version: 66.06
glider: 108
mission: 14
dive: 204
start: 7 18 110 5 38 49
data:
$ID,108
$MISSION,14
$DIVE,204
$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,-180894.3
$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,28
$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
$GPS1,042734,6707.719,-5924.942,0,7106.9,0,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,2.7
$GPS2,042734,6707.719,-5924.942,0,7106.9,0,-38.4
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_W
$TGT_LATLONG,6644.000,-6026.000
$TGT_RADIUS,10000.000
$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,263.9,62648,-18.1,-10.000
$D_GRID,1209
$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,-146.1,0.0,0.0,0,134,0.00,0.00,-113.43,0.000,6,0.000,0.000,3333,2192,3654,0,0,0,0,0,0
$GC,139,-0.78,-146.1,3.3,-6.3,23,145,1.25,2.20,0.00,0.000,4,0.146,0.064,2948,827,3657,0,0,0,0,0,0
$GC,289,-0.78,-146.1,22.0,-13.0,49,295,0.00,2.38,0.00,0.000,6,0.000,0.068,2940,2261,3659,0,0,0,0,0,0
$GC,633,-0.78,-146.1,56.4,-9.6,110,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2262,3661,0,0,0,0,0,0
$GC,976,-0.78,-146.1,90.3,-10.3,171,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2262,3662,0,0,0,0,0,0
$GC,1306,-0.78,-146.1,124.8,-10.2,210,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2261,3662,0,0,0,0,0,0
$GC,1627,-0.78,-146.1,153.4,-8.0,240,1631,0.00,2.17,0.00,0.000,4,0.000,0.080,2930,3605,3661,0,0,0,0,0,0
$GC,1745,-0.78,-146.1,164.6,-9.3,250,1751,0.00,2.12,0.00,0.000,6,0.000,0.055,2930,2246,3661,0,0,0,0,0,0
$GC,2070,-0.78,-146.1,194.2,-8.8,281,2071,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2245,3660,0,0,0,0,0,0
$GC,2392,-0.78,-146.1,220.2,-7.9,311,2396,0.00,2.22,0.00,0.000,4,0.000,0.067,2931,843,3659,0,0,0,0,0,0
$GC,2425,-0.78,-146.1,222.9,-7.8,313,2431,0.00,2.33,0.00,0.000,6,0.000,0.070,2921,2258,3659,0,0,0,0,0,0
$GC,2751,-0.78,-146.1,247.9,-7.9,344,2755,0.10,2.17,0.00,0.000,4,0.170,0.080,2939,3597,3659,0,0,0,0,0,0
$GC,2852,-0.78,-146.1,255.6,-7.3,352,2857,0.00,2.12,0.00,0.000,6,0.000,0.056,2939,2249,3659,0,0,0,0,0,0
$GC,3177,-0.78,-146.1,281.6,-8.3,383,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2249,3659,0,0,0,0,0,0
$STATE,3400,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3400,begin apogee
$GC,3409,-0.17,0.0,300.0,8.1,404,3530,0.40,0.00,117.43,1.060,6,0.133,0.000,3071,2190,3058,0,0,0,0,0,0
$STATE,3531,end apogee,CONTROL_FINISHED_OK
$STATE,3531,begin climb
$GC,3534,0.78,146.1,304.2,0.0,416,3662,0.62,2.47,118.25,0.992,4,0.094,0.065,3292,798,2461,0,0,0,0,0,0
$GC,3703,0.82,175.3,294.8,8.7,432,3734,0.00,2.50,25.42,0.929,6,0.000,0.065,3293,2200,2343,0,0,0,0,0,0
$GC,4053,0.83,183.5,262.7,9.6,465,4068,0.00,2.40,7.62,0.820,4,0.000,0.076,3293,3599,2308,0,0,0,0,0,0
