version: 66.06
glider: 108
mission: 14
dive: 206
start: 7 18 110 9 51 46
data:
$ID,108
$MISSION,14
$DIVE,206
$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,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-2
$USE_ICE,2
$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,-180906.45
$T_RSLEEP,60
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3112
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,45
$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,2.5
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$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
$GPS1,093337,6707.193,-5935.377,34,0.9,34,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.79
$_SM_ANGLEo,-76.8
$GPS2,095126,6707.173,-5935.566,10,1.7,10,-38.4
$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,132.1,121254,-18.1,-10.000
$D_GRID,1147
$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,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,57,0.00,0.00,-39.05,0.000,2,0.000,0.000,345,2285,2306,0,0,0,0,0,0
$GC,61,-0.78,-146.1,3.1,-0.9,8,143,10.40,2.42,-63.17,0.000,4,0.244,0.075,2934,837,3657,0,0,0,0,0,0
$GC,349,-0.78,-146.1,31.8,-9.8,60,355,0.00,2.33,0.00,0.000,6,0.000,0.066,2927,2232,3662,0,0,0,0,0,0
$GC,694,-0.78,-146.1,69.4,-10.0,121,700,0.00,2.28,0.00,0.000,4,0.000,0.061,2927,829,3665,0,0,0,0,0,0
$GC,953,-0.78,-146.1,97.5,-10.2,167,960,0.10,2.35,0.00,0.000,6,0.164,0.067,2944,2254,3665,0,0,0,0,0,0
$GC,1281,-0.78,-146.1,125.1,-8.1,200,1285,0.00,2.28,0.00,0.000,4,0.000,0.062,2944,835,3665,0,0,0,0,0,0
$GC,1461,-0.78,-146.1,140.6,-8.6,215,1466,0.00,2.33,0.00,0.000,6,0.000,0.069,2937,2255,3664,0,0,0,0,0,0
$GC,1786,-0.78,-146.1,169.6,-9.4,246,1790,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,834,3664,0,0,0,0,0,0
$GC,2044,-0.78,-146.1,194.9,-9.2,268,2049,0.00,2.35,0.00,0.000,6,0.000,0.069,2928,2259,3662,0,0,0,0,0,0
$GC,2369,-0.78,-146.1,225.4,-9.3,299,2373,0.00,2.30,0.00,0.000,4,0.000,0.063,2927,833,3662,0,0,0,0,0,0
$GC,2626,-0.78,-146.1,249.9,-9.0,321,2632,0.10,2.33,0.00,0.000,6,0.164,0.069,2945,2253,3661,0,0,0,0,0,0
$GC,2951,-0.78,-146.1,273.2,-6.8,352,2955,0.00,2.28,0.00,0.000,4,0.000,0.064,2945,827,3661,0,0,0,0,0,0
$GC,3003,-0.78,-146.1,277.0,-7.4,356,3007,0.00,2.33,0.00,0.000,6,0.000,0.068,2938,2247,3661,0,0,0,0,0,0
$STATE,3324,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3324,begin apogee
$GC,3332,-0.17,0.0,300.5,7.5,386,3453,0.40,0.00,117.80,1.060,6,0.128,0.000,3070,2176,3058,0,0,0,0,0,0
$STATE,3454,end apogee,CONTROL_FINISHED_OK
$STATE,3454,begin climb
$GC,3457,0.78,146.1,304.1,0.0,398,3585,0.62,2.42,118.18,0.992,4,0.094,0.065,3291,815,2461,0,0,0,0,0,0
$GC,3638,0.83,182.8,293.5,8.3,415,3679,0.00,2.47,31.52,0.940,6,0.000,0.065,3291,2208,2311,0,0,0,0,0,0
$GC,3998,0.84,195.2,260.8,9.4,449,4014,0.00,2.33,10.95,0.877,4,0.000,0.074,3291,3597,2261,0,0,0,0,0,0
