZE,1.39,2.307,-1.748,0,1,0
$FREEZE,1.23,2.301,-0.895,0,1,0
$FINISH,1.2,1.013189
$STATE,9716,end surface coast,CONTROL_FINISHED_OK
$STATE,9716,begin surface
$SM_CCo,9735,74.28,0.830,0,0,1835,300.00
$SM_GC,2.23,0.00,0.00,74.28,0.000,0.000,0.830,341,2248,1835,-12.78,-0.03,300.00
$MAGERROR,22
$RAFOS_CLK,380
$RAFOS,6,1276289345,20.833334,20.818056,67,65,44,43,42,42,796,798,406,1565,61,1405
$RAFOS,5,1276288865,20.700001,20.684723,144,137,43,42,41,39,650,651,1,376,1642,429
$RAFOS,4,1276288386,20.566668,20.551666,79,53,50,47,45,42,868,869,1287,1687,489,1740
$RAFOS,3,1276287904,20.433332,20.417778,44,42,42,40,40,38,924,195,826,328,1822,194
$RAFOS,2,1276287426,20.299999,20.285000,43,43,42,40,39,39,61,597,383,1573,622,1838
$RAFOS,1,1276286949,20.166666,20.152500,45,42,42,41,40,39,181,1788,1447,1352,733,1591
$RAFOS,0,1276286471,20.033333,20.019722,44,43,42,41,40,40,1216,1655,1094,430,1366,1781
$RAFOS_FIX,6712.085938,-5705.382324,110610,202044,3,97,0.73
$IRIDIUM_FIX,6641.98,-5706.23,050999,191912
$TT8_MAMPS,0.026845
$HUMID,38.93
$INTERNAL_PRESSURE,10.2543
$TCM_TEMP,6.90
$XPDR_PINGS,55
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,400.2,34.3
$24V_AH,23.7,6.100
$10V_AH,10.3,2.947
$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,19.525,48.750,288.250,74.275,0.000,51.533,66.070,218.810,15.500,0.000,32.834,1755.807,6511.620,506.458,1011.719,600.184,0.000,1279.880,0.000,9899.411,2520.000,20.307,0.000
$DEVICE_MAMPS,243.139,95.875,1092.208,829.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,912.016,860.826,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,138448
$DATA_FILE_SIZE,41024,1092
$CAP_FILE_SIZE,109233,0
$CFSIZE,260165632,247029760
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1464.8
$GPS,110610,221225,6709.945,-5703.389,42,1.6,42,-37.8