version: 66.04
glider: 14
mission: 6
dive: 4
start: 8 29 108 15 16 22
data:
$ID,14
$MISSION,6
$DIVE,4
$D_SURF,3
$D_FLARE,4
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,330
$T_MISSION,340
$T_ABORT,1440
$T_TURN,240
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,22
$KALMAN_USE,1
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,577
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-650178.06
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2730
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15.5
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,202
$ROLL_MAX,3893
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,1825
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,52
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2539
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00159
$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,95.400002
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-15.110782
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,-0.69999999
$TCM_ROLL_OFFSET,0.5
$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,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,2
$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,16
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,21
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043093944
$SEABIRD_T_H,0.00064003747
$SEABIRD_T_I,2.16239e-05
$SEABIRD_T_J,2.0570888e-06
$SEABIRD_C_G,-10.001513
$SEABIRD_C_H,1.1265433
$SEABIRD_C_I,-0.0010666439
$SEABIRD_C_J,0.00016314148
$GPS1,150553,6345.346,-559.958,6,2.7,25,-8.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-55.8
$GPS2,151526,6345.441,-559.851,14,1.2,31,-8.3
$SPEED_LIMITS,0.173,0.256
$TGT_NAME,NSEC_S
$TGT_LATLONG,6240.000,-605.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.068,-0.247
$KALMAN_X,1331.7,1041.1,362.7,-968.8,1244.8
$KALMAN_Y,2493.0,1982.1,761.9,-1909.6,2118.5
$MHEAD_RNG_PITCHd_Wd,203.6,121275,-17.8,-10.000
$D_GRID,990
$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,12,begin dive
$GC,16,-1.38,-146.6,0.0,0.0,0,138,0.00,0.00,-118.50,0.000,6,0.000,0.000,377,2169,3138
$GC,142,-1.38,-146.6,6.6,-6.2,6,158,11.52,0.00,0.00,0.000,6,0.176,0.000,2423,2168,3141
$GC,469,-1.38,-146.6,60.5,-11.8,22,474,0.00,2.47,0.00,0.000,4,0.000,0.082,2423,3523,3146
$GC,690,-1.38,-146.6,83.9,-10.5,32,694,0.00,2.38,0.00,0.000,6,0.000,0.061,2423,2140,3147
$GC,1017,-1.38,-146.6,120.4,-11.7,48,1021,0.00,2.53,0.00,0.000,4,0.000,0.084,2423,3522,3149
$GC,1252,-1.38,-146.6,146.4,-10.5,58,1259,0.00,2.38,0.00,0.000,6,0.000,0.066,2423,2143,3149
$GC,1569,-1.38,-146.6,177.8,-9.7,74,1573,0.00,2.50,0.00,0.000,4,0.000,0.076,2423,745,3149
$GC,1843,-1.38,-146.6,204.6,-10.2,86,1848,0.00,2.35,0.00,0.000,6,0.000,0.057,2423,2133,3149
$GC,2161,-1.38,-146.6,235.7,-9.9,101,2165,0.00,2.62,0.00,0.000,4,0.000,0.093,2422,3553,3150
$GC,2332,-1.38,-146.6,252.6,-10.4,108,2338,0.00,2.42,0.00,0.000,6,0.000,0.066,2423,2149,3150
$GC,2648,-1.38,-146.6,287.4,-11.4,124,2652,0.00,2.50,0.00,0.000,4,0.000,0.075,2423,746,3150
$STATE,2756,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2757,begin apogee
$GC,2766,-0.32,0.0,300.1,11.3,129,2890,1.12,0.00,119.88,0.908,6,0.098,0.000,2660,1837,2539
$STATE,2891,end apogee,CONTROL_FINISHED_OK
$STATE,2891,begin climb
$GC,2894,1.38,146.6,308.0,0.0,135,3020,1.65,2.65,117.50,0.882,4,0.064,0.087,3033,3222,1941
$GC,3294,1.43,174.6,293.3,8.7,153,3324,0.00,2.45,23.85,0.854,6,0.000,0.066,3033,1821,1826
$GC,3647,1.43,174.6,257.3,10.6,170,3651,0.00,2.53,0.00,0.000,4,0.000,0.075,3033,3217,1826
$GC,3921,1.43,174.6,226.4,11.3,182,3925,0.00,2.42,0.00,0.000,6,0.000,0.065,3033,1828,1826
$GC,4242,1.44,180.9,194.2,9.7,198,4255,0.00,2.53,6.30,0.715,4,0.000,0.074,3033,3219,1800
$GC,4526,1.44,180.9,164.5,10.6,210,4533,0.00,2.42,0.00,0.000,6,0.000,0.063,3033,1821,1800
$GC,4843,1.44,180.9,132.3,10.0,226,4847,0.00,2.50,0.00,0.000,4,0.000,0.073,3033,3218,1800
$GC,5118,1.44,181.4,104.0,10.0,238,5123,0.00,2.40,0.00,0.000,6,0.000,0.062,3033,1824,1800
$GC,5435,1.44,183.2,72.8,9.9,253,5440,0.00,2.50,0.00,0.000,4,0.000,0.073,3033,3224,1800
$GC,5614,1.44,183.2,53.6,11.1,261,5618,0.00,2.40,0.00,0.000,6,0.000,0.062,3033,1824,1800
$GC,5944,1.51,228.2,23.2,7.9,277,5988,0.12,2.53,37.47,0.732,4,0.071,0.071,3068,3218,1608
$STATE,6125,end climb,SURFACE_DEPTH_REACHED
$STATE,6125,begin surface coast
$FINISH,0.4,1.026805
$STATE,6149,end surface coast,CONTROL_FINISHED_OK
$STATE,6149,begin surface
$SM_CCo,6176,182.68,0.685,0,0,186,576.95
$SM_CCo,6363,-0.03,0.000,0,0,186,577.19
$SM_GC,1.11,0.00,0.00,-0.03,0.000,0.000,0.000,380,2143,186,-10.81,-0.20,577.19
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1936
$TCM_TEMP,19.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,300.1,8.3
$24V_AH,23.6,3.989
$10V_AH,10.1,2.219
$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,26.150,53.225,305.000,182.675,0.000,75.520,121.171,164.746,2.250,0.000,0.000,33.106,634.375,4072.236,598.379,1079.260,570.162,32.363,1120.973,0.000,1035.203,0.000,15.157,0.000
$DEVICE_MAMPS,175.643,92.807,908.128,684.931,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.049,192.414,275.042,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12779,286
$CAP_FILE_SIZE,58804,0
$CFSIZE,254472192,251793408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,0,0
$GPS,290808,170338,6346.270,-558.444,29,1.0,29,-8.3