version: 66.06
glider: 108
mission: 14
dive: 208
start: 7 18 110 13 48 35
data:
$ID,108
$MISSION,14
$DIVE,208
$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,27
$R_STBD_OVSHOOT,22
$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
$GPS1,122306,6705.396,-5934.238,0,6114.5,0,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,0.6
$GPS2,122306,6705.396,-5934.238,0,6114.5,0,-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,130.5,120130,-18.1,-10.000
$D_GRID,1125
$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,-146.1,0.0,0.0,0,139,0.00,0.00,-115.88,0.000,6,0.000,0.000,3333,2201,3654,0,0,0,0,0,0
$GC,143,-0.78,-146.1,2.2,-1.2,24,149,1.25,2.20,0.00,0.000,4,0.143,0.064,2947,830,3655,0,0,0,0,0,0
$GC,386,-0.78,-146.1,31.1,-9.0,67,392,0.00,2.35,0.00,0.000,6,0.000,0.067,2939,2249,3658,0,0,0,0,0,0
$GC,730,-0.78,-146.1,65.7,-7.8,128,735,0.00,2.30,0.00,0.000,4,0.000,0.062,2939,831,3661,0,0,0,0,0,0
$GC,989,-0.78,-146.1,88.9,-8.7,174,995,0.00,2.35,0.00,0.000,6,0.000,0.068,2930,2256,3662,0,0,0,0,0,0
$GC,1321,-0.78,-146.1,119.1,-8.5,215,1325,0.00,2.28,0.00,0.000,4,0.000,0.064,2930,840,3661,0,0,0,0,0,0
$GC,1573,-0.78,-146.1,140.3,-7.4,237,1579,0.10,2.33,0.00,0.000,6,0.162,0.069,2947,2253,3661,0,0,0,0,0,0
$GC,1898,-0.78,-146.1,161.9,-7.9,268,1902,0.00,2.30,0.00,0.000,4,0.000,0.065,2947,836,3660,0,0,0,0,0,0
$GC,2157,-0.78,-146.1,184.6,-8.2,290,2162,0.00,2.35,0.00,0.000,6,0.000,0.071,2940,2259,3659,0,0,0,0,0,0
$GC,2482,-0.78,-146.1,213.3,-9.1,321,2486,0.00,2.30,0.00,0.000,4,0.000,0.064,2940,838,3659,0,0,0,0,0,0
$GC,2567,-0.78,-146.1,221.2,-9.3,328,2571,0.00,2.35,0.00,0.000,6,0.000,0.070,2931,2262,3658,0,0,0,0,0,0
$GC,2892,-0.78,-146.1,249.0,-8.0,358,2896,0.00,2.30,0.00,0.000,4,0.000,0.064,2931,839,3659,0,0,0,0,0,0
$GC,3150,-0.78,-146.1,271.2,-8.0,380,3155,0.00,2.33,0.00,0.000,6,0.000,0.069,2921,2252,3658,0,0,0,0,0,0
$GC,3475,-0.78,-146.1,297.9,-8.1,411,3479,0.00,2.28,0.00,0.000,4,0.000,0.064,2921,840,3657,0,0,0,0,0,0
$STATE,3504,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3504,begin apogee
$GC,3513,-0.17,0.0,300.3,8.5,413,3634,0.50,0.00,117.38,1.068,6,0.129,0.000,3076,2199,3058,0,0,0,0,0,0
$STATE,3635,end apogee,CONTROL_FINISHED_OK
$STATE,3635,begin climb
$GC,3639,0.78,146.1,303.9,0.0,425,3766,0.60,2.50,118.50,0.996,4,0.087,0.076,3282,3601,2461,0,0,0,0,0,0
$GC,3858,0.78,146.1,288.5,10.1,445,3862,0.00,2.38,0.00,0.000,6,0.000,0.053,3292,2202,2457,0,0,0,0,0,0
$GC,4183,0.83,182.0,260.7,8.4,475,4218,0.00,2.40,29.73,0.963,4,0.000,0.064,3300,782,2314,0,0,0,0,0,0
$GC,4278,0.86,209.2,252.5,8.8,483,4309,0.00,2.45,23.62,0.935,6,0.000,0.065,3300,2213,2202,0,0,0,0,0,0
$GC,4628,0.86,209.2,216.5,10.5,516,4632,0.00,2.28,0.00,0.000,4,0.000,0.074,3301,3598,2197,0,0,0,0,0,0
