version: 66.06
glider: 108
mission: 14
dive: 203
start: 7 18 110 3 38 19
data:
$ID,108
$MISSION,14
$DIVE,203
$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,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
$GPS1,002707,6708.227,-5922.426,0,7106.7,0,-38.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-1.8
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.78,-146.1,0.0,0.0,0,146,0.00,0.00,-124.00,0.000,6,0.000,0.000,3387,2203,3654,0,0,0,0,0,0
$GC,149,-0.78,-146.1,2.6,-3.0,25,155,1.27,2.22,0.00,0.000,4,0.091,0.062,2940,837,3657,0,0,0,0,0,0
$GC,230,-0.78,-146.1,13.0,-15.5,39,235,0.00,2.38,0.00,0.000,6,0.000,0.069,2930,2260,3659,0,0,0,0,0,0
$GC,573,-0.78,-146.1,54.1,-10.9,100,578,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2260,3661,0,0,0,0,0,0
$GC,917,-0.78,-146.1,91.0,-9.4,161,922,0.00,2.17,0.00,0.000,4,0.000,0.079,2920,3602,3662,0,0,0,0,0,0
$GC,958,-0.78,-146.1,94.9,-9.8,168,964,0.10,2.15,0.00,0.000,6,0.170,0.054,2946,2242,3662,0,0,0,0,0,0
$GC,1293,-0.78,-146.1,121.2,-8.9,205,1297,0.00,2.25,0.00,0.000,4,0.000,0.077,2939,3607,3662,0,0,0,0,0,0
$GC,1355,-0.78,-146.1,127.3,-10.2,210,1359,0.00,2.15,0.00,0.000,6,0.000,0.055,2938,2250,3662,0,0,0,0,0,0
$GC,1686,-0.78,-146.1,156.6,-8.1,241,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2250,3661,0,0,0,0,0,0
$GC,2004,-0.78,-146.1,181.8,-8.2,271,2008,0.00,2.22,0.00,0.000,4,0.000,0.078,2929,3603,3661,0,0,0,0,0,0
$GC,2038,-0.78,-146.1,184.8,-9.0,273,2043,0.00,2.15,0.00,0.000,6,0.000,0.056,2929,2237,3661,0,0,0,0,0,0
$GC,2363,-0.78,-146.1,213.5,-8.4,304,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2237,3660,0,0,0,0,0,0
$GC,2684,-0.78,-146.1,240.4,-7.9,334,2688,0.00,2.22,0.00,0.000,4,0.000,0.078,2920,3600,3660,0,0,0,0,0,0
$GC,2745,-0.78,-146.1,246.1,-9.2,339,2751,0.10,2.15,0.00,0.000,6,0.166,0.055,2946,2236,3659,0,0,0,0,0,0
$GC,3070,-0.78,-146.1,268.3,-6.2,370,3072,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2236,3660,0,0,0,0,0,0
$GC,3389,-0.78,-146.1,289.8,-6.9,400,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2235,3659,0,0,0,0,0,0
$STATE,3548,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3548,begin apogee
$GC,3555,-0.17,0.0,300.2,6.6,415,3676,0.38,0.00,117.45,1.052,6,0.135,0.000,3071,2236,3058,0,0,0,0,0,0
$STATE,3677,end apogee,CONTROL_FINISHED_OK
$STATE,3679,begin climb
$GC,3682,0.78,146.1,302.7,0.0,427,3810,0.62,2.55,118.30,0.985,4,0.095,0.065,3293,797,2461,0,0,0,0,0,0
$GC,3850,0.80,158.7,291.8,9.4,443,3871,0.00,2.50,11.70,0.862,6,0.000,0.065,3293,2199,2410,0,0,0,0,0,0
$GC,4190,0.83,182.2,261.2,8.9,475,4215,0.00,2.38,20.05,0.935,4,0.000,0.074,3293,3603,2314,0,0,0,0,0,0
$GC,4266,0.83,182.2,253.3,11.2,481,4271,0.00,2.30,0.00,0.000,6,0.000,0.052,3303,2200,2311,0,0,0,0,0,0
$GC,4590,0.83,182.2,220.0,10.4,512,4594,0.00,2.30,0.00,0.000,4,0.000,0.063,3313,793,2310,0,0,0,0,0,0
$GC,4634,0.83,182.2,215.5,10.7,515,4640,0.00,2.35,0.00,0.000,6,0.000,0.064,3313,2208,2311,0,0,0,0,0,0
$GC,4959,0.83,182.2,180.9,10.2,546,4963,0.00,2.25,0.00,0.000,4,0.000,0.075,3313,3598,2310,0,0,0,0,0,0
