version: 66.06
glider: 108
mission: 14
dive: 209
start: 7 18 110 15 49 10
data:
$ID,108
$MISSION,14
$DIVE,209
$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,-180906.45
$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,27
$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
$GPS1,122306,6705.396,-5934.238,0,6114.5,0,-38.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,1.9
$GPS2,122306,6705.396,-5934.238,0,6114.5,0,-38.4
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,130.5,120130,-18.1,-10.000
$D_GRID,1125
$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,-146.1,0.0,0.0,0,127,0.00,0.00,-104.47,0.000,6,0.000,0.000,3355,2201,3656,0,0,0,0,0,0
$GC,133,-0.78,-146.1,3.4,-7.2,22,139,1.30,2.20,0.00,0.000,4,0.140,0.063,2950,830,3657,0,0,0,0,0,0
$GC,278,-0.78,-146.1,22.2,-13.3,47,284,0.00,2.38,0.00,0.000,6,0.000,0.068,2943,2258,3659,0,0,0,0,0,0
$GC,622,-0.78,-146.1,54.8,-9.3,108,628,0.00,2.30,0.00,0.000,4,0.000,0.062,2942,840,3661,0,0,0,0,0,0
$GC,882,-0.78,-146.1,79.2,-9.8,154,887,0.00,2.35,0.00,0.000,6,0.000,0.067,2933,2262,3662,0,0,0,0,0,0
$GC,1218,-0.78,-146.1,113.3,-10.1,203,1222,0.00,2.30,0.00,0.000,4,0.000,0.064,2932,828,3663,0,0,0,0,0,0
$GC,1476,-0.78,-146.1,139.4,-9.6,225,1481,0.00,2.35,0.00,0.000,6,0.000,0.069,2923,2253,3662,0,0,0,0,0,0
$GC,1801,-0.78,-146.1,168.9,-8.9,256,1805,0.00,2.30,0.00,0.000,4,0.000,0.066,2923,836,3661,0,0,0,0,0,0
$GC,1811,-0.78,-146.1,169.9,-8.7,256,1818,0.10,2.35,0.00,0.000,6,0.160,0.070,2941,2259,3661,0,0,0,0,0,0
$GC,2137,-0.78,-146.1,195.2,-7.7,287,2141,0.00,2.28,0.00,0.000,4,0.000,0.064,2941,841,3660,0,0,0,0,0,0
$GC,2149,-0.78,-146.1,196.3,-8.1,288,2154,0.00,2.30,0.00,0.000,6,0.000,0.069,2934,2246,3660,0,0,0,0,0,0
$GC,2480,-0.78,-146.1,224.5,-8.0,319,2484,0.00,2.28,0.00,0.000,4,0.000,0.064,2934,840,3660,0,0,0,0,0,0
$GC,2737,-0.78,-146.1,246.5,-8.8,341,2743,0.00,2.33,0.00,0.000,6,0.000,0.069,2924,2254,3659,0,0,0,0,0,0
$GC,3062,-0.78,-146.1,274.5,-8.8,372,3066,0.00,2.30,0.00,0.000,4,0.000,0.064,2924,827,3659,0,0,0,0,0,0
$GC,3282,-0.78,-146.1,294.5,-9.1,391,3287,0.10,2.35,0.00,0.000,6,0.158,0.068,2943,2258,3659,0,0,0,0,0,0
$STATE,3364,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3364,begin apogee
$GC,3371,-0.17,0.0,300.8,7.6,398,3492,0.40,0.00,117.60,1.064,6,0.127,0.000,3078,2170,3058,0,0,0,0,0,0
$STATE,3493,end apogee,CONTROL_FINISHED_OK
$STATE,3496,begin climb
$GC,3498,0.78,146.1,304.2,0.0,410,3626,0.60,2.45,118.20,0.995,4,0.085,0.066,3295,817,2462,0,0,0,0,0,0
$GC,3683,0.81,166.4,292.7,9.1,427,3709,0.00,2.45,18.33,0.913,6,0.000,0.065,3295,2198,2378,0,0,0,0,0,0
$GC,4029,0.83,181.4,260.0,9.3,460,4050,0.00,2.40,13.05,0.900,4,0.000,0.075,3295,3598,2317,0,0,0,0,0,0
$GC,4089,0.83,181.4,253.2,11.4,465,4095,0.00,2.25,0.00,0.000,6,0.000,0.051,3303,2220,2315,0,0,0,0,0,0
$GC,4415,0.85,198.0,220.3,9.2,496,4436,0.00,2.35,14.80,0.912,4,0.000,0.063,3315,781,2249,0,0,0,0,0,0
$GC,4505,0.85,198.2,211.6,10.0,504,4509,0.00,2.40,0.00,0.000,6,0.000,0.064,3315,2209,2248,0,0,0,0,0,0
$GC,4830,0.86,206.3,180.1,9.6,534,4844,0.00,2.30,8.02,0.823,4,0.000,0.075,3315,3590,2215,0,0,0,0,0,0
$GC,4878,0.86,206.3,174.4,12.0,538,4885,0.10,2.22,0.00,0.000,6,0.176,0.052,3293,2198,2213,0,0,0,0,0,0
