version: 66.06
glider: 108
mission: 14
dive: 212
start: 7 18 110 21 44 21
data:
$ID,108
$MISSION,14
$DIVE,212
$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,30
$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
$GPS1,202432,6703.179,-5931.894,0,6091.2,0,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.82
$_SM_ANGLEo,1.3
$GPS2,202432,6703.179,-5931.894,0,6091.2,0,-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,128.6,118356,-18.1,-10.000
$D_GRID,1083
$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,-146.1,0.0,0.0,0,114,0.00,0.00,-94.45,0.000,2,0.000,0.000,3334,2199,3419,0,0,0,0,0,0
$GC,117,-0.78,-146.1,3.3,-6.0,19,134,1.12,2.20,-9.40,0.000,4,0.087,0.078,2936,840,3656,0,0,0,0,0,0
$GC,388,-0.78,-146.1,37.0,-10.7,67,393,0.00,2.35,0.00,0.000,6,0.000,0.068,2929,2257,3661,0,0,0,0,0,0
$GC,732,-0.78,-146.1,71.4,-9.4,128,737,0.00,2.30,0.00,0.000,4,0.000,0.063,2929,838,3663,0,0,0,0,0,0
$GC,991,-0.78,-146.1,97.3,-9.3,174,997,0.10,2.35,0.00,0.000,6,0.161,0.069,2947,2260,3663,0,0,0,0,0,0
$GC,1319,-0.78,-146.1,125.1,-8.6,207,1323,0.00,2.30,0.00,0.000,4,0.000,0.064,2947,840,3663,0,0,0,0,0,0
$GC,1487,-0.78,-146.1,140.2,-8.9,221,1492,0.00,2.33,0.00,0.000,6,0.000,0.069,2940,2248,3663,0,0,0,0,0,0
$GC,1812,-0.78,-146.1,168.5,-8.6,252,1816,0.00,2.28,0.00,0.000,4,0.000,0.065,2939,830,3663,0,0,0,0,0,0
$GC,2070,-0.78,-146.1,191.9,-9.2,274,2075,0.00,2.35,0.00,0.000,6,0.000,0.070,2930,2258,3662,0,0,0,0,0,0
$GC,2395,-0.78,-146.1,220.0,-8.4,305,2399,0.00,2.30,0.00,0.000,4,0.000,0.064,2930,835,3661,0,0,0,0,0,0
$GC,2652,-0.78,-146.1,241.4,-8.1,327,2659,0.10,2.35,0.00,0.000,6,0.159,0.070,2948,2263,3661,0,0,0,0,0,0
$GC,2978,-0.78,-146.1,260.1,-5.5,358,2982,0.00,2.30,0.00,0.000,4,0.000,0.064,2948,835,3660,0,0,0,0,0,0
$GC,3235,-0.78,-146.1,274.6,-5.7,380,3241,0.00,2.33,0.00,0.000,6,0.000,0.069,2941,2257,3660,0,0,0,0,0,0
$GC,3560,-0.78,-146.1,292.6,-5.7,411,3564,0.00,2.25,0.00,0.000,4,0.000,0.064,2941,843,3660,0,0,0,0,0,0
$GC,3645,-0.78,-146.1,297.9,-6.5,418,3649,0.00,2.33,0.00,0.000,6,0.000,0.068,2932,2262,3660,0,0,0,0,0,0
$STATE,3683,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3683,begin apogee
$GC,3691,-0.17,0.0,300.2,6.1,421,3812,0.43,0.00,117.85,1.052,6,0.123,0.000,3073,2174,3058,0,0,0,0,0,0
$STATE,3813,end apogee,CONTROL_FINISHED_OK
$STATE,3813,begin climb
$GC,3816,0.78,146.1,301.7,0.0,433,3944,0.60,2.45,118.10,0.988,4,0.087,0.064,3290,812,2461,0,0,0,0,0,0
$GC,3997,0.79,153.4,288.0,9.7,450,4011,0.00,2.47,7.43,0.788,6,0.000,0.064,3290,2207,2432,0,0,0,0,0,0
$GC,4337,0.81,169.1,254.5,9.3,482,4358,0.00,2.38,13.93,0.902,4,0.000,0.077,3290,3593,2367,0,0,0,0,0,0
$GC,4416,0.81,169.1,245.8,11.7,489,4420,0.00,2.25,0.00,0.000,6,0.000,0.052,3299,2220,2366,0,0,0,0,0,0
