version: 66.06
glider: 108
mission: 14
dive: 213
start: 7 18 110 23 47 0
data:
$ID,108
$MISSION,14
$DIVE,213
$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,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
$GPS1,202432,6703.179,-5931.894,0,6091.2,0,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.91
$_SM_ANGLEo,3.4
$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,16,-0.78,-146.1,0.0,0.0,0,114,0.00,0.00,-94.55,0.000,2,0.000,0.000,3374,2188,3483,0,0,0,0,0,0
$GC,117,-0.78,-146.1,3.2,-6.4,19,134,1.40,2.22,-6.88,0.000,4,0.153,0.082,2946,849,3657,0,0,0,0,0,0
$GC,388,-0.78,-146.1,34.0,-10.0,67,393,0.00,2.33,0.00,0.000,6,0.000,0.068,2938,2259,3661,0,0,0,0,0,0
$GC,731,-0.78,-146.1,68.2,-9.6,128,737,0.00,2.30,0.00,0.000,4,0.000,0.062,2938,842,3663,0,0,0,0,0,0
$GC,990,-0.78,-146.1,92.4,-8.9,174,996,0.00,2.33,0.00,0.000,6,0.000,0.068,2929,2250,3664,0,0,0,0,0,0
$GC,1329,-0.78,-146.1,122.9,-8.8,212,1333,0.00,2.30,0.00,0.000,4,0.000,0.065,2929,843,3664,0,0,0,0,0,0
$GC,1587,-0.78,-146.1,146.5,-8.7,234,1593,0.10,2.33,0.00,0.000,6,0.162,0.071,2947,2249,3664,0,0,0,0,0,0
$GC,1912,-0.78,-146.1,170.8,-7.7,265,1916,0.00,2.28,0.00,0.000,4,0.000,0.065,2947,843,3663,0,0,0,0,0,0
$GC,2086,-0.78,-146.1,184.6,-7.5,280,2091,0.00,2.33,0.00,0.000,6,0.000,0.071,2940,2249,3663,0,0,0,0,0,0
$GC,2412,-0.78,-146.1,208.5,-7.3,310,2416,0.00,2.28,0.00,0.000,4,0.000,0.065,2939,843,3662,0,0,0,0,0,0
$GC,2670,-0.78,-146.1,229.6,-8.3,332,2676,0.00,2.30,0.00,0.000,6,0.000,0.070,2930,2252,3662,0,0,0,0,0,0
$GC,2995,-0.78,-146.1,255.6,-8.1,363,2999,0.00,2.25,0.00,0.000,4,0.000,0.064,2930,843,3661,0,0,0,0,0,0
$GC,3192,-0.78,-146.1,272.4,-8.0,380,3196,0.00,2.33,0.00,0.000,6,0.000,0.069,2921,2257,3661,0,0,0,0,0,0
$GC,3517,-0.78,-146.1,297.8,-7.9,410,3522,0.10,2.30,0.00,0.000,4,0.166,0.063,2948,839,3660,0,0,0,0,0,0
$STATE,3550,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3550,begin apogee
$GC,3560,-0.17,0.0,300.4,7.1,412,3681,0.40,0.00,117.62,1.052,6,0.127,0.000,3074,2199,3058,0,0,0,0,0,0
$STATE,3681,end apogee,CONTROL_FINISHED_OK
$STATE,3684,begin climb
$GC,3686,0.78,146.1,303.8,0.0,424,3815,0.60,2.53,118.03,0.989,4,0.086,0.076,3282,3590,2461,0,0,0,0,0,0
$GC,4068,0.78,146.1,270.1,11.0,459,4072,0.00,2.30,0.00,0.000,6,0.000,0.053,3291,2195,2456,0,0,0,0,0,0
$GC,4399,0.81,169.1,240.0,8.9,490,4423,0.00,2.35,19.30,0.933,4,0.000,0.065,3300,783,2368,0,0,0,0,0,0
$GC,4465,0.81,169.1,233.8,10.1,496,4469,0.00,2.40,0.00,0.000,6,0.000,0.064,3300,2202,2367,0,0,0,0,0,0
$GC,4790,0.83,186.2,202.1,9.2,526,4811,0.00,2.30,15.00,0.903,4,0.000,0.075,3301,3593,2298,0,0,0,0,0,0
$GC,4869,0.83,186.2,193.4,12.6,533,4873,0.00,2.25,0.00,0.000,6,0.000,0.051,3310,2196,2295,0,0,0,0,0,0
$GC,5194,0.83,186.2,158.4,10.5,563,5198,0.00,2.25,0.00,0.000,4,0.000,0.061,3320,785,2295,0,0,0,0,0,0
$GC,5241,0.83,186.2,153.5,10.1,567,5245,0.12,2.35,0.00,0.000,6,0.157,0.063,3287,2204,2296,0,0,0,0,0,0
$GC,5566,0.93,264.2,128.9,6.4,597,5638,0.10,2.38,64.12,0.925,4,0.109,0.075,3331,3604,1978,0,0,0,0,0,0
