version: 66.06
glider: 108
mission: 14
dive: 210
start: 7 18 110 17 46 51
data:
$ID,108
$MISSION,14
$DIVE,210
$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,23
$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
$GPS1,162725,6703.967,-5930.052,0,7105.9,0,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,1.8
$GPS2,162725,6703.967,-5930.052,0,7105.9,0,-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,129.3,117039,-18.1,-10.000
$D_GRID,1113
$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,-146.1,0.0,0.0,0,123,0.00,0.00,-103.80,0.000,2,0.000,0.000,3351,2199,3420,0,0,0,0,0,0
$GC,128,-0.78,-146.1,3.0,-4.9,21,145,1.33,2.20,-9.43,0.000,4,0.154,0.078,2939,829,3656,0,0,0,0,0,0
$GC,309,-0.78,-146.1,27.5,-10.7,53,315,0.00,2.38,0.00,0.000,6,0.000,0.069,2930,2254,3660,0,0,0,0,0,0
$GC,652,-0.78,-146.1,61.1,-10.2,114,658,0.00,2.30,0.00,0.000,4,0.000,0.062,2930,839,3664,0,0,0,0,0,0
$GC,911,-0.78,-146.1,87.6,-10.6,160,917,0.00,2.33,0.00,0.000,6,0.000,0.068,2920,2257,3664,0,0,0,0,0,0
$GC,1248,-0.78,-146.1,121.8,-10.1,202,1253,0.10,2.33,0.00,0.000,4,0.170,0.064,2947,835,3664,0,0,0,0,0,0
$GC,1434,-0.78,-146.1,137.4,-8.4,218,1438,0.00,2.35,0.00,0.000,6,0.000,0.070,2939,2255,3664,0,0,0,0,0,0
$GC,1760,-0.78,-146.1,163.7,-8.3,248,1764,0.00,2.30,0.00,0.000,4,0.000,0.064,2939,835,3663,0,0,0,0,0,0
$GC,2017,-0.78,-146.1,186.3,-9.1,270,2023,0.00,2.35,0.00,0.000,6,0.000,0.070,2930,2258,3663,0,0,0,0,0,0
$GC,2343,-0.78,-146.1,215.0,-8.7,301,2347,0.00,2.30,0.00,0.000,4,0.000,0.064,2930,836,3662,0,0,0,0,0,0
$GC,2540,-0.78,-146.1,232.8,-8.5,318,2545,0.10,2.35,0.00,0.000,6,0.158,0.070,2947,2263,3661,0,0,0,0,0,0
$GC,2865,-0.78,-146.1,256.0,-7.4,348,2869,0.00,2.30,0.00,0.000,4,0.000,0.064,2948,837,3661,0,0,0,0,0,0
$GC,3123,-0.78,-146.1,276.2,-8.1,370,3129,0.00,2.33,0.00,0.000,6,0.000,0.069,2941,2249,3661,0,0,0,0,0,0
$STATE,3440,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3440,begin apogee
$GC,3447,-0.17,0.0,300.8,7.8,400,3568,0.40,0.00,117.80,1.057,6,0.127,0.000,3073,2178,3058,0,0,0,0,0,0
$STATE,3569,end apogee,CONTROL_FINISHED_OK
$STATE,3569,begin climb
$GC,3572,0.78,146.1,305.2,0.0,412,3700,0.60,2.58,118.00,0.999,4,0.088,0.074,3280,3594,2461,0,0,0,0,0,0
$GC,3763,0.80,156.8,294.0,9.5,430,3778,0.00,2.35,10.12,0.853,6,0.000,0.052,3289,2218,2418,0,0,0,0,0,0
$GC,4098,0.84,194.2,266.4,8.3,461,4135,0.00,2.42,31.15,0.963,4,0.000,0.062,3300,783,2265,0,0,0,0,0,0
$GC,4141,0.88,228.8,262.6,8.4,464,4177,0.00,2.45,30.02,0.939,6,0.000,0.064,3300,2200,2124,0,0,0,0,0,0
$GC,4496,0.88,228.8,226.0,10.0,498,4500,0.00,2.35,0.00,0.000,4,0.000,0.061,3309,788,2117,0,0,0,0,0,0
$GC,4562,0.89,233.2,219.4,9.8,503,4572,0.00,2.38,4.10,0.630,6,0.000,0.064,3309,2202,2107,0,0,0,0,0,0
