version: 66.06
glider: 108
mission: 14
dive: 214
start: 7 19 110 2 7 11
data:
$ID,108
$MISSION,14
$DIVE,214
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,50
$D_BOOST,0
$D_FINISH,9
$D_PITCH,0
$D_SAFE,500
$D_CALL,0
$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,-180919.05
$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,29
$R_STBD_OVSHOOT,45
$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,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
$GPS1,014739,6703.455,-5933.255,30,1.4,32,-38.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.85
$_SM_ANGLEo,-76.6
$GPS2,020649,6703.399,-5932.802,10,1.3,10,-38.3
$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,128.7,119013,-18.1,-10.000
$D_GRID,1080
$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,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,37,0.00,0.00,-19.70,0.000,2,0.000,0.000,342,2280,2023,0,0,0,0,0,0
$GC,41,-0.78,-146.1,3.0,-0.4,4,133,10.27,2.35,-75.70,0.000,4,0.238,0.072,2934,837,3656,0,0,0,0,0,0
$GC,375,-0.78,-146.1,38.1,-10.6,64,381,0.00,2.30,0.00,0.000,6,0.000,0.064,2927,2226,3661,0,0,0,0,0,0
$GC,720,-0.78,-146.1,69.4,-10.2,125,726,0.00,2.25,0.00,0.000,4,0.000,0.060,2927,838,3664,0,0,0,0,0,0
$GC,979,-0.78,-146.1,98.2,-11.3,171,986,0.10,2.33,0.00,0.000,6,0.163,0.066,2945,2250,3664,0,0,0,0,0,0
$GC,1307,-0.78,-146.1,128.5,-8.8,203,1311,0.00,2.30,0.00,0.000,4,0.000,0.063,2945,839,3664,0,0,0,0,0,0
$GC,1565,-0.78,-146.1,150.4,-8.6,225,1571,0.00,2.33,0.00,0.000,6,0.000,0.068,2937,2250,3664,0,0,0,0,0,0
$GC,1891,-0.78,-146.1,177.3,-8.1,256,1895,0.00,2.30,0.00,0.000,4,0.000,0.064,2937,836,3663,0,0,0,0,0,0
$GC,2150,-0.78,-146.1,198.5,-8.2,279,2154,0.00,2.33,0.00,0.000,6,0.000,0.070,2927,2259,3662,0,0,0,0,0,0
$GC,2476,-0.78,-146.1,223.4,-7.6,309,2480,0.00,2.28,0.00,0.000,4,0.000,0.063,2928,832,3661,0,0,0,0,0,0
$GC,2733,-0.78,-146.1,244.6,-7.9,331,2740,0.10,2.35,0.00,0.000,6,0.160,0.069,2946,2264,3660,0,0,0,0,0,0
$GC,3059,-0.78,-146.1,267.5,-6.9,362,3063,0.00,2.30,0.00,0.000,4,0.000,0.063,2946,831,3660,0,0,0,0,0,0
$GC,3318,-0.78,-146.1,286.9,-8.1,384,3323,0.00,2.33,0.00,0.000,6,0.000,0.067,2939,2251,3660,0,0,0,0,0,0
$STATE,3505,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3505,begin apogee
$GC,3512,-0.17,0.0,300.4,7.2,402,3632,0.40,0.00,117.32,1.043,6,0.121,0.000,3073,2178,3058,0,0,0,0,0,0
$STATE,3633,end apogee,CONTROL_FINISHED_OK
$STATE,3633,begin climb
$GC,3637,0.78,146.1,303.1,0.0,414,3764,0.60,2.58,118.00,0.979,4,0.086,0.074,3281,3600,2461,0,0,0,0,0,0
$GC,3810,0.79,155.0,291.6,9.6,430,3826,0.00,2.35,8.68,0.818,6,0.000,0.051,3291,2220,2425,0,0,0,0,0,0
$GC,4145,0.83,182.1,261.0,8.8,462,4176,0.00,2.42,22.98,0.934,4,0.000,0.063,3301,796,2315,0,0,0,0,0,0
$GC,4239,0.84,192.5,252.5,9.5,470,4255,0.00,2.40,9.88,0.843,6,0.000,0.065,3301,2204,2273,0,0,0,0,0,0
$GC,4574,0.85,204.2,220.3,9.5,502,4590,0.00,2.30,10.82,0.863,4,0.000,0.073,3301,3596,2224,0,0,0,0,0,0
$GC,4647,0.85,204.2,211.9,12.1,508,4651,0.00,2.28,0.00,0.000,6,0.000,0.051,3310,2181,2221,0,0,0,0,0,0
