version: 66.06
glider: 108
mission: 14
dive: 202
start: 7 18 110 1 40 21
data:
$ID,108
$MISSION,14
$DIVE,202
$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,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
$GPS1,002707,6708.227,-5922.426,0,7106.7,0,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,1.1
$GPS2,002707,6708.227,-5922.426,0,7106.7,0,-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,264.4,64624,-18.1,-10.000
$D_GRID,1231
$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,13,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,132,0.00,0.00,-112.05,0.000,6,0.000,0.000,3330,2199,3655,0,0,0,0,0,0
$GC,138,-0.78,-146.1,2.2,-0.8,23,144,1.27,2.30,0.00,0.000,4,0.163,0.075,2941,3593,3657,0,0,0,0,0,0
$GC,224,-0.78,-146.1,13.6,-15.8,38,230,0.00,2.15,0.00,0.000,6,0.000,0.056,2941,2249,3658,0,0,0,0,0,0
$GC,568,-0.78,-146.1,50.4,-9.7,99,574,0.00,2.20,0.00,0.000,4,0.000,0.076,2932,3595,3661,0,0,0,0,0,0
$GC,625,-0.78,-146.1,56.2,-10.2,109,631,0.00,2.15,0.00,0.000,6,0.000,0.055,2932,2240,3661,0,0,0,0,0,0
$GC,969,-0.78,-146.1,91.3,-10.3,170,975,0.00,2.25,0.00,0.000,4,0.000,0.077,2922,3606,3662,0,0,0,0,0,0
$GC,1043,-0.78,-146.1,99.1,-10.6,183,1049,0.00,2.15,0.00,0.000,6,0.000,0.055,2922,2251,3662,0,0,0,0,0,0
$GC,1374,-0.78,-146.1,131.1,-9.6,215,1378,0.00,2.22,0.00,0.000,4,0.000,0.077,2913,3594,3661,0,0,0,0,0,0
$GC,1402,-0.78,-146.1,134.0,-10.2,217,1408,0.12,2.15,0.00,0.000,6,0.162,0.055,2947,2237,3661,0,0,0,0,0,0
$GC,1727,-0.78,-146.1,160.8,-7.8,248,1731,0.00,2.25,0.00,0.000,4,0.000,0.078,2939,3604,3661,0,0,0,0,0,0
$GC,1806,-0.78,-146.1,167.7,-9.0,254,1812,0.00,2.15,0.00,0.000,6,0.000,0.055,2939,2241,3661,0,0,0,0,0,0
$GC,2131,-0.78,-146.1,193.8,-8.0,285,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2241,3660,0,0,0,0,0,0
$GC,2452,-0.78,-146.1,218.7,-8.1,315,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2241,3660,0,0,0,0,0,0
$GC,2771,-0.78,-146.1,243.9,-8.0,345,2775,0.00,2.22,0.00,0.000,4,0.000,0.078,2930,3603,3660,0,0,0,0,0,0
$GC,2816,-0.78,-146.1,248.0,-9.1,349,2820,0.00,2.15,0.00,0.000,6,0.000,0.055,2931,2240,3660,0,0,0,0,0,0
$GC,3146,-0.78,-146.1,274.9,-8.3,380,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2239,3659,0,0,0,0,0,0
$STATE,3467,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3467,begin apogee
$GC,3474,-0.17,0.0,300.9,8.6,410,3595,0.43,0.00,117.82,1.058,6,0.133,0.000,3069,2238,3058,0,0,0,0,0,0
$STATE,3596,end apogee,CONTROL_FINISHED_OK
$STATE,3596,begin climb
$GC,3599,0.78,146.1,304.8,0.0,422,3728,0.62,0.00,118.32,0.991,6,0.096,0.000,3279,2238,2461,0,0,0,0,0,0
$GC,4046,0.83,188.4,271.7,8.1,465,4088,0.00,2.47,34.83,0.966,4,0.000,0.066,3290,794,2289,0,0,0,0,0,0
$GC,4159,0.87,215.0,261.7,8.8,475,4190,0.00,2.42,23.30,0.933,6,0.000,0.066,3290,2199,2180,0,0,0,0,0,0
