version: 66.04
glider: 104
mission: 14
dive: 3
start: 2 23 109 19 41 20
data:
$ID,104
$MISSION,14
$DIVE,3
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-217256.55
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$ROLL_DEG,40
$C_ROLL_DIVE,2025
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,35
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,574
$VBD_MAX,3908
$C_VBD,2889
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.469234
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,2
$XPDR_VALID,3
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043870676
$SEABIRD_T_H,0.00064850412
$SEABIRD_T_I,2.4590418e-05
$SEABIRD_T_J,2.3871978e-06
$SEABIRD_C_G,-10.313265
$SEABIRD_C_H,1.1866801
$SEABIRD_C_I,0.0012373535
$SEABIRD_C_J,-1.1855637e-05
$GPS1,193543,6110.275,-920.182,11,2.0,11,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-49.4
$GPS2,193931,6110.277,-920.128,31,1.6,31,-9.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.187,0.186
$KALMAN_X,-82.9,-108.8,-101.4,1241.5,-64.1
$KALMAN_Y,-81.0,-102.4,-97.2,1240.8,-60.7
$MHEAD_RNG_PITCHd_Wd,54.3,25378,-18.1,-10.000
$D_GRID,477
$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
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-1.39,-146.6,0.0,0.0,0,119,0.00,0.00,-102.78,0.000,6,0.000,0.000,34,2016,3488
$GC,121,-1.39,-146.6,4.5,-4.2,5,142,11.77,2.60,0.00,0.000,4,0.145,0.062,2191,613,3489
$GC,348,-1.39,-146.6,40.9,-15.2,15,354,0.00,2.45,0.00,0.000,6,0.000,0.035,2191,2022,3489
$GC,676,-1.39,-146.6,79.2,-11.9,31,680,0.00,2.53,0.00,0.000,4,0.000,0.058,2191,623,3489
$GC,714,-1.39,-146.6,83.6,-11.4,33,719,0.00,2.40,0.00,0.000,6,0.000,0.035,2191,2024,3489
$GC,1040,-1.39,-146.6,119.3,-10.8,49,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2024,3488
$GC,1349,-1.39,-146.6,153.6,-10.9,64,1353,0.00,2.53,0.00,0.000,4,0.000,0.058,2191,623,3489
$GC,1386,-1.39,-146.6,158.0,-11.8,65,1394,0.00,2.42,0.00,0.000,6,0.000,0.035,2191,2019,3489
$GC,1703,-1.39,-146.6,191.6,-10.9,81,1707,0.00,2.53,0.00,0.000,4,0.000,0.059,2191,617,3489
$GC,1741,-1.39,-146.6,196.1,-11.7,83,1745,0.00,2.42,0.00,0.000,6,0.000,0.036,2191,2034,3489
$GC,2066,-1.39,-146.6,231.5,-10.9,99,2067,0.00,0.00,0.00,0.000,6,0.000,0.000,2191,2034,3489
$GC,2375,-1.39,-146.6,264.8,-10.5,114,2379,0.00,2.55,0.00,0.000,4,0.000,0.058,2191,617,3489
$GC,2436,-1.39,-146.6,271.5,-10.8,117,2440,0.00,2.42,0.00,0.000,6,0.000,0.035,2191,2034,3489
$STATE,2705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2705,begin apogee
$GC,2709,-0.33,0.0,300.6,10.8,130,2831,1.12,0.00,118.68,0.865,6,0.080,0.000,2426,1773,2889
$STATE,2832,end apogee,CONTROL_FINISHED_OK
$STATE,2832,begin climb
$GC,2833,1.39,146.6,304.9,0.0,136,2962,1.73,2.65,119.57,0.837,4,0.049,0.064,2803,373,2292
$GC,2994,1.51,251.2,304.2,5.2,144,3087,0.08,2.45,84.47,0.820,6,0.054,0.032,2828,1778,1864
$GC,3401,1.51,251.2,266.2,10.1,164,3405,0.00,2.60,0.00,0.000,4,0.000,0.065,2829,369,1865
$GC,3446,1.51,251.2,261.5,11.0,166,3450,0.00,2.40,0.00,0.000,6,0.000,0.034,2829,1775,1865
$GC,3773,1.53,261.1,229.4,9.5,182,3788,0.00,2.62,9.52,0.708,4,0.000,0.064,2829,366,1824
$GC,3826,1.53,261.1,223.9,10.3,183,3833,0.00,2.42,0.00,0.000,6,0.000,0.033,2829,1769,1823
$GC,4141,1.53,261.1,192.7,10.5,199,4145,0.00,2.55,0.00,0.000,4,0.000,0.064,2829,370,1823
$GC,4201,1.53,261.1,185.6,11.7,201,4209,0.00,2.42,0.00,0.000,6,0.000,0.033,2829,1776,1824
$GC,4517,1.54,270.2,156.1,9.6,217,4528,0.00,0.00,8.80,0.682,6,0.000,0.000,2829,1776,1787
$GC,4827,1.54,270.2,123.9,10.6,232,4831,0.00,2.58,0.00,0.000,4,0.000,0.064,2829,368,1787
$GC,4880,1.54,270.2,117.4,12.5,234,4888,0.00,2.42,0.00,0.000,6,0.000,0.033,2829,1775,1787
$GC,5196,1.54,270.2,82.7,10.9,250,5200,0.00,2.58,0.00,0.000,4,0.000,0.065,2829,367,1787
$GC,5240,1.54,270.2,77.5,11.8,252,5245,0.00,2.40,0.00,0.000,6,0.000,0.034,2829,1780,1787
$GC,5561,1.54,270.2,41.5,11.4,268,5565,0.00,2.58,0.00,0.000,4,0.000,0.064,2829,368,1787
$GC,5603,1.54,270.2,35.9,13.0,270,5608,0.00,2.42,0.00,0.000,6,0.000,0.034,2829,1778,1787
$STATE,5929,end climb,SURFACE_DEPTH_REACHED
$STATE,5929,begin surface coast
$FINISH,0.4,1.015049
$STATE,5951,end surface coast,CONTROL_FINISHED_OK
$STATE,5951,begin surface
$SM_CCo,5970,14.88,0.649,0,0,1665,300.00
$SM_GC,1.50,0.00,0.00,14.88,0.000,0.000,0.649,41,2048,1665,-11.31,0.62,300.00
$IRIDIUM_FIX,6050.49,-920.40,200598,191909
$TT8_MAMPS,0.025311
$HUMID,1515
$INTERNAL_PRESSURE,8.274
$TCM_TEMP,16.20
$XPDR_PINGS,24
$24V_AH,23.5,8.457
$10V_AH,10.1,3.100
$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,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,27.150,60.850,341.050,14.875,0.000,0.000,0.000,0.000,7.750,0.000,0.000,32.995,569.006,4228.530,474.799,774.796,84.788,31.415,862.204,0.000,747.271,0.000,12.325,0.000
$DEVICE_MAMPS,144.963,65.195,865.176,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,196.605,203.492,312.255,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12807,287
$CAP_FILE_SIZE,62853,0
$CFSIZE,260165632,256417792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230209,212206,6110.896,-918.789,26,2.0,27,-9.3