version: 66.09
glider: 108
mission: 16
dive: 14
start: 9 8 111 7 9 44
data:
$ID,108
$MISSION,16
$DIVE,14
$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,-186760.2
$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,38
$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
$GPS1,080911,070410,4806.846,-12222.663,26,0.9,26,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-84.2
$GPS2,080911,070913,4806.781,-12222.533,20,1.9,20,16.7
$SPEED_LIMITS,0.157,0.255
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$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,138.8,1590,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.73,-146.6,0.0,0.0,0,82,0.00,0.00,-63.58,0.000,2,0.000,0.000,343,2204,3285,0,0,0,0,0,0
$GC,85,-0.73,-146.6,3.1,-5.4,11,111,10.38,2.25,-9.12,0.000,4,0.242,0.060,3061,785,3758,0,0,0,0,0,0
$GC,170,-0.41,-146.6,19.3,-15.2,25,178,0.35,2.20,0.00,0.000,6,0.146,0.047,3160,2198,3761,0,0,0,0,0,0
$GC,317,-0.50,-146.6,32.8,-8.4,50,324,0.00,2.12,0.00,0.000,4,0.000,0.056,3151,3607,3762,0,0,0,0,0,0
$GC,361,-0.58,-146.6,36.8,-9.0,57,369,0.15,2.10,0.00,0.000,6,0.080,0.037,3073,2189,3762,0,0,0,0,0,0
$GC,508,-0.32,-146.6,56.5,-14.5,82,514,0.32,0.00,0.00,0.000,6,0.135,0.000,3181,2187,3763,0,0,0,0,0,0
$GC,656,-0.56,-146.6,67.3,-6.7,107,663,0.20,2.17,0.00,0.000,4,0.071,0.055,3079,3601,3764,0,0,0,0,0,0
$GC,683,-0.50,-146.6,70.0,-9.0,111,690,0.17,2.08,0.00,0.000,6,0.148,0.036,3131,2196,3764,0,0,0,0,0,0
$GC,828,-0.50,-146.6,84.6,-9.4,136,834,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2194,3764,0,0,0,0,0,0
$GC,970,-0.50,-146.6,97.9,-9.3,161,977,0.00,2.15,0.00,0.000,4,0.000,0.054,3123,3597,3764,0,0,0,0,0,0
$GC,1001,-0.50,-146.6,101.1,-10.2,166,1008,0.00,2.08,0.00,0.000,6,0.000,0.036,3123,2188,3764,0,0,0,0,0,0
$STATE,1063,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1063,begin apogee
$GC,1071,-0.17,0.0,107.4,-9.6,177,1187,0.32,0.00,111.25,0.907,6,0.120,0.000,3235,1990,3156,0,0,0,0,0,0
$STATE,1188,end apogee,CONTROL_FINISHED_OK
$STATE,1188,begin climb
$GC,1191,0.73,146.6,112.0,0.0,197,1313,0.85,0.00,111.20,0.865,6,0.092,0.000,3525,1990,2557,0,0,0,0,0,0
$GC,1451,0.47,146.6,90.5,11.7,242,1458,0.28,0.00,0.00,0.000,6,0.148,0.000,3442,1990,2555,0,0,0,0,0,0
$GC,1597,0.62,195.2,79.7,7.1,267,1640,0.15,0.00,37.20,0.847,6,0.085,0.000,3509,1990,2359,0,0,0,0,0,0
$GC,1777,0.49,195.2,59.0,12.2,298,1784,0.20,0.00,0.00,0.000,6,0.142,0.000,3452,1990,2357,0,0,0,0,0,0
$GC,1923,0.66,209.3,46.4,8.5,323,1942,0.17,0.00,11.82,0.770,6,0.077,0.000,3527,1990,2301,0,0,0,0,0,0
$GC,2081,0.50,209.3,26.7,12.7,350,2088,0.25,2.25,0.00,0.000,4,0.140,0.050,3453,3411,2299,0,0,0,0,0,0
$GC,2118,0.57,209.3,22.6,9.6,356,2125,0.00,2.15,0.00,0.000,6,0.000,0.039,3461,2006,2298,0,0,0,0,0,0
$GC,2264,0.76,242.7,11.3,7.7,381,2283,0.22,0.00,14.70,0.097,6,0.068,0.000,3557,2006,2166,0,0,0,0,0,0
$STATE,2322,end climb,SURFACE_DEPTH_REACHED
$STATE,2322,begin surface coast
$FINISH,1.4,1.019322
$STATE,2353,end surface coast,CONTROL_FINISHED_OK
$STATE,2353,begin surface
$SM_CCo,2373,89.60,0.074,0,0,1320,450.13
$SM_GC,1.59,0.00,0.00,89.60,0.000,0.000,0.074,344,2218,1320,-9.22,0.51,450.13,0,0,0,0,0,0
$RAFOS_CLK,52
$RAFOS,1,1315466645,7.416667,7.401389,49,44,43,42,42,41,1562,1852,1631,161,2192,2205
$RAFOS_FIX,4742.557617,-12145.949219,070911,232357,3,103,0.00
$IRIDIUM_FIX,4748.51,-12226.29,080911,060621
$TT8_MAMPS,0.028462,0.028462
$HUMID,58.93
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,19.40
$XPDR_PINGS,149
$ALTIM_TOP_PING,19.9,999.0
$24V_AH,24.3,1.561
$10V_AH,10.6,1.386
$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,22.700,22.125,286.175,89.600,0.000,0.000,0.000,201.475,37.750,0.000,21.555,886.933,546.901,443.939,769.617,135.879,0.000,1006.636,0.000,579.709,960.000,4.145,0.000
$DEVICE_MAMPS,241.740,60.435,907.290,74.205,0.000,0.000,0.000,220.222,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.884,297.951,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319476
$DATA_FILE_SIZE,13443,396
$CAP_FILE_SIZE,50151,0
$CFSIZE,260165632,249466880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1482.9
$GPS,080911,075206,4806.592,-12222.428,33,1.6,33,16.7