version: 66.06
glider: 108
mission: 14
dive: 201
start: 7 17 110 23 41 24
data:
$ID,108
$MISSION,14
$DIVE,201
$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,29
$R_STBD_OVSHOOT,24
$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
$GPS1,211008,6709.571,-5920.776,12,1.5,12,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,1.1
$GPS2,211008,6709.571,-5920.776,12,1.5,12,-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,263.6,67228,-18.1,-10.000
$D_GRID,1255
$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,-146.1,0.0,0.0,0,109,0.00,0.00,-89.40,0.000,2,0.000,0.000,3333,2206,3419,0,0,0,0,0,0
$GC,112,-0.78,-146.1,3.2,-5.6,18,129,1.12,2.28,-9.65,0.000,4,0.087,0.092,2921,3599,3657,0,0,0,0,0,0
$GC,287,-0.78,-146.1,29.8,-14.1,49,293,0.00,2.15,0.00,0.000,6,0.000,0.056,2921,2249,3661,0,0,0,0,0,0
$GC,631,-0.78,-146.1,70.5,-11.6,110,636,0.00,2.22,0.00,0.000,4,0.000,0.076,2912,3600,3663,0,0,0,0,0,0
$GC,687,-0.78,-146.1,77.5,-11.9,120,693,0.12,2.15,0.00,0.000,6,0.163,0.056,2945,2241,3663,0,0,0,0,0,0
$GC,1027,-0.78,-146.1,109.2,-9.5,172,1031,0.00,2.22,0.00,0.000,4,0.000,0.077,2939,3592,3664,0,0,0,0,0,0
$GC,1056,-0.78,-146.1,112.0,-9.7,174,1060,0.00,2.15,0.00,0.000,6,0.000,0.055,2938,2237,3664,0,0,0,0,0,0
$GC,1381,-0.78,-146.1,140.9,-8.3,204,1385,0.00,2.25,0.00,0.000,4,0.000,0.078,2929,3605,3663,0,0,0,0,0,0
$GC,1398,-0.78,-146.1,142.4,-8.6,205,1402,0.00,2.15,0.00,0.000,6,0.000,0.056,2929,2248,3663,0,0,0,0,0,0
$GC,1724,-0.78,-146.1,170.6,-8.6,235,1727,0.00,2.20,0.00,0.000,4,0.000,0.078,2920,3593,3662,0,0,0,0,0,0
$GC,1758,-0.78,-146.1,173.7,-9.4,238,1763,0.10,2.12,0.00,0.000,6,0.170,0.057,2945,2244,3662,0,0,0,0,0,0
$GC,2088,-0.78,-146.1,198.6,-7.5,269,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2244,3662,0,0,0,0,0,0
$GC,2409,-0.78,-146.1,222.2,-7.3,299,2410,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2243,3661,0,0,0,0,0,0
$GC,2725,-0.78,-146.1,246.3,-7.7,329,2729,0.00,2.22,0.00,0.000,4,0.000,0.078,2938,3600,3661,0,0,0,0,0,0
$GC,2758,-0.78,-146.1,249.0,-8.3,331,2763,0.00,2.12,0.00,0.000,6,0.000,0.056,2938,2249,3660,0,0,0,0,0,0
$GC,3083,-0.78,-146.1,274.1,-7.5,362,3087,0.00,2.22,0.00,0.000,4,0.000,0.065,2938,843,3660,0,0,0,0,0,0
$GC,3106,-0.78,-146.1,276.0,-8.3,364,3111,0.00,2.33,0.00,0.000,6,0.000,0.068,2929,2261,3660,0,0,0,0,0,0
$STATE,3400,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3400,begin apogee
$GC,3407,-0.17,0.0,300.0,8.2,391,3528,0.45,0.00,118.03,1.062,6,0.133,0.000,3076,2173,3058,0,0,0,0,0,0
$STATE,3529,end apogee,CONTROL_FINISHED_OK
$STATE,3532,begin climb
$GC,3534,0.78,146.1,303.6,0.0,403,3662,0.60,2.45,118.10,0.992,4,0.094,0.066,3290,817,2461,0,0,0,0,0,0
$GC,3719,0.84,192.4,292.7,7.9,420,3765,0.00,2.45,39.60,0.948,6,0.000,0.065,3290,2197,2273,0,0,0,0,0,0
$GC,4084,0.85,197.2,258.6,9.8,455,4095,0.00,2.38,4.47,0.671,4,0.000,0.076,3290,3602,2253,0,0,0,0,0,0
$GC,4123,0.85,197.2,254.1,11.9,458,4129,0.00,2.28,0.00,0.000,6,0.000,0.053,3299,2218,2251,0,0,0,0,0,0
$GC,4448,0.85,197.2,220.2,10.2,489,4452,0.00,2.33,0.00,0.000,4,0.000,0.063,3309,787,2251,0,0,0,0,0,0
$GC,4516,0.85,197.2,213.2,10.8,494,4521,0.00,2.38,0.00,0.000,6,0.000,0.064,3309,2209,2252,0,0,0,0,0,0
$GC,4841,0.86,209.5,181.3,9.4,525,4860,0.00,2.33,11.20,0.892,4,0.000,0.077,3309,3593,2202,0,0,0,0,0,0
