version: 66.06
glider: 108
mission: 14
dive: 205
start: 7 18 110 7 36 14
data:
$ID,108
$MISSION,14
$DIVE,205
$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,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
$GPS1,042734,6707.719,-5924.942,0,7106.9,0,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,1.2
$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,-113.88,0.000,2,0.000,0.000,3374,2198,3574,0,0,0,0,0,0
$GC,139,-0.78,-146.1,3.3,-5.9,23,151,1.35,2.22,-3.15,0.000,4,0.134,0.081,2944,836,3655,0,0,0,0,0,0
$GC,242,-0.78,-146.1,16.0,-14.4,41,248,0.00,2.38,0.00,0.000,6,0.000,0.070,2934,2257,3659,0,0,0,0,0,0
$GC,587,-0.78,-146.1,56.3,-11.2,102,593,0.00,2.17,0.00,0.000,4,0.000,0.080,2924,3602,3661,0,0,0,0,0,0
$GC,697,-0.78,-146.1,70.1,-12.5,121,702,0.00,2.15,0.00,0.000,6,0.000,0.054,2924,2250,3662,0,0,0,0,0,0
$GC,1043,-0.78,-146.1,105.3,-9.9,178,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2249,3662,0,0,0,0,0,0
$GC,1364,-0.78,-146.1,135.2,-9.4,208,1368,0.00,2.25,0.00,0.000,4,0.000,0.066,2924,839,3662,0,0,0,0,0,0
$GC,1409,-0.78,-146.1,140.0,-9.8,211,1415,0.10,2.35,0.00,0.000,6,0.166,0.070,2941,2262,3662,0,0,0,0,0,0
$GC,1735,-0.78,-146.1,166.1,-7.8,242,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2262,3661,0,0,0,0,0,0
$GC,2053,-0.78,-146.1,190.5,-7.5,272,2057,0.00,2.17,0.00,0.000,4,0.000,0.081,2933,3607,3660,0,0,0,0,0,0
$GC,2104,-0.78,-146.1,194.8,-8.9,276,2108,0.00,2.15,0.00,0.000,6,0.000,0.056,2933,2250,3660,0,0,0,0,0,0
$GC,2429,-0.78,-146.1,220.8,-7.7,306,2434,0.00,2.22,0.00,0.000,4,0.000,0.066,2933,834,3660,0,0,0,0,0,0
$GC,2463,-0.78,-146.1,223.6,-8.0,308,2470,0.00,2.33,0.00,0.000,6,0.000,0.070,2924,2256,3660,0,0,0,0,0,0
$GC,2789,-0.78,-146.1,249.9,-8.6,339,2793,0.00,2.17,0.00,0.000,4,0.000,0.081,2913,3606,3659,0,0,0,0,0,0
$GC,2863,-0.78,-146.1,256.9,-9.9,345,2868,0.10,2.12,0.00,0.000,6,0.166,0.055,2940,2249,3659,0,0,0,0,0,0
$GC,3193,-0.78,-146.1,283.6,-7.9,376,3197,0.00,2.22,0.00,0.000,4,0.000,0.065,2939,842,3659,0,0,0,0,0,0
$GC,3227,-0.78,-146.1,286.6,-8.5,378,3233,0.00,2.33,0.00,0.000,6,0.000,0.068,2932,2261,3659,0,0,0,0,0,0
$STATE,3393,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3395,begin apogee
$GC,3402,-0.17,0.0,300.1,7.9,394,3523,0.43,0.00,117.50,1.060,6,0.130,0.000,3072,2173,3058,0,0,0,0,0,0
$STATE,3524,end apogee,CONTROL_FINISHED_OK
$STATE,3524,begin climb
$GC,3527,0.78,146.1,303.8,0.0,406,3655,0.62,2.45,118.10,0.994,4,0.092,0.065,3292,804,2462,0,0,0,0,0,0
$GC,3689,0.83,182.0,294.5,8.4,421,3725,0.00,2.50,30.83,0.937,6,0.000,0.065,3292,2205,2316,0,0,0,0,0,0
$GC,4044,0.85,204.1,263.0,9.0,455,4068,0.00,2.40,18.67,0.933,4,0.000,0.076,3293,3600,2225,0,0,0,0,0,0
$GC,4092,0.85,204.1,258.2,10.2,459,4098,0.00,2.28,0.00,0.000,6,0.000,0.052,3301,2212,2222,0,0,0,0,0,0
$GC,4417,0.87,213.5,226.4,9.6,490,4432,0.00,2.38,8.82,0.854,4,0.000,0.063,3312,786,2187,0,0,0,0,0,0
$GC,4500,0.87,213.5,218.4,10.0,497,4505,0.00,2.38,0.00,0.000,6,0.000,0.064,3312,2208,2187,0,0,0,0,0,0
$GC,4825,0.87,213.5,185.6,10.0,528,4829,0.00,2.25,0.00,0.000,4,0.000,0.075,3312,3593,2187,0,0,0,0,0,0
$GC,4858,0.87,213.5,181.6,12.2,530,4864,0.00,2.22,0.00,0.000,6,0.000,0.052,3321,2197,2185,0,0,0,0,0,0
$GC,5183,0.87,213.5,145.2,11.8,561,5187,0.00,2.22,0.00,0.000,4,0.000,0.062,3332,790,2185,0,0,0,0,0,0