$GC,4509,0.88,229.3,227.8,9.3,508,4530,0.00,2.40,12.45,0.890,4,0.000,0.076,3290,3603,2122,0,0,0,0,0,0
$GC,4570,0.88,229.3,221.3,11.6,513,4576,0.00,2.30,0.00,0.000,6,0.000,0.054,3293,2197,2119,0,0,0,0,0,0
$GC,4895,0.90,242.6,189.7,9.4,544,4916,0.00,2.38,12.20,0.886,4,0.000,0.065,3292,780,2068,0,0,0,0,0,0
$GC,4974,0.93,269.9,182.5,8.8,551,5006,0.10,2.40,24.50,0.922,6,0.111,0.065,3337,2209,1957,0,0,0,0,0,0
$GC,5324,0.93,269.9,137.3,12.6,584,5329,0.10,2.30,0.00,0.000,4,0.175,0.077,3313,3603,1950,0,0,0,0,0,0
$GC,5346,0.93,269.9,134.4,11.9,585,5351,0.00,2.25,0.00,0.000,6,0.000,0.053,3320,2193,1948,0,0,0,0,0,0
$GC,5671,0.94,271.6,102.6,9.9,616,5675,0.00,2.25,0.00,0.000,4,0.000,0.064,3329,790,1948,0,0,0,0,0,0
$GC,5734,0.97,298.4,96.8,8.8,624,5765,0.00,2.35,24.23,0.895,6,0.000,0.066,3329,2211,1841,0,0,0,0,0,0
$GC,6103,1.00,326.4,62.3,8.7,690,6133,0.00,0.00,24.23,0.874,6,0.000,0.000,3329,2210,1726,0,0,0,0,0,0
$GC,6474,1.09,394.2,30.9,6.9,756,6541,0.00,2.45,58.12,0.871,4,0.000,0.064,3331,798,1449,0,0,0,0,0,0
$GC,6573,1.15,446.0,23.9,7.6,774,6625,0.12,2.40,43.88,0.831,6,0.094,0.065,3387,2201,1237,0,0,0,0,0,0
$FREEZE,8.69,4.132,-1.722,2,3,0
$FREEZE,8.13,4.127,-1.722,2,3,0
$FREEZE,7.73,4.130,-1.722,2,3,0
$FREEZE,7.15,4.129,-1.721,2,3,0
$FREEZE,6.64,4.128,-1.721,2,3,0
$FREEZE,6.07,4.126,-1.721,2,3,0
$FREEZE,5.51,4.122,-1.721,2,3,0
$FREEZE,5.09,4.115,-1.720,2,3,0
$FREEZE,4.64,4.113,-1.720,2,3,0
$FREEZE,4.26,4.112,-1.720,2,3,0
$FREEZE,3.62,4.108,-1.719,2,3,0
$FREEZE,3.19,4.109,-1.719,2,3,0
$FREEZE,2.53,4.061,-1.721,2,3,0
$STATE,6804,end climb,SURFACE_DEPTH_REACHED
$STATE,6804,begin surface coast
$FREEZE,2.06,4.066,-1.720,2,3,0
$FREEZE,2.07,3.972,-1.709,2,3,0
$FREEZE,1.80,4.036,-1.678,2,3,0
$FREEZE,1.88,4.066,-0.932,2,3,0
$FREEZE,1.92,4.072,-0.750,2,3,0
$FREEZE,1.90,4.000,-0.080,2,3,0
$FINISH,1.9,1.001103
$STATE,6839,end surface coast,CONTROL_FINISHED_OK
$STATE,6839,begin surface
$RAFOS_CLK,313
$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,41.57
$INTERNAL_PRESSURE,10.1664
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,18.1
$ALTIM_BOTTOM_PING,300.9,6.5
$24V_AH,23.3,32.252
$10V_AH,10.1,18.777
$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,2.775,54.725,493.875,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1298.479,3773.183,519.720,1269.996,159.278,0.000,1252.068,0.000,1267.602,0.000,9.046,0.000
$DEVICE_MAMPS,174.876,78.234,1058.460,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,598.746,564.257,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135872
$DATA_FILE_SIZE,31650,822
$CAP_FILE_SIZE,81098,0
$CFSIZE,260165632,231624704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.7
$GPS,180710,002707,6708.227,-5922.426,0,7106.7,0,-38.4