version: 66.06
glider: 108
mission: 14
dive: 200
start: 7 17 110 21 10 30
data:
$ID,108
$MISSION,14
$DIVE,200
$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,22
$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
$GPS1,204337,6709.380,-5920.621,23,1.3,23,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.91
$_SM_ANGLEo,-77.8
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,16,-0.78,-146.1,0.0,0.0,0,23,0.00,0.00,-5.12,0.000,2,0.000,0.000,338,2266,1937,0,0,0,0,0,0
$GC,26,-0.78,-146.1,3.0,-0.0,1,126,10.27,2.38,-80.72,0.000,4,0.235,0.072,2934,828,3656,0,0,0,0,0,0
$GC,380,-0.78,-146.1,37.3,-9.8,65,386,0.00,2.38,0.00,0.000,6,0.000,0.065,2927,2258,3661,0,0,0,0,0,0
$GC,723,-0.78,-146.1,74.0,-11.7,126,729,0.00,2.30,0.00,0.000,4,0.000,0.060,2927,840,3664,0,0,0,0,0,0
$GC,747,-0.78,-146.1,76.8,-12.1,130,753,0.10,2.33,0.00,0.000,6,0.166,0.065,2943,2251,3664,0,0,0,0,0,0
$GC,1091,-0.78,-146.1,111.3,-9.2,181,1095,0.00,2.17,0.00,0.000,4,0.000,0.077,2935,3596,3664,0,0,0,0,0,0
$GC,1142,-0.78,-146.1,116.5,-9.8,185,1146,0.00,2.15,0.00,0.000,6,0.000,0.054,2935,2236,3665,0,0,0,0,0,0
$GC,1473,-0.78,-146.1,147.2,-9.2,216,1477,0.00,2.22,0.00,0.000,4,0.000,0.065,2935,843,3663,0,0,0,0,0,0
$GC,1507,-0.78,-146.1,150.5,-9.8,218,1512,0.00,2.33,0.00,0.000,6,0.000,0.067,2925,2253,3663,0,0,0,0,0,0
$GC,1832,-0.78,-146.1,181.2,-9.6,249,1836,0.00,2.15,0.00,0.000,4,0.000,0.078,2916,3598,3662,0,0,0,0,0,0
$GC,1865,-0.78,-146.1,184.7,-11.3,251,1871,0.10,2.15,0.00,0.000,6,0.170,0.054,2941,2238,3662,0,0,0,0,0,0
$GC,2190,-0.78,-146.1,213.4,-9.0,282,2191,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2237,3661,0,0,0,0,0,0
$GC,2511,-0.78,-146.1,239.8,-8.0,312,2515,0.00,2.22,0.00,0.000,4,0.000,0.065,2941,840,3660,0,0,0,0,0,0
$GC,2555,-0.78,-146.1,243.9,-8.2,315,2561,0.00,2.33,0.00,0.000,6,0.000,0.067,2934,2254,3660,0,0,0,0,0,0
$GC,2880,-0.78,-146.1,271.4,-8.8,346,2884,0.00,2.17,0.00,0.000,4,0.000,0.077,2924,3605,3660,0,0,0,0,0,0
$GC,2959,-0.78,-146.1,279.1,-10.1,352,2964,0.00,2.12,0.00,0.000,6,0.000,0.054,2924,2242,3659,0,0,0,0,0,0
$GC,3284,-0.78,-146.1,309.3,-9.2,383,3285,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2241,3660,0,0,0,0,0,0
$GC,3605,-0.78,-146.1,337.1,-9.0,413,3609,0.00,2.20,0.00,0.000,4,0.000,0.065,2924,843,3660,0,0,0,0,0,0
$GC,3656,-0.78,-146.1,341.9,-8.8,417,3662,0.10,2.33,0.00,0.000,6,0.163,0.067,2941,2263,3660,0,0,0,0,0,0
$GC,3981,-0.78,-146.1,365.4,-6.9,448,3985,0.00,2.15,0.00,0.000,4,0.000,0.077,2933,3604,3659,0,0,0,0,0,0
$GC,4066,-0.78,-146.1,371.9,-7.9,455,4070,0.00,2.12,0.00,0.000,6,0.000,0.054,2933,2250,3659,0,0,0,0,0,0
$GC,4392,-0.78,-146.1,395.1,-7.1,485,4393,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2249,3659,0,0,0,0,0,0
$STATE,4467,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4467,begin apogee
$GC,4474,-0.17,0.0,400.8,7.6,492,4600,0.43,0.00,118.43,1.110,6,0.131,0.000,3072,2188,3057,0,0,0,0,0,0
$STATE,4600,end apogee,CONTROL_FINISHED_OK
$STATE,4600,begin climb
$GC,4603,0.78,146.1,403.7,0.0,505,4730,0.65,0.00,120.65,1.044,6,0.092,0.000,3287,2189,2461,0,0,0,0,0,0
$GC,5049,0.82,173.0,368.2,8.8,548,5080,0.00,2.40,22.67,1.001,4,0.000,0.066,3296,798,2351,0,0,0,0,0,0
$GC,5143,0.84,194.1,359.7,9.0,556,5169,0.00,2.40,18.92,0.976,6,0.000,0.065,3296,2204,2265,0,0,0,0,0,0
$GC,5488,0.86,207.0,326.4,9.4,589,5505,0.00,2.30,11.32,0.932,4,0.000,0.074,3296,3602,2213,0,0,0,0,0,0