$GC,4992,0.83,182.2,177.0,12.0,548,4998,0.12,2.22,0.00,0.000,6,0.170,0.053,3290,2197,2310,0,0,0,0,0,0
$GC,5317,0.86,212.6,149.2,8.6,579,5349,0.00,2.28,25.15,0.928,4,0.000,0.061,3297,791,2190,0,0,0,0,0,0
$GC,5399,0.89,233.7,142.1,9.0,586,5425,0.00,2.35,18.52,0.887,6,0.000,0.064,3296,2199,2104,0,0,0,0,0,0
$GC,5745,0.92,259.0,110.4,8.8,619,5775,0.00,2.38,21.48,0.890,4,0.000,0.076,3297,3603,2000,0,0,0,0,0,0
$GC,5792,0.94,273.9,106.0,9.3,623,5812,0.00,2.28,13.93,0.838,6,0.000,0.052,3305,2191,1941,0,0,0,0,0,0
$GC,6148,1.00,325.7,74.8,7.6,681,6200,0.10,2.35,44.03,0.887,4,0.109,0.064,3361,782,1729,0,0,0,0,0,0
$GC,6274,1.00,325.7,61.6,10.6,704,6280,0.12,2.40,0.00,0.000,6,0.162,0.065,3329,2199,1724,0,0,0,0,0,0
$GC,6618,1.06,370.2,31.3,8.0,765,6665,0.00,2.40,37.50,0.869,4,0.000,0.078,3329,3598,1547,0,0,0,0,0,0
$GC,6689,1.10,403.3,25.6,8.5,778,6725,0.00,2.30,29.05,0.834,6,0.000,0.054,3333,2193,1411,0,0,0,0,0,0
$FREEZE,8.80,4.156,-1.717,2,4,0
$FREEZE,8.20,4.173,-1.716,2,4,0
$FREEZE,7.60,4.175,-1.717,2,4,0
$FREEZE,7.03,4.169,-1.717,2,4,0
$FREEZE,6.36,4.171,-1.717,2,4,0
$FREEZE,5.81,4.175,-1.717,2,4,0
$FREEZE,5.22,4.177,-1.716,2,4,0
$FREEZE,4.66,4.177,-1.716,2,4,0
$FREEZE,4.04,4.159,-1.717,2,4,0
$FREEZE,3.50,4.175,-1.716,2,4,0
$FREEZE,2.91,4.175,-1.716,2,4,0
$STATE,6940,end climb,SURFACE_DEPTH_REACHED
$STATE,6940,begin surface coast
$FREEZE,2.15,4.175,-1.715,2,4,0
$FREEZE,1.95,4.069,-1.702,2,4,0
$FREEZE,1.92,4.083,-0.903,2,4,0
$FREEZE,1.86,4.092,-0.854,2,4,0
$FREEZE,1.95,4.122,-0.119,2,4,0
$FINISH,2.0,1.001670
$STATE,6968,end surface coast,CONTROL_FINISHED_OK
$STATE,6968,begin surface
$RAFOS_CLK,313
$RAFOS,6,1279428546,4.833333,4.818333,155,143,42,41,40,39,621,622,1271,1079,932,1878
$RAFOS,5,1279428065,4.700000,4.684722,93,81,45,44,43,43,810,811,1894,728,935,1330
$RAFOS,4,1279427590,4.566667,4.552778,76,66,51,45,45,43,628,627,1409,61,145,1734
$RAFOS,3,1279427101,4.433333,4.416945,123,118,46,43,42,41,882,883,1276,1006,1381,1353
$RAFOS,2,1279426627,4.300000,4.285278,101,92,50,44,42,40,785,786,1704,1160,488,1161
$RAFOS,1,1279426141,4.166667,4.150278,121,109,42,41,41,39,717,718,191,1101,1411,112
$RAFOS,0,1279425663,4.033333,4.017500,79,73,47,40,39,38,817,816,1150,1203,302,200
$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,42.20
$INTERNAL_PRESSURE,10.1762
$TCM_TEMP,15.80
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.7,18.0
$ALTIM_BOTTOM_PING,300.2,6.5
$24V_AH,23.4,32.375
$10V_AH,10.1,18.822
$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,2.825,59.650,457.150,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1342.864,3877.809,496.740,1290.726,161.996,0.000,1239.007,0.000,1287.348,2520.000,7.042,0.000
$DEVICE_MAMPS,170.274,79.001,1052.324,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,603.339,571.183,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135772
$DATA_FILE_SIZE,31611,828
$CAP_FILE_SIZE,84881,0
$CFSIZE,260165632,231575552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1453.2
$GPS,180710,042734,6707.719,-5924.942,0,7106.9,0,-38.4