version: 66.06
glider: 108
mission: 14
dive: 26
start: 6 11 110 17 26 15
data:
$ID,108
$MISSION,14
$DIVE,26
$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,270
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,0
$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,-179315.98
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,350
$PITCH_MAX,3700
$C_PITCH,3120
$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,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,31
$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,1
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,1.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$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
$GPS1,172036,6711.179,-5702.218,24,2.0,24,-37.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-75.3
$GPS2,172556,6711.148,-5702.301,12,1.8,12,-37.8
$SPEED_LIMITS,0.173,0.263
$TGT_NAME,TARGET_tst
$TGT_LATLONG,6700.000,-5702.000
$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,217.2,20647,-18.1,-10.000
$D_GRID,421
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.78,-146.1,0.0,0.0,0,91,0.00,0.00,-69.72,0.000,2,0.000,0.000,337,2236,3356,0,0,0,0,0,0
$GC,94,-0.78,-146.1,3.3,-2.7,14,121,10.45,2.25,-7.97,0.000,4,0.249,0.070,2945,849,3659,0,0,0,0,0,0
$GC,425,-0.78,-146.1,39.5,-8.7,73,431,0.00,2.28,0.00,0.000,6,0.000,0.058,2937,2262,3664,0,0,0,0,0,0
$GC,769,-0.78,-146.1,69.4,-8.8,134,774,0.00,2.25,0.00,0.000,4,0.000,0.055,2937,839,3664,0,0,0,0,0,0
$GC,1079,-0.78,-146.1,100.6,-10.1,188,1084,0.00,2.25,0.00,0.000,6,0.000,0.058,2928,2260,3664,0,0,0,0,0,0
$GC,1404,-0.78,-146.1,131.4,-9.8,219,1408,0.10,2.22,0.00,0.000,4,0.176,0.057,2953,848,3663,0,0,0,0,0,0
$GC,1712,-0.78,-146.1,156.9,-7.5,246,1718,0.00,2.22,0.00,0.000,6,0.000,0.058,2947,2250,3663,0,0,0,0,0,0
$GC,2037,-0.78,-146.1,181.8,-7.8,277,2041,0.00,2.22,0.00,0.000,4,0.000,0.056,2947,836,3662,0,0,0,0,0,0
$GC,2347,-0.78,-146.1,207.6,-7.9,304,2351,0.00,2.25,0.00,0.000,6,0.000,0.058,2937,2259,3662,0,0,0,0,0,0
$GC,2672,-0.78,-146.1,234.6,-8.2,334,2676,0.00,2.20,0.00,0.000,4,0.000,0.055,2937,844,3661,0,0,0,0,0,0
$GC,2982,-0.78,-146.1,261.8,-8.5,361,2987,0.10,2.20,0.00,0.000,6,0.163,0.058,2955,2250,3662,0,0,0,0,0,0
$GC,3307,-0.78,-146.1,284.3,-7.0,391,3311,0.00,2.20,0.00,0.000,4,0.000,0.056,2955,835,3662,0,0,0,0,0,0
$STATE,3517,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3517,begin apogee
$GC,3525,-0.17,0.0,300.1,7.2,409,3646,0.40,0.00,117.45,1.032,6,0.127,0.000,3084,2159,3058,0,0,0,0,0,0
$STATE,3647,end apogee,CONTROL_FINISHED_OK
$STATE,3647,begin climb
$GC,3650,0.78,146.1,303.9,0.0,421,3777,0.60,2.42,117.68,0.967,4,0.083,0.066,3291,3561,2462,0,0,0,0,0,0
$GC,4080,0.78,146.1,260.1,12.5,460,4086,0.00,2.25,0.00,0.000,6,0.000,0.047,3302,2141,2456,0,0,0,0,0,0
$GC,4405,0.78,146.1,225.7,10.8,491,4409,0.00,2.30,0.00,0.000,4,0.000,0.065,3302,3560,2456,0,0,0,0,0,0
$GC,4715,0.78,146.1,185.7,12.9,518,4719,0.00,2.20,0.00,0.000,6,0.000,0.048,3312,2148,2456,0,0,0,0,0,0
$GC,5045,0.78,146.1,148.5,11.0,549,5049,0.00,2.28,0.00,0.000,4,0.000,0.066,3312,3569,2457,0,0,0,0,0,0
$GC,5354,0.78,146.1,109.1,12.4,576,5359,0.12,2.20,0.00,0.000,6,0.176,0.048,3289,2141,2457,0,0,0,0,0,0
$GC,5692,0.84,195.1,79.9,7.8,628,5738,0.00,2.38,38.58,0.893,4,0.000,0.066,3289,3561,2260,0,0,0,0,0,0
$GC,6046,0.87,214.1,46.5,9.1,691,6067,0.00,2.22,15.65,0.829,6,0.000,0.048,3293,2141,2185,0,0,0,0,0,0
$GC,6405,0.93,265.7,17.2,7.6,755,6457,0.10,2.40,42.78,0.841,4,0.114,0.066,3338,3555,1972,0,0,0,0,0,0
$FREEZE,8.86,2.203,-1.832,0,1,0
$FREEZE,8.04,2.247,-1.830,0,1,0
$FREEZE,7.17,2.254,-1.829,0,1,0
$FREEZE,6.40,2.251,-1.828,0,1,0
$FREEZE,5.72,2.248,-1.827,0,1,0
$FREEZE,4.95,2.245,-1.827,0,1,0
$FREEZE,4.19,2.236,-1.826,0,1,0
$FREEZE,3.47,2.219,-1.824,0,1,0
$FREEZE,2.79,2.220,-1.823,0,1,0
$STATE,6524,end climb,SURFACE_DEPTH_REACHED
$STATE,6524,begin surface coast
$FREEZE,1.99,2.226,-1.823,0,1,0
$FREEZE,1.30,2.217,-1.822,0,1,0
$FREEZE,1.21,2.128,-1.828,0,1,0
$FREEZE,1.22,2.090,-1.830,0,1,0
$FINISH,1.2,1.026658
$STATE,6547,end surface coast,CONTROL_FINISHED_OK
$STATE,6547,begin surface
$SM_CCo,6568,26.48,0.802,0,0,1835,300.00
$SM_GC,2.34,0.00,0.00,26.48,0.000,0.000,0.802,339,2231,1835,-12.79,-0.54,300.00
$RAFOS_CLK,239
$RAFOS_FIX,6712.833496,-5705.218750,110610,161628,2,76,0.57
$IRIDIUM_FIX,6647.44,-5720.23,050999,151533
$TT8_MAMPS,0.026845
$HUMID,39.28
$INTERNAL_PRESSURE,10.2445
$TCM_TEMP,16.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.5
$ALTIM_BOTTOM_PING,300.1,6.5
$24V_AH,23.8,5.979
$10V_AH,10.3,2.871
$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,20.100,49.450,332.125,26.475,0.000,25.269,33.251,131.792,0.750,0.000,14.478,1275.271,3431.327,397.469,1433.924,375.350,0.000,1130.745,0.000,1411.501,0.000,7.049,0.000
$DEVICE_MAMPS,248.508,69.797,1032.382,802.282,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,8.000,3.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,566.271,529.310,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,140168
$DATA_FILE_SIZE,31508,781
$CAP_FILE_SIZE,81872,0
$CFSIZE,260165632,247119872
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1461.4
$GPS,110610,191728,6710.788,-5702.178,8,3.1,28,-37.8