$GC,4878,0.86,209.5,177.5,10.4,528,4883,0.00,2.25,0.00,0.000,6,0.000,0.053,3319,2193,2202,0,0,0,0,0,0
$GC,5203,0.86,209.6,143.0,10.0,559,5207,0.00,2.25,0.00,0.000,4,0.000,0.064,3329,790,2202,0,0,0,0,0,0
$GC,5236,0.86,209.6,139.4,10.3,561,5242,0.12,2.35,0.00,0.000,6,0.162,0.065,3296,2207,2201,0,0,0,0,0,0
$GC,5561,0.92,257.4,111.8,7.8,592,5607,0.00,2.33,40.70,0.929,4,0.000,0.075,3295,3598,2006,0,0,0,0,0,0
$GC,5631,0.95,284.9,106.4,8.7,598,5663,0.00,2.30,24.25,0.876,6,0.000,0.054,3302,2188,1895,0,0,0,0,0,0
$GC,5999,1.01,328.6,78.0,8.0,656,6042,0.10,2.38,36.70,0.887,4,0.110,0.065,3358,792,1717,0,0,0,0,0,0
$GC,6109,1.01,328.6,65.4,11.9,676,6116,0.12,2.40,0.00,0.000,6,0.160,0.066,3326,2205,1712,0,0,0,0,0,0
$GC,6454,1.04,354.5,32.2,8.8,737,6481,0.00,2.38,21.55,0.858,4,0.000,0.080,3325,3593,1612,0,0,0,0,0,0
$GC,6511,1.05,367.1,27.3,9.4,747,6531,0.00,2.28,12.48,0.802,6,0.000,0.055,3330,2200,1560,0,0,0,0,0,0
$FREEZE,8.58,3.971,-1.715,2,2,0
$FREEZE,8.10,3.970,-1.716,2,2,0
$FREEZE,7.59,3.972,-1.715,2,2,0
$FREEZE,7.12,3.975,-1.714,2,2,0
$FREEZE,6.60,3.985,-1.713,2,2,0
$FREEZE,6.17,3.989,-1.713,2,2,0
$FREEZE,5.63,3.997,-1.712,2,2,0
$FREEZE,5.19,3.996,-1.712,2,2,0
$FREEZE,4.70,3.971,-1.712,2,2,0
$FREEZE,4.18,3.996,-1.711,2,2,0
$FREEZE,3.72,3.996,-1.711,2,2,0
$FREEZE,3.30,3.931,-1.715,2,2,0
$FREEZE,2.76,3.954,-1.714,2,2,0
$STATE,6841,end climb,SURFACE_DEPTH_REACHED
$STATE,6841,begin surface coast
$FREEZE,2.31,3.925,-1.716,2,2,0
$FREEZE,1.81,3.901,-1.252,2,2,0
$FREEZE,1.84,3.812,-1.060,2,2,0
$FREEZE,1.81,3.838,-0.835,2,2,0
$FREEZE,1.88,3.890,-0.866,2,2,0
$FREEZE,1.97,3.876,-1.261,2,2,0
$FINISH,2.0,1.018425
$STATE,6875,end surface coast,CONTROL_FINISHED_OK
$STATE,6875,begin surface
$RAFOS_CLK,310
$RAFOS,6,1279414144,0.833333,0.817778,145,141,47,46,46,40,622,621,762,61,332,1
$RAFOS,5,1279413662,0.700000,0.683889,126,108,47,46,41,40,820,820,1838,1805,303,1706
$RAFOS,4,1279413182,0.566667,0.550556,121,98,42,42,40,38,667,668,1249,1516,1287,1770
$RAFOS,3,1279412711,0.433333,0.419722,77,72,45,45,41,39,839,840,1172,1801,1,1173
$RAFOS,2,1279412222,0.300000,0.283889,108,96,44,44,42,41,823,824,529,546,1801,1895
$RAFOS,1,1279411743,0.166667,0.150833,92,83,52,47,40,39,717,718,1602,1043,1538,181
$RAFOS,0,1279411271,0.033333,0.019722,78,74,46,44,42,41,788,791,1407,1392,544,352
$RAFOS_FIX,6708.227051,-5922.425781,180710,000007,7,107,0.23
$IRIDIUM_FIX,6641.98,-5925.90,111099,212127
$TT8_MAMPS,0.026845
$HUMID,41.33
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.80
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,17.9
$ALTIM_BOTTOM_PING,300.0,6.5
$24V_AH,23.4,32.120
$10V_AH,10.0,18.734
$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,2.750,68.400,427.075,0.000,0.000,0.000,0.000,0.000,0.750,0.000,0.000,1341.841,3846.635,456.935,1267.669,162.708,0.000,1177.706,0.000,1261.718,2520.000,7.041,0.000
$DEVICE_MAMPS,169.507,92.040,1061.528,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,595.018,559.060,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135796
$DATA_FILE_SIZE,31564,812
$CAP_FILE_SIZE,85671,0
$CFSIZE,260165632,231665664
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1451.7
$GPS,180710,002707,6708.227,-5922.426,0,7106.7,0,-38.4