version: 66.06
glider: 108
mission: 14
dive: 6
start: 6 9 110 11 29 15
data:
$ID,108
$MISSION,14
$DIVE,6
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$T_ABORT,1440
$T_TURN,225
$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,-178681.36
$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,3145
$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,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,294
$ROLL_MAX,3598
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,31
$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
$GPS1,112320,6703.916,-5645.484,35,2.0,35,-37.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-73.8
$GPS2,112856,6703.946,-5645.441,11,1.3,11,-37.5
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$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,264.0,2547,-18.1,-10.000
$D_GRID,470
$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,-69.15,0.000,2,0.000,0.000,336,2101,3314,0,0,0,0,0,0
$GC,91,-0.78,-146.1,3.1,-2.1,14,118,10.65,2.33,-9.45,0.000,4,0.250,0.081,2958,3514,3657,0,0,0,0,0,0
$GC,372,-0.93,-146.1,32.0,-9.3,64,378,0.00,2.22,0.00,0.000,6,0.000,0.049,2958,2093,3661,0,0,0,0,0,0
$GC,716,-1.09,-146.1,60.0,-7.7,125,722,0.17,2.30,0.00,0.000,4,0.087,0.068,2875,3509,3661,0,0,0,0,0,0
$GC,976,-0.95,-146.1,92.1,-12.0,171,982,0.22,2.20,0.00,0.000,6,0.156,0.050,2939,2093,3662,0,0,0,0,0,0
$GC,1307,-1.09,-146.1,120.5,-8.6,209,1312,0.12,2.30,0.00,0.000,4,0.107,0.069,2879,3519,3662,0,0,0,0,0,0
$GC,1565,-0.99,-146.1,152.7,-12.2,231,1571,0.17,2.20,0.00,0.000,6,0.160,0.051,2928,2090,3662,0,0,0,0,0,0
$GC,1890,-1.11,-146.1,182.8,-9.1,262,1895,0.10,2.28,0.00,0.000,4,0.120,0.071,2876,3514,3662,0,0,0,0,0,0
$GC,2149,-1.02,-146.1,213.9,-12.6,284,2155,0.17,2.20,0.00,0.000,6,0.157,0.050,2926,2088,3661,0,0,0,0,0,0
$GC,2474,-1.16,-146.1,243.1,-8.4,315,2479,0.12,2.28,0.00,0.000,4,0.107,0.068,2862,3512,3661,0,0,0,0,0,0
$GC,2732,-1.03,-146.1,274.1,-12.8,337,2738,0.20,2.15,0.00,0.000,6,0.159,0.051,2919,2100,3661,0,0,0,0,0,0
$GC,3062,-1.14,-146.1,300.9,-8.3,368,3066,0.00,2.22,0.00,0.000,4,0.000,0.068,2911,3519,3661,0,0,0,0,0,0
$GC,3320,-1.23,-146.1,324.5,-8.8,390,3326,0.12,2.17,0.00,0.000,6,0.101,0.049,2856,2097,3661,0,0,0,0,0,0
$GC,3645,-1.10,-146.1,362.0,-11.6,421,3649,0.17,2.25,0.00,0.000,4,0.163,0.067,2896,3514,3661,0,0,0,0,0,0
$GC,3903,-1.10,-146.1,386.6,-9.1,443,3908,0.00,2.15,0.00,0.000,6,0.000,0.048,2896,2101,3662,0,0,0,0,0,0
$GC,4230,-1.10,-146.1,416.5,-9.2,474,4234,0.00,2.20,0.00,0.000,4,0.000,0.067,2886,3513,3662,0,0,0,0,0,0
$STATE,4359,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4359,begin apogee
$GC,4368,-0.17,0.0,430.0,10.5,485,4493,0.68,0.00,118.38,1.116,6,0.136,0.000,3108,2185,3057,0,0,0,0,0,0
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4494,begin climb
$GC,4497,0.78,146.1,433.1,0.0,498,4626,0.60,2.33,119.43,1.062,4,0.063,0.053,3341,800,2461,0,0,0,0,0,0
