version: 66.09
glider: 108
mission: 16
dive: 15
start: 9 8 111 7 57 15
data:
$ID,108
$MISSION,16
$DIVE,15
$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,-186761.45
$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,49
$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
$GPS1,080911,075206,4806.592,-12222.428,33,1.6,33,16.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-84.1
$GPS2,080911,075644,4806.600,-12222.410,17,1.1,18,16.7
$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,138.8,1221,-16.6,-9.091
$D_GRID,108
$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,-63.97,0.000,2,0.000,0.000,344,2219,3327,0,0,0,0,0,0
$GC,86,-0.73,-146.6,3.6,-7.7,11,112,10.43,2.08,-7.97,0.000,4,0.244,0.068,3045,3593,3757,0,0,0,0,0,0
$GC,165,-0.32,-146.6,20.8,-17.6,24,173,0.43,2.10,0.00,0.000,6,0.151,0.038,3184,2185,3759,0,0,0,0,0,0
$GC,312,-0.51,-146.6,32.3,-6.7,49,319,0.17,0.00,0.00,0.000,6,0.075,0.000,3103,2183,3762,0,0,0,0,0,0
$GC,460,-0.37,-146.6,48.6,-12.3,74,467,0.22,2.17,0.00,0.000,4,0.128,0.053,3164,3592,3763,0,0,0,0,0,0
$GC,492,-0.49,-146.6,52.0,-8.3,79,499,0.00,2.08,0.00,0.000,6,0.000,0.037,3164,2191,3763,0,0,0,0,0,0
$GC,638,-0.63,-146.6,62.3,-7.0,104,645,0.20,0.00,0.00,0.000,6,0.070,0.000,3064,2190,3763,0,0,0,0,0,0
$GC,784,-0.37,-146.6,81.9,-13.7,129,790,0.32,0.00,0.00,0.000,6,0.141,0.000,3172,2188,3763,0,0,0,0,0,0
$GC,930,-0.59,-146.6,92.6,-6.3,154,937,0.20,2.15,0.00,0.000,4,0.070,0.054,3065,3588,3763,0,0,0,0,0,0
$GC,969,-0.34,-146.6,97.0,-13.3,160,977,0.38,2.05,0.00,0.000,6,0.134,0.037,3188,2200,3763,0,0,0,0,0,0
$GC,1116,-0.64,-146.6,106.1,-5.3,185,1123,0.28,0.00,0.00,0.000,6,0.060,0.000,3058,2198,3762,0,0,0,0,0,0
$STATE,1139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1139,begin apogee
$GC,1146,-0.17,0.0,108.5,-8.3,189,1266,0.55,0.00,111.30,0.914,6,0.145,0.000,3236,2005,3156,0,0,0,0,0,0
$STATE,1267,end apogee,CONTROL_FINISHED_OK
$STATE,1267,begin climb
$GC,1270,0.73,146.6,113.7,0.0,209,1391,0.85,2.38,110.82,0.871,4,0.092,0.046,3536,594,2558,0,0,0,0,0,0
$GC,1450,0.45,146.6,101.2,13.1,239,1457,0.35,2.28,0.00,0.000,6,0.150,0.044,3436,1991,2556,0,0,0,0,0,0
$GC,1598,0.63,205.2,90.0,6.7,264,1653,0.17,2.33,45.05,0.846,4,0.079,0.053,3509,3413,2318,0,0,0,0,0,0
$GC,1712,0.35,205.2,75.5,15.5,283,1719,0.38,2.20,0.00,0.000,6,0.145,0.037,3410,2007,2315,0,0,0,0,0,0
$GC,1860,0.75,261.9,64.8,6.7,308,1913,0.32,2.33,43.58,0.848,4,0.057,0.047,3560,590,2088,0,0,0,0,0,0
$GC,1958,0.62,261.9,51.2,15.8,324,1966,0.25,2.30,0.00,0.000,6,0.147,0.044,3488,2006,2086,0,0,0,0,0,0
$GC,2107,0.67,261.9,32.9,11.1,349,2113,0.00,2.20,0.00,0.000,4,0.000,0.054,3488,3413,2083,0,0,0,0,0,0
$GC,2171,0.67,261.9,24.3,12.4,360,2178,0.00,2.20,0.00,0.000,6,0.000,0.039,3496,1986,2081,0,0,0,0,0,0
$GC,2317,0.74,261.9,7.9,11.4,385,2325,0.10,2.17,0.00,0.000,4,0.105,0.047,3554,582,2082,0,0,0,0,0,0
$STATE,2346,end climb,SURFACE_DEPTH_REACHED
$STATE,2346,begin surface coast
$FINISH,1.6,1.018922
$STATE,2381,end surface coast,CONTROL_FINISHED_OK
$STATE,2381,begin surface
$SM_CCo,2403,81.82,0.075,0,0,1320,450.13
$SM_GC,1.60,0.00,0.00,81.82,0.000,0.000,0.075,343,2209,1320,-9.22,0.25,450.13,0,0,0,0,0,0
$RAFOS_CLK,50
$RAFOS,1,1315470244,8.416667,8.401111,50,48,45,45,44,43,1166,1417,715,1560,2572,1832
$RAFOS,0,1315469043,8.083333,8.067500,46,44,44,43,39,38,634,246,801,1326,421,378
$RAFOS,2,1315467843,7.750000,7.734167,43,39,39,39,38,38,1893,214,742,2259,1328,2585
$RAFOS_FIX,4742.557617,-12145.949219,070911,232357,3,103,0.00
$IRIDIUM_FIX,4748.51,-12217.40,080911,070750
$TT8_MAMPS,0.026964,0.026964
$HUMID,58.89
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,19.40
$XPDR_PINGS,149
$ALTIM_TOP_PING,19.8,999.0
$24V_AH,24.3,1.645
$10V_AH,10.6,1.423
$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,24.275,35.850,310.750,81.825,0.000,0.000,0.000,176.350,37.750,0.000,19.642,884.216,540.081,469.171,748.398,139.216,0.000,1016.571,0.000,581.055,780.000,4.145,0.000
$DEVICE_MAMPS,244.035,68.085,914.175,74.970,0.000,0.000,0.000,223.967,420.000,0.000,26.210,17.960,2.310,17.960,40.430,48.670,0.000,12.000,0.000,7.490,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,264.829,293.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,5.990,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,319412
$DATA_FILE_SIZE,13498,396
$CAP_FILE_SIZE,53008,0
$CFSIZE,260165632,249434112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$SOUNDSPEED,1483.3
$GPS,080911,084007,4806.340,-12222.153,40,1.2,40,16.7