$GC,4741,0.84,193.0,213.1,8.9,519,4766,0.00,2.33,20.35,0.937,4,0.000,0.071,3299,3607,2269,0,0,0,0,0,0
$GC,5020,0.84,193.0,183.0,11.0,543,5026,0.00,2.28,0.00,0.000,6,0.000,0.051,3309,2185,2265,0,0,0,0,0,0
$GC,5345,0.86,210.2,152.3,9.2,574,5366,0.00,2.28,14.60,0.885,4,0.000,0.062,3319,786,2200,0,0,0,0,0,0
$GC,5406,0.87,216.8,146.7,9.7,579,5422,0.00,2.38,7.12,0.773,6,0.000,0.063,3319,2211,2174,0,0,0,0,0,0
$GC,5741,0.88,227.6,114.0,9.5,611,5756,0.00,2.25,10.52,0.832,4,0.000,0.074,3319,3596,2128,0,0,0,0,0,0
$GC,5803,0.88,227.6,107.4,11.7,616,5807,0.10,2.25,0.00,0.000,6,0.178,0.052,3304,2191,2125,0,0,0,0,0,0
$GC,6141,0.94,275.5,76.7,7.8,669,6188,0.00,2.40,40.40,0.894,4,0.000,0.072,3304,3603,1933,0,0,0,0,0,0
$GC,6391,0.94,275.5,53.9,10.2,714,6397,0.00,2.28,0.00,0.000,6,0.000,0.054,3310,2193,1924,0,0,0,0,0,0
$GC,6735,0.96,294.0,22.8,9.2,775,6756,0.00,2.35,15.10,0.837,4,0.000,0.075,3310,3593,1858,0,0,0,0,0,0
$FREEZE,8.78,3.963,-1.720,2,7,0
$FREEZE,8.50,3.966,-1.719,2,7,0
$FREEZE,8.08,3.971,-1.719,2,7,0
$FREEZE,7.90,3.975,-1.719,2,7,0
$FREEZE,7.49,3.976,-1.719,2,7,0
$FREEZE,7.07,3.979,-1.718,2,7,0
$FREEZE,6.54,3.991,-1.718,2,7,0
$FREEZE,6.15,4.005,-1.717,2,7,0
$FREEZE,5.77,4.039,-1.716,2,7,0
$FREEZE,5.40,4.069,-1.716,2,7,0
$FREEZE,4.98,4.081,-1.715,2,7,0
$FREEZE,4.54,4.093,-1.715,2,7,0
$FREEZE,4.10,4.103,-1.715,2,7,0
$FREEZE,3.63,4.139,-1.714,2,7,0
$FREEZE,3.27,4.251,-1.711,2,7,0
$FREEZE,2.81,4.507,-1.707,2,7,0
$GC,7011,1.07,379.2,7.1,6.1,824,7076,0.12,2.25,57.00,0.864,2,0.094,0.055,3374,2188,1582,0,0,0,0,0,0
$STATE,7077,end climb,SURFACE_DEPTH_REACHED
$STATE,7077,begin surface coast
$FREEZE,1.98,5.057,-1.707,2,7,0
$FREEZE,1.94,5.042,-1.655,2,7,0
$FREEZE,1.91,5.040,-1.689,2,7,0
$FREEZE,1.91,5.025,-1.684,2,7,0
$FREEZE,1.90,5.023,-0.155,2,7,0
$FREEZE,1.83,5.030,-0.266,2,7,0
$FREEZE,1.83,5.007,-0.795,2,7,0
$FREEZE,1.83,4.930,-0.877,2,7,0
$FINISH,1.8,1.012795
$STATE,7122,end surface coast,CONTROL_FINISHED_OK
$STATE,7122,begin surface
$RAFOS_CLK,319
$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,42.67
$INTERNAL_PRESSURE,10.2055
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.7,17.8
$ALTIM_BOTTOM_PING,300.2,6.5
$24V_AH,23.3,33.511
$10V_AH,10.1,19.242
$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,2.575,65.000,422.400,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1346.921,3892.131,457.275,1444.871,160.140,0.000,1244.941,0.000,1439.426,0.000,7.043,0.000
$DEVICE_MAMPS,177.944,81.302,1052.324,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,614.157,578.303,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135844
$DATA_FILE_SIZE,31680,842
$CAP_FILE_SIZE,87194,0
$CFSIZE,260165632,231141376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.4
$GPS,180710,202432,6703.179,-5931.894,0,6091.2,0,-38.4