$GC,4679,0.86,209.2,210.6,12.5,520,4683,0.00,2.28,0.00,0.000,6,0.000,0.051,3310,2184,2196,0,0,0,0,0,0
$GC,5004,0.86,209.2,174.9,10.5,550,5008,0.00,2.22,0.00,0.000,4,0.000,0.061,3320,783,2196,0,0,0,0,0,0
$GC,5089,0.86,209.2,166.0,10.3,557,5093,0.00,2.35,0.00,0.000,6,0.000,0.063,3321,2204,2197,0,0,0,0,0,0
$GC,5414,0.86,209.2,131.9,10.7,587,5418,0.00,2.22,0.00,0.000,4,0.000,0.076,3321,3595,2196,0,0,0,0,0,0
$GC,5442,0.86,209.2,128.6,11.7,589,5447,0.12,2.20,0.00,0.000,6,0.165,0.052,3296,2196,2196,0,0,0,0,0,0
$GC,5768,0.91,245.9,98.4,8.3,621,5805,0.00,2.38,29.98,0.919,4,0.000,0.074,3296,3602,2054,0,0,0,0,0,0
$GC,5997,0.91,248.9,77.3,9.9,662,6002,0.00,2.25,0.00,0.000,6,0.000,0.053,3304,2199,2048,0,0,0,0,0,0
$GC,6341,0.97,302.2,48.6,7.6,723,6396,0.00,2.45,46.78,0.898,4,0.000,0.074,3303,3603,1825,0,0,0,0,0,0
$GC,6561,0.98,309.4,28.5,9.7,763,6572,0.00,2.28,6.07,0.708,6,0.000,0.055,3308,2202,1796,0,0,0,0,0,0
$FREEZE,8.71,4.300,-1.729,2,3,0
$FREEZE,8.37,4.296,-1.729,2,3,0
$FREEZE,8.03,4.296,-1.729,2,3,0
$FREEZE,7.49,4.295,-1.729,2,3,0
$FREEZE,7.07,4.296,-1.728,2,3,0
$FREEZE,6.78,4.297,-1.728,2,3,0
$FREEZE,6.32,4.303,-1.727,2,3,0
$FREEZE,5.96,4.298,-1.727,2,3,0
$FREEZE,5.41,4.299,-1.727,2,3,0
$FREEZE,4.97,4.308,-1.726,2,3,0
$FREEZE,4.44,4.310,-1.726,2,3,0
$FREEZE,3.96,4.324,-1.725,2,3,0
$FREEZE,3.53,4.397,-1.721,2,3,0
$FREEZE,3.12,4.487,-1.716,2,3,0
$FREEZE,2.77,4.555,-1.712,2,3,0
$GC,6912,1.05,365.2,5.4,7.4,825,6950,0.12,0.00,35.78,0.867,2,0.110,0.000,3355,2201,1624,0,0,0,0,0,0
$STATE,6951,end climb,SURFACE_DEPTH_REACHED
$STATE,6951,begin surface coast
$FREEZE,2.05,4.576,-1.711,2,3,0
$FREEZE,1.90,4.648,-1.710,2,3,0
$FREEZE,1.80,4.560,-0.926,2,3,0
$FREEZE,1.78,4.552,-0.892,2,3,0
$FREEZE,1.92,4.550,-1.152,2,3,0
$FREEZE,1.86,4.575,-0.924,2,3,0
$FREEZE,1.85,4.555,-0.856,2,3,0
$FREEZE,1.86,4.596,-0.768,2,3,0
$FINISH,1.9,1.011223
$STATE,6997,end surface coast,CONTROL_FINISHED_OK
$STATE,6997,begin surface
$RAFOS_CLK,315
$RAFOS_FIX,6705.395996,-5934.238281,180710,121206,6,114,0.38
$IRIDIUM_FIX,6641.98,-5915.48,111099,212152
$TT8_MAMPS,0.027612
$HUMID,42.20
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.8,18.0
$ALTIM_BOTTOM_PING,300.3,6.5
$24V_AH,23.3,33.029
$10V_AH,10.1,19.059
$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,2.700,64.900,407.825,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1349.668,3814.855,450.075,1400.592,164.033,0.000,1219.477,0.000,1396.877,0.000,7.041,0.000
$DEVICE_MAMPS,164.905,75.933,1068.431,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,613.130,574.960,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135844
$DATA_FILE_SIZE,31632,839
$CAP_FILE_SIZE,84470,0
$CFSIZE,260165632,231333888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$GPS,180710,122306,6705.396,-5934.238,0,6114.5,0,-38.4