$GC,4879,0.56,146.1,386.7,14.2,532,4885,0.28,2.30,0.00,0.000,6,0.161,0.056,3264,2202,2457,0,0,0,0,0,0
$GC,5204,0.59,165.5,354.7,9.1,563,5225,0.00,2.30,16.05,0.983,4,0.000,0.054,3271,792,2382,0,0,0,0,0,0
$GC,5479,0.66,168.5,327.8,9.9,587,5488,0.00,2.30,4.20,0.670,6,0.000,0.056,3271,2212,2370,0,0,0,0,0,0
$GC,5814,0.66,171.6,294.6,9.9,619,5825,0.00,2.30,4.18,0.669,4,0.000,0.055,3281,765,2358,0,0,0,0,0,0
$GC,6079,0.71,171.6,267.7,10.3,642,6084,0.00,2.30,0.00,0.000,6,0.000,0.056,3281,2203,2358,0,0,0,0,0,0
$GC,6404,0.71,171.6,234.1,10.5,673,6407,0.00,2.22,0.00,0.000,4,0.000,0.055,3290,792,2357,0,0,0,0,0,0
$GC,6661,0.71,171.6,207.2,10.8,695,6667,0.00,2.25,0.00,0.000,6,0.000,0.057,3290,2206,2357,0,0,0,0,0,0
$GC,6986,0.71,171.6,171.3,11.0,726,6990,0.00,2.22,0.00,0.000,4,0.000,0.056,3296,788,2357,0,0,0,0,0,0
$GC,7244,0.72,175.5,144.6,9.8,749,7255,0.00,2.22,4.78,0.706,6,0.000,0.058,3296,2206,2342,0,0,0,0,0,0
$GC,7574,0.72,181.2,111.4,9.7,780,7586,0.00,2.25,6.22,0.766,4,0.000,0.054,3306,786,2318,0,0,0,0,0,0
$GC,7839,0.73,187.0,84.5,9.7,817,7851,0.00,2.25,6.30,0.759,6,0.000,0.058,3306,2201,2295,0,0,0,0,0,0
$GC,8189,0.73,187.0,49.1,10.0,879,8195,0.00,2.20,0.00,0.000,4,0.000,0.057,3315,789,2293,0,0,0,0,0,0
$GC,8448,0.73,187.0,21.9,10.1,925,8454,0.00,2.25,0.00,0.000,6,0.000,0.059,3315,2206,2293,0,0,0,0,0,0
$FREEZE,8.56,2.355,-1.848,0,1,0
$FREEZE,8.06,2.347,-1.848,0,1,0
$FREEZE,7.38,2.349,-1.847,0,1,0
$FREEZE,6.84,2.316,-1.846,0,1,0
$FREEZE,6.46,2.312,-1.846,0,1,0
$FREEZE,5.89,2.287,-1.844,0,1,0
$FREEZE,5.27,2.280,-1.844,0,1,0
$FREEZE,4.66,2.295,-1.844,0,1,0
$FREEZE,4.08,2.279,-1.843,0,1,0
$FREEZE,3.60,2.280,-1.842,0,1,0
$FREEZE,2.80,2.281,-1.842,0,1,0
$STATE,8633,end climb,SURFACE_DEPTH_REACHED
$STATE,8633,begin surface coast
$FREEZE,2.28,2.286,-1.841,0,1,0
$FREEZE,1.71,2.284,-1.841,0,1,0
$FREEZE,1.40,2.289,-1.840,0,1,0
$FREEZE,1.26,2.294,-1.839,0,1,0
$FREEZE,1.25,2.282,-1.066,0,1,0
$FINISH,1.2,1.015695
$STATE,8662,end surface coast,CONTROL_FINISHED_OK
$STATE,8662,begin surface
$SM_CCo,8681,89.07,0.861,0,0,1835,300.00
$SM_GC,2.05,0.00,0.00,89.07,0.000,0.000,0.861,336,2086,1835,-12.92,-0.40,300.00
$RAFOS_CLK,314
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6631.12,-5641.49,030999,080810
$TT8_MAMPS,0.027612
$HUMID,38.97
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.3
$ALTIM_BOTTOM_PING,351.0,93.5
$24V_AH,23.6,3.518
$10V_AH,10.3,1.614
$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,21.775,67.375,279.525,89.075,0.000,29.711,32.163,145.160,1.250,0.000,13.118,1625.042,4805.311,446.621,1803.931,420.996,0.000,1342.565,0.000,1769.824,0.000,14.173,0.000
$DEVICE_MAMPS,250.042,81.302,1115.985,860.574,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,695.712,660.081,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,154220
$DATA_FILE_SIZE,37887,963
$CAP_FILE_SIZE,104989,0
$CFSIZE,260165632,247726080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.4
$GPS,090610,135636,6704.627,-5645.750,11,1.1,21,-37.6