$GC,4113,0.83,183.5,255.7,12.7,470,4119,0.00,2.28,0.00,0.000,6,0.000,0.052,3302,2203,2307,0,0,0,0,0,0
$GC,4438,0.83,183.5,220.9,10.7,501,4442,0.00,2.28,0.00,0.000,4,0.000,0.062,3313,792,2307,0,0,0,0,0,0
$GC,4490,0.83,183.5,215.5,10.5,505,4494,0.00,2.35,0.00,0.000,6,0.000,0.064,3312,2210,2307,0,0,0,0,0,0
$GC,4820,0.83,183.5,179.0,10.9,536,4821,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2210,2306,0,0,0,0,0,0
$GC,5141,0.83,183.5,143.8,11.0,566,5145,0.00,2.28,0.00,0.000,4,0.000,0.061,3322,792,2307,0,0,0,0,0,0
$GC,5174,0.83,183.5,139.9,10.5,568,5180,0.12,2.33,0.00,0.000,6,0.158,0.064,3288,2202,2307,0,0,0,0,0,0
$GC,5499,0.90,240.1,112.8,7.4,599,5548,0.00,0.00,46.60,0.933,6,0.000,0.000,3288,2202,2079,0,0,0,0,0,0
$GC,5878,0.94,271.7,83.2,8.6,652,5910,0.10,0.00,26.33,0.892,6,0.110,0.000,3333,2202,1949,0,0,0,0,0,0
$GC,6248,0.96,291.7,45.4,9.1,718,6269,0.00,0.00,17.17,0.854,6,0.000,0.000,3333,2202,1868,0,0,0,0,0,0
$GC,6609,1.09,398.6,15.0,5.1,782,6708,0.00,2.40,89.45,0.864,4,0.000,0.080,3330,3600,1431,0,0,0,0,0,0
$FREEZE,7.97,4.007,-1.731,2,5,0
$FREEZE,7.50,4.007,-1.731,2,5,0
$FREEZE,6.84,4.013,-1.730,2,5,0
$FREEZE,6.09,4.021,-1.729,2,5,0
$FREEZE,5.56,4.027,-1.729,2,5,0
$FREEZE,4.92,4.070,-1.727,2,5,0
$FREEZE,4.42,4.126,-1.725,2,5,0
$FREEZE,3.99,4.150,-1.724,2,5,0
$GC,6721,1.14,436.6,7.5,8.3,803,6764,0.12,2.33,32.05,0.802,6,0.100,0.054,3374,2198,1275,0,0,0,0,0,0
$FREEZE,2.89,4.155,-1.723,2,5,0
$STATE,6771,end climb,SURFACE_DEPTH_REACHED
$STATE,6771,begin surface coast
$FREEZE,2.35,4.153,-1.722,2,5,0
$FREEZE,1.88,4.086,-1.726,2,5,0
$FREEZE,1.76,4.032,-0.248,2,5,0
$FREEZE,1.84,4.091,-0.085,2,5,0
$FREEZE,1.82,4.009,-0.091,2,5,0
$FREEZE,1.78,3.936,-0.285,2,5,0
$FREEZE,1.80,3.891,-0.145,2,5,0
$FINISH,1.8,1.002066
$STATE,6811,end surface coast,CONTROL_FINISHED_OK
$STATE,6811,begin surface
$RAFOS_CLK,307
$RAFOS_FIX,6707.718750,-5924.942383,180710,040434,7,107,0.14
$IRIDIUM_FIX,6641.98,-5925.90,111099,212127
$TT8_MAMPS,0.026845
$HUMID,41.02
$INTERNAL_PRESSURE,10.1664
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,18.0
$ALTIM_BOTTOM_PING,300.0,6.5
$24V_AH,23.3,32.502
$10V_AH,10.1,18.865
$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,2.725,41.400,480.325,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1276.789,3800.875,500.292,1265.228,148.090,0.000,1212.238,0.000,1259.689,0.000,7.041,0.000
$DEVICE_MAMPS,169.507,128.856,1059.994,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,591.944,562.930,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135848
$DATA_FILE_SIZE,31614,818
$CAP_FILE_SIZE,77400,0
$CFSIZE,260165632,231538688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.6
$GPS,180710,042734,6707.719,-5924.942,0,7106.9,0,-38.4