$GC,5675,0.93,264.2,117.6,12.9,607,5680,0.12,2.30,0.00,0.000,6,0.166,0.052,3309,2198,1972,0,0,0,0,0,0
$GC,6009,0.93,264.2,85.3,10.1,650,6014,0.00,2.33,0.00,0.000,4,0.000,0.074,3309,3598,1968,0,0,0,0,0,0
$GC,6206,0.93,264.2,64.3,10.2,685,6212,0.00,2.25,0.00,0.000,6,0.000,0.053,3316,2187,1964,0,0,0,0,0,0
$GC,6550,0.94,271.6,34.0,9.7,746,6561,0.00,2.35,5.07,0.686,4,0.000,0.076,3316,3603,1950,0,0,0,0,0,0
$FREEZE,8.90,4.001,-1.720,2,8,0
$FREEZE,8.49,4.021,-1.718,2,8,0
$GC,6816,1.05,362.8,13.0,5.8,793,6900,0.00,2.25,77.32,0.866,6,0.000,0.056,3319,2192,1577,0,0,0,0,0,0
$FREEZE,7.47,4.166,-1.711,2,8,0
$FREEZE,7.07,4.224,-1.708,2,8,0
$FREEZE,6.73,4.240,-1.706,2,8,0
$FREEZE,6.39,4.257,-1.705,2,8,0
$FREEZE,5.94,4.267,-1.704,2,8,0
$FREEZE,5.32,4.266,-1.704,2,8,0
$FREEZE,4.93,4.277,-1.703,2,8,0
$FREEZE,4.41,4.288,-1.702,2,8,0
$FREEZE,3.96,4.302,-1.702,2,8,0
$FREEZE,3.45,4.412,-1.696,2,8,0
$FREEZE,3.04,4.517,-1.691,2,8,0
$FREEZE,2.58,4.675,-1.683,2,8,0
$STATE,6968,end climb,SURFACE_DEPTH_REACHED
$STATE,6968,begin surface coast
$FREEZE,2.20,4.814,-1.686,2,8,0
$FREEZE,1.75,4.744,-1.695,2,8,0
$FREEZE,1.85,4.700,-1.697,2,8,0
$FREEZE,1.93,4.777,-0.808,2,8,0
$FREEZE,1.78,4.817,-0.793,2,8,0
$FREEZE,1.82,4.769,-0.899,2,8,0
$FREEZE,1.79,4.797,-1.438,2,8,0
$FINISH,1.8,1.020888
$STATE,7009,end surface coast,CONTROL_FINISHED_OK
$STATE,7009,begin surface
$SM_CCo,7142,0.00,0.000,0,0,1560,367.46
$SM_GC,2.94,8.12,0.00,0.00,0.048,0.000,0.000,343,2280,1560,-12.66,0.85,367.46
$RAFOS_CLK,320
$RAFOS,6,1279500545,0.833333,0.818056,141,140,42,41,40,39,658,658,1052,1277,1497,462
$RAFOS,5,1279500068,0.700000,0.685556,154,135,45,44,43,40,807,808,1491,545,1481,1745
$RAFOS,4,1279499589,0.566667,0.552500,146,145,48,46,43,41,613,612,150,225,1122,1269
$RAFOS,3,1279499101,0.433333,0.416944,131,109,45,45,42,42,854,855,1216,1451,982,1173
$RAFOS,2,1279498623,0.300000,0.284167,106,103,43,43,42,40,781,782,1034,107,1757,1757
$RAFOS,1,1279498143,0.166667,0.150833,103,93,41,40,40,39,678,679,260,922,1822,1662
$RAFOS,0,1279497662,0.033333,0.017222,81,80,47,46,43,43,791,790,1590,1727,1591,305
$RAFOS_FIX,6703.081055,-5932.492676,190710,000007,7,123,0.03
$IRIDIUM_FIX,6641.98,-5915.48,111099,212152
$TT8_MAMPS,0.026845
$HUMID,42.40
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.70
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.9,18.1
$ALTIM_BOTTOM_PING,300.4,6.5
$24V_AH,23.3,33.624
$10V_AH,10.1,19.290
$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,11.075,64.825,416.475,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1377.536,3805.357,451.967,1417.799,164.561,0.000,1220.435,0.000,1407.298,2520.000,7.043,0.000
$DEVICE_MAMPS,166.439,82.836,1051.557,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.521,569.337,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135768
$DATA_FILE_SIZE,31636,828
$CAP_FILE_SIZE,86062,0
$CFSIZE,260165632,231092224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.0
$GPS,190710,014739,6703.455,-5933.255,30,1.4,32,-38.3