version: 66.06
glider: 108
mission: 14
dive: 211
start: 7 18 110 19 44 49
data:
$ID,108
$MISSION,14
$DIVE,211
$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,21
$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,1.86
$_SM_ANGLEo,1.2
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.78,-146.1,0.0,0.0,0,124,0.00,0.00,-104.35,0.000,2,0.000,0.000,3336,2198,3496,0,0,0,0,0,0
$GC,129,-0.78,-146.1,3.2,-5.7,21,146,1.20,2.28,-6.32,0.000,4,0.120,0.082,2938,833,3657,0,0,0,0,0,0
$GC,399,-0.78,-146.1,36.5,-10.3,69,405,0.00,2.35,0.00,0.000,6,0.000,0.068,2929,2250,3662,0,0,0,0,0,0
$GC,743,-0.78,-146.1,71.5,-10.7,130,748,0.00,2.33,0.00,0.000,4,0.000,0.064,2929,829,3664,0,0,0,0,0,0
$GC,1001,-0.78,-146.1,99.6,-10.5,176,1007,0.10,2.35,0.00,0.000,6,0.160,0.068,2946,2250,3664,0,0,0,0,0,0
$GC,1326,-0.78,-146.1,126.0,-7.7,207,1330,0.00,2.30,0.00,0.000,4,0.000,0.065,2947,834,3664,0,0,0,0,0,0
$GC,1461,-0.78,-146.1,137.3,-8.8,218,1465,0.00,2.35,0.00,0.000,6,0.000,0.070,2939,2254,3664,0,0,0,0,0,0
$GC,1787,-0.78,-146.1,165.7,-8.6,248,1791,0.00,2.28,0.00,0.000,4,0.000,0.065,2939,840,3664,0,0,0,0,0,0
$GC,2047,-0.78,-146.1,188.6,-8.8,271,2051,0.00,2.33,0.00,0.000,6,0.000,0.069,2930,2249,3663,0,0,0,0,0,0
$GC,2372,-0.78,-146.1,216.0,-8.5,301,2376,0.00,2.30,0.00,0.000,4,0.000,0.065,2930,829,3662,0,0,0,0,0,0
$GC,2557,-0.78,-146.1,232.8,-9.0,317,2563,0.10,2.35,0.00,0.000,6,0.160,0.069,2948,2258,3662,0,0,0,0,0,0
$GC,2882,-0.78,-146.1,257.2,-7.6,348,2886,0.00,2.28,0.00,0.000,4,0.000,0.064,2948,833,3662,0,0,0,0,0,0
$GC,3139,-0.78,-146.1,278.2,-7.9,370,3145,0.00,2.35,0.00,0.000,6,0.000,0.069,2941,2264,3661,0,0,0,0,0,0
$STATE,3444,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3444,begin apogee
$GC,3451,-0.17,0.0,300.9,7.7,399,3573,0.40,0.00,117.95,1.056,6,0.124,0.000,3074,2175,3058,0,0,0,0,0,0
$STATE,3573,end apogee,CONTROL_FINISHED_OK
$STATE,3574,begin climb
$GC,3576,0.78,146.1,303.9,0.0,411,3704,0.60,2.58,118.12,0.989,4,0.086,0.074,3281,3601,2461,0,0,0,0,0,0
$GC,3767,0.78,146.1,290.4,11.0,429,3772,0.00,2.35,0.00,0.000,6,0.000,0.052,3290,2221,2457,0,0,0,0,0,0
$GC,4092,0.78,146.1,257.3,10.9,459,4096,0.00,2.33,0.00,0.000,4,0.000,0.074,3290,3594,2456,0,0,0,0,0,0
$GC,4349,0.78,146.1,226.5,12.3,481,4355,0.00,2.25,0.00,0.000,6,0.000,0.052,3300,2189,2455,0,0,0,0,0,0
$GC,4674,0.81,171.1,195.5,8.9,512,4700,0.00,2.30,20.62,0.938,4,0.000,0.061,3310,783,2359,0,0,0,0,0,0
$GC,4735,0.82,179.8,189.8,9.6,517,4750,0.00,2.38,8.65,0.826,6,0.000,0.064,3311,2199,2323,0,0,0,0,0,0
$GC,5077,0.83,183.3,157.8,9.8,549,5088,0.00,2.30,4.03,0.624,4,0.000,0.075,3311,3590,2309,0,0,0,0,0,0
$GC,5122,0.83,183.3,152.7,12.1,553,5127,0.12,2.22,0.00,0.000,6,0.166,0.052,3287,2197,2308,0,0,0,0,0,0
$GC,5448,0.88,223.5,123.7,8.2,583,5489,0.00,2.40,33.40,0.923,4,0.000,0.073,3287,3591,2145,0,0,0,0,0,0