$GC,5203,0.88,223.5,143.9,9.2,569,5224,0.00,2.28,15.60,0.894,4,0.000,0.061,3300,782,2145,0,0,0,0,0,0
$GC,5231,0.92,259.7,141.4,8.3,571,5267,0.00,2.38,30.98,0.910,6,0.000,0.064,3300,2205,1999,0,0,0,0,0,0
$GC,5586,0.92,259.7,108.3,11.0,605,5590,0.00,2.33,0.00,0.000,4,0.000,0.061,3308,791,1991,0,0,0,0,0,0
$GC,5652,0.92,259.7,100.7,10.6,610,5658,0.00,2.33,0.00,0.000,6,0.000,0.064,3308,2202,1990,0,0,0,0,0,0
$GC,5995,0.99,311.1,70.8,7.7,670,6046,0.00,2.38,42.78,0.900,4,0.000,0.077,3308,3598,1788,0,0,0,0,0,0
$GC,6101,1.02,336.2,62.2,8.8,689,6132,0.00,2.28,22.33,0.848,6,0.000,0.054,3318,2201,1686,0,0,0,0,0,0
$GC,6469,1.12,423.3,30.4,6.0,755,6552,0.12,2.45,73.22,0.861,4,0.092,0.074,3375,3588,1330,0,0,0,0,0,0
$FREEZE,8.72,4.374,-1.729,2,4,0
$FREEZE,7.99,4.397,-1.729,2,4,0
$GC,6686,1.12,423.3,8.0,11.3,794,6692,0.12,2.28,0.00,0.000,6,0.151,0.054,3351,2199,1317,0,0,0,0,0,0
$FREEZE,6.45,4.463,-1.726,2,4,0
$FREEZE,5.97,4.481,-1.726,2,4,0
$FREEZE,5.45,4.514,-1.724,2,4,0
$FREEZE,5.14,4.526,-1.724,2,4,0
$FREEZE,4.78,4.553,-1.723,2,4,0
$FREEZE,4.36,4.581,-1.723,2,4,0
$FREEZE,3.99,4.601,-1.722,2,4,0
$FREEZE,3.67,4.617,-1.722,2,4,0
$FREEZE,3.17,4.641,-1.721,2,4,0
$FREEZE,2.92,4.676,-1.720,2,4,0
$STATE,6750,end climb,SURFACE_DEPTH_REACHED
$STATE,6750,begin surface coast
$FREEZE,2.41,4.720,-1.720,2,4,0
$FREEZE,2.06,4.992,-1.716,2,4,0
$FREEZE,1.84,5.110,-0.894,2,4,0
$FREEZE,1.84,5.131,-0.873,2,4,0
$FREEZE,1.87,5.193,-1.041,2,4,0
$FREEZE,1.79,5.276,-1.288,2,4,0
$FREEZE,1.87,5.203,-1.562,2,4,0
$FREEZE,1.86,5.214,-1.545,2,4,0
$FINISH,1.9,1.022365
$STATE,6795,end surface coast,CONTROL_FINISHED_OK
$STATE,6795,begin surface
$RAFOS_CLK,308
$RAFOS,6,1279471742,16.833334,16.817223,67,55,47,44,41,41,656,658,1298,1865,1161,1733
$RAFOS,5,1279471266,16.700001,16.684999,120,114,47,46,46,43,807,808,930,1249,1352,352
$RAFOS,4,1279470784,16.566668,16.551111,98,94,42,42,41,38,638,639,1,1740,200,1727
$RAFOS,3,1279470302,16.433332,16.417223,147,141,44,43,42,42,848,848,588,1316,1726,1207
$RAFOS,2,1279469831,16.299999,16.286388,106,102,48,45,43,38,734,733,1208,496,1935,210
$RAFOS,1,1279469344,16.166666,16.151112,83,81,48,41,40,38,676,675,1468,1123,1615,1303
$RAFOS,0,1279468866,16.033333,16.018333,120,110,48,43,41,41,773,772,1251,1474,1506,1796
$RAFOS_FIX,6703.967285,-5930.051758,180710,161625,7,106,0.27
$IRIDIUM_FIX,6641.98,-5915.48,111099,212152
$TT8_MAMPS,0.026845
$HUMID,43.10
$INTERNAL_PRESSURE,10.1957
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,17.8
$ALTIM_BOTTOM_PING,300.8,6.5
$24V_AH,23.3,33.156
$10V_AH,10.1,19.106
$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,2.850,69.975,474.900,0.000,0.000,0.000,0.000,0.000,1.000,0.000,0.000,1323.013,3653.505,502.115,1351.166,168.801,0.000,1270.919,0.000,1344.898,2520.000,7.044,0.000
$DEVICE_MAMPS,175.643,82.069,1063.829,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,597.272,556.866,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,135768
$DATA_FILE_SIZE,31689,813
$CAP_FILE_SIZE,87237,0
$CFSIZE,260165632,231284736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1452.9
$GPS,180710,162725,6703.967,-5930.052,0,7105.9,0,-38.4