$GC,5274,0.87,213.5,134.4,11.6,568,5280,0.12,2.33,0.00,0.000,6,0.162,0.064,3298,2200,2186,0,0,0,0,0,0
$GC,5599,0.89,235.8,102.7,9.0,599,5623,0.00,2.30,19.77,0.912,4,0.000,0.077,3298,3599,2095,0,0,0,0,0,0
$GC,5653,0.89,235.8,97.5,10.5,605,5658,0.00,2.25,0.00,0.000,6,0.000,0.053,3305,2195,2092,0,0,0,0,0,0
$GC,5998,0.93,264.3,65.3,8.7,666,6029,0.00,2.33,24.17,0.895,4,0.000,0.066,3308,780,1980,0,0,0,0,0,0
$GC,6105,1.00,322.2,56.6,7.4,685,6162,0.00,2.38,49.28,0.883,6,0.000,0.065,3308,2198,1743,0,0,0,0,0,0
$GC,6500,1.10,403.4,29.4,6.3,756,6577,0.15,2.42,67.78,0.866,4,0.087,0.078,3376,3593,1412,0,0,0,0,0,0
$GC,6609,1.10,403.4,16.8,15.2,776,6616,0.15,2.30,0.00,0.000,6,0.143,0.056,3343,2200,1406,0,0,0,0,0,0
$FREEZE,8.90,4.038,-1.732,2,6,0
$FREEZE,8.62,4.028,-1.732,2,6,0
$FREEZE,8.25,4.025,-1.732,2,6,0
$FREEZE,7.79,4.021,-1.732,2,6,0
$FREEZE,7.39,4.021,-1.731,2,6,0
$FREEZE,7.10,4.022,-1.731,2,6,0
$FREEZE,6.74,4.023,-1.731,2,6,0
$FREEZE,6.35,4.029,-1.730,2,6,0
$FREEZE,5.96,4.032,-1.730,2,6,0
$FREEZE,5.74,4.032,-1.730,2,6,0
$FREEZE,5.35,4.034,-1.730,2,6,0
$FREEZE,4.93,4.045,-1.729,2,6,0
$FREEZE,4.43,4.068,-1.728,2,6,0
$FREEZE,4.09,4.118,-1.727,2,6,0
$FREEZE,3.67,4.157,-1.725,2,6,0
$FREEZE,3.28,4.171,-1.725,2,6,0
$FREEZE,2.84,4.187,-1.724,2,6,0
$STATE,6808,end climb,SURFACE_DEPTH_REACHED
$STATE,6808,begin surface coast
$FREEZE,2.37,4.192,-1.724,2,6,0
$FREEZE,2.09,4.201,-1.723,2,6,0
$FREEZE,1.95,4.172,-1.114,2,6,0
$FREEZE,1.83,4.094,-0.872,2,6,0
$FREEZE,1.83,4.127,-1.725,2,6,0
$FREEZE,1.86,4.110,-0.857,2,6,0
$FREEZE,1.84,4.097,-1.100,2,6,0
$FREEZE,1.81,4.120,-1.504,2,6,0
$FINISH,1.8,1.021893
$STATE,6854,end surface coast,CONTROL_FINISHED_OK
$STATE,6854,begin surface
$SM_CCo,6940,0.00,0.000,0,0,1391,408.67
$SM_GC,2.83,8.18,0.00,0.00,0.051,0.000,0.000,345,2285,1391,-12.65,0.99,408.67
$RAFOS_CLK,308
$RAFOS,6,1279442946,8.833333,8.818334,128,118,50,46,45,42,651,650,767,1253,997,1682
$RAFOS,5,1279442467,8.700000,8.685278,110,104,47,47,46,43,825,824,338,961,1423,337
$RAFOS,4,1279441990,8.566667,8.552778,50,46,42,42,41,39,777,974,813,1650,813,275
$RAFOS,3,1279441510,8.433333,8.419444,109,97,46,43,42,41,834,833,1792,1094,1791,225
$RAFOS,2,1279441024,8.300000,8.284445,109,98,44,43,42,42,792,791,1826,1361,61,802
$RAFOS,1,1279440550,8.166667,8.152778,103,103,52,43,42,40,655,654,387,1805,399,1
$RAFOS,0,1279440072,8.033334,8.020000,150,137,46,43,42,39,744,745,1592,263,1643,1
$RAFOS_FIX,6706.657715,-5931.574219,180710,080857,6,118,0.36
$IRIDIUM_FIX,6641.98,-5925.90,111099,212127
$TT8_MAMPS,0.026845
$HUMID,42.59
$INTERNAL_PRESSURE,10.1859
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,17.3
$ALTIM_BOTTOM_PING,300.1,6.5
$24V_AH,23.3,32.625
$10V_AH,10.1,18.910
$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,11.200,68.875,454.925,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1329.677,3729.578,497.937,1290.390,170.123,0.000,1229.357,0.000,1282.848,2520.000,7.042,0.000
$DEVICE_MAMPS,165.672,82.836,1059.994,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,594.855,563.558,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135772
$DATA_FILE_SIZE,31642,819
$CAP_FILE_SIZE,86791,0
$CFSIZE,260165632,231481344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.5
$GPS,180710,093337,6707.193,-5935.377,34,0.9,34,-38.4