$GC,5704,0.91,248.7,99.6,8.8,606,5730,0.00,2.22,21.27,0.877,6,0.000,0.052,3293,2201,2044,0,0,0,0,0,0
$GC,6069,0.99,317.6,69.9,6.8,671,6136,0.12,2.40,57.80,0.891,4,0.096,0.064,3360,787,1761,0,0,0,0,0,0
$GC,6204,0.99,317.6,55.3,11.0,696,6210,0.12,2.40,0.00,0.000,6,0.159,0.065,3328,2198,1756,0,0,0,0,0,0
$GC,6548,1.02,339.6,25.2,9.0,757,6574,0.00,2.38,18.02,0.838,4,0.000,0.079,3328,3600,1672,0,0,0,0,0,0
$GC,6618,1.07,381.6,19.5,8.1,769,6663,0.00,2.28,36.92,0.843,6,0.000,0.054,3334,2198,1501,0,0,0,0,0,0
$FREEZE,8.80,3.795,-1.719,2,6,0
$FREEZE,8.44,3.808,-1.718,2,6,0
$FREEZE,7.98,3.810,-1.718,2,6,0
$FREEZE,7.59,3.807,-1.718,2,6,0
$FREEZE,7.33,3.797,-1.718,2,6,0
$FREEZE,6.81,3.795,-1.717,2,6,0
$FREEZE,6.43,3.794,-1.717,2,6,0
$FREEZE,6.04,3.804,-1.716,2,6,0
$FREEZE,5.67,3.835,-1.714,2,6,0
$FREEZE,5.23,3.854,-1.713,2,6,0
$FREEZE,4.73,3.887,-1.711,2,6,0
$FREEZE,4.30,3.919,-1.710,2,6,0
$FREEZE,3.78,4.079,-1.702,2,6,0
$FREEZE,3.49,4.228,-1.696,2,6,0
$FREEZE,2.97,4.457,-1.685,2,6,0
$STATE,6874,end climb,SURFACE_DEPTH_REACHED
$STATE,6874,begin surface coast
$FREEZE,2.18,4.589,-1.682,2,6,0
$FREEZE,1.80,5.238,-1.654,2,6,0
$FREEZE,1.87,5.063,-0.812,2,6,0
$FREEZE,1.78,5.080,-0.675,2,6,0
$FREEZE,1.90,5.315,-0.063,2,6,0
$FREEZE,1.86,5.489,-0.541,2,6,0
$FREEZE,1.83,5.022,-0.065,2,6,0
$FINISH,1.8,1.000883
$STATE,6914,end surface coast,CONTROL_FINISHED_OK
$STATE,6914,begin surface
$RAFOS_CLK,313
$RAFOS,6,1279486145,20.833334,20.818056,101,98,47,42,42,40,662,664,209,1188,1154,150
$RAFOS,5,1279485665,20.700001,20.684723,46,45,45,41,41,40,960,1066,1308,106,483,1934
$RAFOS,4,1279485185,20.566668,20.551390,100,94,45,43,42,39,641,642,787,1665,1840,61
$RAFOS,3,1279484704,20.433332,20.417778,84,83,49,47,43,43,839,839,1191,1426,1270,1892
$RAFOS,2,1279484222,20.299999,20.283890,72,70,46,45,40,38,788,789,592,1681,1107,591
$RAFOS,1,1279483742,20.166666,20.150555,95,92,50,50,46,44,674,675,684,683,61,1309
$RAFOS,0,1279483266,20.033333,20.018333,95,73,45,44,44,41,770,771,1250,1044,1790,561
$RAFOS_FIX,6703.178711,-5931.893555,180710,202032,6,91,0.14
$IRIDIUM_FIX,6641.98,-5915.48,111099,212152
$TT8_MAMPS,0.026845
$HUMID,42.51
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,15.70
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,300.9,6.5
$24V_AH,23.3,33.398
$10V_AH,10.1,19.197
$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,2.775,60.725,436.800,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1348.580,3730.511,467.425,1409.708,156.754,0.000,1243.458,0.000,1402.639,2520.000,7.042,0.000
$DEVICE_MAMPS,165.672,82.836,1056.159,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,599.595,564.038,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135768
$DATA_FILE_SIZE,31630,822
$CAP_FILE_SIZE,85347,0
$CFSIZE,260165632,231194624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,180710,202432,6703.179,-5931.894,0,6091.2,0,-38.4