$GC,4075,0.84,195.2,252.6,11.8,455,4081,0.00,2.28,0.00,0.000,6,0.000,0.052,3301,2208,2258,0,0,0,0,0,0
$GC,4401,0.86,211.2,221.0,9.3,486,4422,0.00,2.35,13.98,0.908,4,0.000,0.063,3311,794,2196,0,0,0,0,0,0
$GC,4472,0.88,223.8,214.2,9.4,492,4492,0.00,2.38,12.25,0.881,6,0.000,0.064,3311,2212,2144,0,0,0,0,0,0
$GC,4818,0.88,227.7,180.3,9.8,525,4829,0.00,2.30,4.25,0.647,4,0.000,0.076,3311,3610,2128,0,0,0,0,0,0
$GC,4864,0.88,227.7,175.3,12.1,529,4868,0.00,2.28,0.00,0.000,6,0.000,0.051,3321,2189,2127,0,0,0,0,0,0
$GC,5189,0.88,227.7,139.3,11.1,559,5193,0.00,2.25,0.00,0.000,4,0.000,0.062,3332,784,2128,0,0,0,0,0,0
$GC,5244,0.88,227.7,132.9,11.3,563,5250,0.12,2.35,0.00,0.000,6,0.157,0.064,3298,2206,2128,0,0,0,0,0,0
$GC,5569,0.91,250.2,102.4,9.0,594,5594,0.00,2.28,20.05,0.902,4,0.000,0.076,3298,3604,2037,0,0,0,0,0,0
$GC,5623,0.91,250.2,97.3,10.3,600,5629,0.00,2.25,0.00,0.000,6,0.000,0.052,3305,2200,2033,0,0,0,0,0,0
$GC,5967,0.92,258.6,65.9,9.6,661,5983,0.00,2.35,7.75,0.789,4,0.000,0.074,3304,3592,2001,0,0,0,0,0,0
$GC,6186,0.99,314.3,46.4,7.5,700,6243,0.00,2.22,47.53,0.892,6,0.000,0.054,3313,2199,1775,0,0,0,0,0,0
$GC,6580,1.10,404.1,20.6,5.9,771,6665,0.12,2.42,75.12,0.865,4,0.102,0.074,3361,3591,1408,0,0,0,0,0,0
$FREEZE,8.41,4.306,-1.720,2,1,0
$FREEZE,7.78,4.311,-1.719,2,1,0
$FREEZE,7.13,4.312,-1.721,2,1,0
$FREEZE,6.57,4.312,-1.724,2,1,0
$FREEZE,5.98,4.312,-1.724,2,1,0
$FREEZE,5.35,4.313,-1.724,2,1,0
$FREEZE,4.88,4.314,-1.723,2,1,0
$FREEZE,4.25,4.316,-1.722,2,1,0
$FREEZE,3.63,4.322,-1.721,2,1,0
$FREEZE,3.09,4.327,-1.721,2,1,0
$FREEZE,2.43,4.330,-1.720,2,1,0
$STATE,6790,end climb,SURFACE_DEPTH_REACHED
$STATE,6790,begin surface coast
$FREEZE,1.90,4.404,-1.718,2,1,0
$FREEZE,1.86,4.380,-1.001,2,1,0
$FREEZE,1.83,4.297,-0.924,2,1,0
$FREEZE,1.83,4.386,-1.717,2,1,0
$FREEZE,1.86,4.351,-1.200,2,1,0
$FINISH,1.9,1.017526
$STATE,6819,end surface coast,CONTROL_FINISHED_OK
$STATE,6819,begin surface
$RAFOS_CLK,290
$RAFOS_FIX,6706.657715,-5931.574219,180710,080857,6,118,0.36
$IRIDIUM_FIX,6641.98,-5915.48,111099,212152
$TT8_MAMPS,0.026845
$HUMID,42.12
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,15.70
$XPDR_PINGS,5
$ALTIM_TOP_PING,19.8,18.5
$ALTIM_BOTTOM_PING,300.5,6.5
$24V_AH,23.3,32.795
$10V_AH,10.0,18.968
$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,11.875,62.875,459.375,0.000,0.000,24.577,39.214,690.645,2.000,0.000,11.531,1309.722,3703.563,489.419,1366.512,1138.209,0.000,1247.865,0.000,1347.278,0.000,7.057,0.000
$DEVICE_MAMPS,243.906,95.875,1059.994,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,588.943,559.087,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135844
$DATA_FILE_SIZE,31594,814
$CAP_FILE_SIZE,99455,0
$CFSIZE,260165632,231415808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,180710,095126,6707.173,-5935.566,10,1.7,10,-38.4