$GC,4972,0.86,207.4,177.4,9.9,538,4983,0.00,2.28,3.67,0.561,4,0.000,0.061,3321,791,2212,0,0,0,0,0,0
$GC,5041,0.86,207.4,170.4,10.5,544,5046,0.10,2.35,0.00,0.000,6,0.166,0.063,3295,2211,2212,0,0,0,0,0,0
$GC,5366,0.87,219.3,140.9,9.5,574,5386,0.00,2.33,11.52,0.856,4,0.000,0.075,3295,3602,2163,0,0,0,0,0,0
$GC,5409,0.87,219.3,136.5,10.7,578,5413,0.00,2.22,0.00,0.000,6,0.000,0.051,3302,2200,2161,0,0,0,0,0,0
$GC,5734,0.88,221.6,104.7,9.9,608,5738,0.00,2.33,0.00,0.000,4,0.000,0.073,3302,3595,2161,0,0,0,0,0,0
$GC,5993,0.88,221.6,76.5,10.1,649,5999,0.00,2.22,0.00,0.000,6,0.000,0.052,3311,2189,2160,0,0,0,0,0,0
$GC,6337,0.93,266.0,49.6,8.0,710,6383,0.00,2.40,38.88,0.892,4,0.000,0.074,3311,3589,1972,0,0,0,0,0,0
$GC,6637,0.95,286.5,23.1,9.1,764,6663,0.00,2.22,17.50,0.837,6,0.000,0.054,3319,2204,1890,0,0,0,0,0,0
$FREEZE,8.77,3.860,-1.718,2,1,0
$FREEZE,8.33,3.887,-1.718,2,1,0
$FREEZE,8.10,3.937,-1.717,2,1,0
$FREEZE,7.78,4.004,-1.716,2,1,0
$FREEZE,7.38,4.038,-1.716,2,1,0
$FREEZE,7.12,4.027,-1.717,2,1,0
$FREEZE,6.68,4.013,-1.717,2,1,0
$FREEZE,6.38,3.995,-1.717,2,1,0
$FREEZE,6.01,3.998,-1.716,2,1,0
$FREEZE,5.62,4.011,-1.715,2,1,0
$FREEZE,5.28,4.056,-1.713,2,1,0
$FREEZE,4.94,4.093,-1.712,2,1,0
$FREEZE,4.61,4.145,-1.710,2,1,0
$FREEZE,4.26,4.215,-1.708,2,1,0
$FREEZE,4.05,4.462,-1.698,2,1,0
$FREEZE,3.67,4.523,-1.699,2,1,0
$FREEZE,3.37,4.623,-1.696,2,1,0
$FREEZE,3.04,4.728,-1.697,2,1,0
$FREEZE,2.70,4.732,-1.700,2,1,0
$STATE,6960,end climb,SURFACE_DEPTH_REACHED
$STATE,6960,begin surface coast
$FREEZE,2.43,4.735,-1.702,2,1,0
$FREEZE,2.16,4.736,-1.704,2,1,0
$FREEZE,1.69,4.725,-1.284,2,1,0
$FREEZE,1.84,4.651,-0.852,2,1,0
$FREEZE,1.78,4.684,-0.892,2,1,0
$FREEZE,1.86,4.689,-0.770,2,1,0
$FREEZE,1.79,4.694,-0.886,2,1,0
$FREEZE,1.86,4.668,-1.701,2,1,0
$FREEZE,1.80,4.564,-0.650,2,1,0
$FREEZE,1.79,4.680,-0.766,2,1,0
$FREEZE,1.85,4.704,-0.158,2,1,0
$FINISH,1.8,1.002232
$STATE,7024,end surface coast,CONTROL_FINISHED_OK
$STATE,7024,begin surface
$SM_CCo,7043,9.30,0.788,0,0,1835,300.00
$SM_GC,3.96,0.00,0.00,9.30,0.000,0.000,0.788,337,2277,1835,-12.77,0.76,300.00
$RAFOS_CLK,298
$RAFOS_FIX,6703.081055,-5932.492676,190710,000007,7,123,0.03
$IRIDIUM_FIX,6636.54,-5934.30,131099,020227
$TT8_MAMPS,0.029913
$HUMID,42.00
$INTERNAL_PRESSURE,10.2152
$TCM_TEMP,15.80
$XPDR_PINGS,2
$ALTIM_TOP_PING,19.7,17.9
$ALTIM_BOTTOM_PING,300.4,6.5
$24V_AH,23.3,33.769
$10V_AH,10.1,19.349
$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,19.550,60.600,359.250,9.300,0.000,53.680,70.161,651.488,1.250,0.000,11.963,1391.446,3784.245,428.377,1426.249,1173.217,0.000,1180.988,0.000,1406.720,360.000,7.045,0.000
$DEVICE_MAMPS,237.770,96.642,1043.120,788.476,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,606.441,572.957,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135728
$DATA_FILE_SIZE,31578,833
$CAP_FILE_SIZE,102016,0
$CFSIZE,260165632,231030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.3
$GPS,190710,040606,6702.505,-5930.800,32,1.1,33,-38.3