$GC,4898,0.89,233.2,184.6,10.6,535,4902,0.00,2.25,0.00,0.000,4,0.000,0.074,3309,3596,2105,0,0,0,0,0,0
$GC,4926,0.89,233.2,181.4,11.8,537,4930,0.00,2.25,0.00,0.000,6,0.000,0.051,3318,2189,2103,0,0,0,0,0,0
$GC,5251,0.89,233.2,142.9,11.9,567,5255,0.00,2.33,0.00,0.000,4,0.000,0.072,3318,3601,2103,0,0,0,0,0,0
$GC,5497,0.89,233.2,110.2,13.2,588,5503,0.10,2.22,0.00,0.000,6,0.176,0.054,3303,2199,2103,0,0,0,0,0,0
$GC,5834,0.94,273.5,81.7,8.2,638,5875,0.00,2.33,34.12,0.910,4,0.000,0.064,3308,782,1942,0,0,0,0,0,0
$GC,5935,0.98,310.2,73.3,8.3,656,5975,0.00,2.38,31.75,0.872,6,0.000,0.065,3308,2198,1792,0,0,0,0,0,0
$GC,6313,1.05,364.9,43.8,7.5,724,6365,0.12,2.42,46.45,0.870,4,0.090,0.077,3367,3598,1569,0,0,0,0,0,0
$GC,6416,1.05,364.9,31.1,14.9,743,6423,0.15,2.30,0.00,0.000,6,0.153,0.054,3336,2199,1562,0,0,0,0,0,0
$FREEZE,8.94,4.332,-1.728,2,5,0
$FREEZE,8.39,4.335,-1.727,2,5,0
$FREEZE,7.96,4.337,-1.727,2,5,0
$FREEZE,7.50,4.340,-1.726,2,5,0
$FREEZE,7.21,4.343,-1.726,2,5,0
$FREEZE,6.76,4.339,-1.726,2,5,0
$FREEZE,6.28,4.326,-1.726,2,5,0
$FREEZE,5.91,4.321,-1.725,2,5,0
$FREEZE,5.28,4.314,-1.725,2,5,0
$FREEZE,4.85,4.298,-1.725,2,5,0
$FREEZE,4.33,4.266,-1.727,2,5,0
$FREEZE,3.83,4.242,-1.727,2,5,0
$FREEZE,3.34,4.344,-1.721,2,5,0
$FREEZE,2.84,4.467,-1.714,2,5,0
$GC,6763,1.13,427.2,5.9,7.1,804,6801,0.00,0.00,35.70,0.847,2,0.000,0.000,3336,2198,1389,0,0,0,0,0,0
$STATE,6802,end climb,SURFACE_DEPTH_REACHED
$STATE,6802,begin surface coast
$FREEZE,1.98,4.637,-1.705,2,5,0
$FREEZE,1.93,4.782,-0.939,2,5,0
$FREEZE,1.87,4.951,-0.801,2,5,0
$FREEZE,1.91,4.871,-1.650,2,5,0
$FREEZE,1.86,4.745,-1.158,2,5,0
$FREEZE,1.82,4.887,-1.691,2,5,0
$FREEZE,1.90,5.015,-0.881,2,5,0
$FINISH,1.9,1.012850
$STATE,6842,end surface coast,CONTROL_FINISHED_OK
$STATE,6842,begin surface
$RAFOS_CLK,304
$RAFOS_FIX,6703.967285,-5930.051758,180710,161625,7,106,0.27
$IRIDIUM_FIX,6641.98,-5915.48,111099,212152
$TT8_MAMPS,0.026845
$HUMID,41.84
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,18.2
$ALTIM_BOTTOM_PING,300.8,6.5
$24V_AH,23.3,33.280
$10V_AH,10.1,19.150
$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,2.900,60.900,459.225,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1297.251,3696.827,480.519,1388.308,159.329,0.000,1250.142,0.000,1383.060,0.000,8.943,0.000
$DEVICE_MAMPS,175.643,94.341,1056.926,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,593.467,563.420,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135844
$DATA_FILE_SIZE,31585,817
$CAP_FILE_SIZE,83736,0
$CFSIZE,260165632,231239680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,180710,162725,6703.967,-5930.052,0,7105.9,0,-38.4