$GC,5539,0.86,207.0,320.7,11.9,593,5544,0.00,2.28,0.00,0.000,6,0.000,0.053,3305,2202,2210,0,0,0,0,0,0
$GC,5865,0.86,207.0,285.2,10.5,623,5869,0.00,2.28,0.00,0.000,4,0.000,0.062,3316,790,2209,0,0,0,0,0,0
$GC,5965,0.86,207.0,274.2,10.9,631,5971,0.00,2.33,0.00,0.000,6,0.000,0.063,3316,2200,2210,0,0,0,0,0,0
$GC,6290,0.86,207.0,237.1,11.6,662,6294,0.00,2.30,0.00,0.000,4,0.000,0.075,3316,3607,2209,0,0,0,0,0,0
$GC,6318,0.86,207.0,233.4,13.7,664,6323,0.12,2.25,0.00,0.000,6,0.172,0.053,3293,2192,2207,0,0,0,0,0,0
$GC,6644,0.89,233.3,201.8,8.8,694,6674,0.00,2.33,22.02,0.968,4,0.000,0.063,3299,790,2107,0,0,0,0,0,0
$GC,6749,0.91,246.3,192.1,9.4,703,6769,0.00,2.35,12.55,0.899,6,0.000,0.064,3300,2206,2052,0,0,0,0,0,0
$GC,7094,0.91,246.3,157.5,10.3,736,7098,0.00,2.28,0.00,0.000,4,0.000,0.076,3300,3603,2047,0,0,0,0,0,0
$GC,7123,0.91,246.3,154.3,11.2,738,7127,0.00,2.25,0.00,0.000,6,0.000,0.054,3308,2195,2046,0,0,0,0,0,0
$GC,7448,0.94,273.6,121.9,8.8,768,7479,0.00,2.33,23.40,0.917,4,0.000,0.064,3317,784,1941,0,0,0,0,0,0
$GC,7561,0.98,306.4,112.3,8.5,778,7595,0.00,2.38,29.08,0.904,6,0.000,0.064,3317,2209,1807,0,0,0,0,0,0
$GC,7931,1.01,327.5,78.1,9.0,832,7957,0.00,2.33,18.05,0.864,4,0.000,0.077,3318,3586,1721,0,0,0,0,0,0
$GC,7975,1.01,335.0,73.8,9.7,840,7992,0.00,2.22,7.75,0.759,6,0.000,0.054,3326,2200,1691,0,0,0,0,0,0
$GC,8333,1.02,335.6,37.4,10.0,903,8339,0.00,2.28,0.00,0.000,4,0.000,0.066,3333,793,1685,0,0,0,0,0,0
$GC,8413,1.03,349.1,29.6,9.4,917,8434,0.00,2.35,12.45,0.828,6,0.000,0.066,3333,2206,1633,0,0,0,0,0,0
$FREEZE,8.54,4.003,-1.716,2,1,0
$FREEZE,8.27,4.007,-1.716,2,1,0
$FREEZE,7.91,4.009,-1.716,2,1,0
$FREEZE,7.51,4.011,-1.715,2,1,0
$FREEZE,7.16,4.014,-1.715,2,1,0
$FREEZE,6.61,4.015,-1.714,2,1,0
$FREEZE,6.33,4.019,-1.713,2,1,0
$FREEZE,5.83,4.024,-1.713,2,1,0
$FREEZE,5.27,4.029,-1.712,2,1,0
$FREEZE,4.94,4.031,-1.712,2,1,0
$FREEZE,4.32,4.034,-1.712,2,1,0
$FREEZE,3.94,4.037,-1.711,2,1,0
$FREEZE,3.41,4.043,-1.710,2,1,0
$FREEZE,3.02,4.040,-1.711,2,1,0
$FREEZE,2.50,4.045,-1.710,2,1,0
$STATE,8756,end climb,SURFACE_DEPTH_REACHED
$STATE,8756,begin surface coast
$FREEZE,1.99,4.019,-1.712,2,1,0
$FREEZE,2.02,4.031,-1.712,2,1,0
$FREEZE,1.84,3.988,-1.714,2,1,0
$FREEZE,1.92,3.840,-1.722,2,1,0
$FREEZE,1.92,3.748,-0.902,2,1,0
$FREEZE,1.91,3.862,-1.721,2,1,0
$FREEZE,1.76,3.818,-0.867,2,1,0
$FINISH,1.8,1.012711
$STATE,8798,end surface coast,CONTROL_FINISHED_OK
$STATE,8798,begin surface
$RAFOS_CLK,382
$RAFOS,4,1279398782,20.566668,20.550556,139,131,44,44,40,40,665,666,1334,1105,1433,306
$RAFOS_FIX,6707.774414,-5923.613281,170710,202059,5,109,0.00
$IRIDIUM_FIX,6641.98,-5925.90,111099,212127
$TT8_MAMPS,0.026845
$HUMID,42.40
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.80
$XPDR_PINGS,19
$ALTIM_TOP_PING,19.5,17.7
$ALTIM_BOTTOM_PING,400.8,6.5
$24V_AH,23.3,32.004
$10V_AH,10.1,18.689
$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,11.775,81.875,417.300,0.000,0.000,91.707,97.799,910.159,6.500,0.000,13.886,1606.528,5262.836,485.022,1579.065,1574.957,0.000,1337.068,0.000,1554.947,0.000,18.237,0.000
$DEVICE_MAMPS,234.702,128.089,1109.849,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,716.804,690.308,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135760
$DATA_FILE_SIZE,37877,985
$CAP_FILE_SIZE,128328,0
$CFSIZE,260165632,231673856
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.9
$GPS,170710,211008,6709.571,-5920.776,12,1.5,12,-38.4