version: 66.04
glider: 14
mission: 6
dive: 277
start: 10 9 108 3 9 40
data:
$ID,14
$MISSION,6
$DIVE,277
$D_SURF,2
$D_FLARE,3
$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,412.5
$T_MISSION,440
$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,2
$HD_A,0.00312
$HD_B,0.0099099996
$HD_C,2.4896e-05
$HEADING,315
$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,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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-655465.75
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2675
$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,1600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,21
$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,5
$ALTIM_SENSITIVITY,4
$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
$GPS1,030432,6414.599,-1119.833,37,1.1,37,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-58.4
$GPS2,030915,6414.576,-1119.764,10,1.1,10,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6422.212,-1137.417
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.083,-0.242
$KALMAN_X,65426.2,-9.8,97.6,-67618.7,1620.8
$KALMAN_Y,66441.6,-131.4,393.1,-108976.0,1249.1
$MHEAD_RNG_PITCHd_Wd,326.6,20000,-14.4,-8.000
$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,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.85,0.000,2,0.000,0.000,380,1589,2807
$GC,83,-1.16,-146.6,4.2,-7.1,3,109,11.48,2.55,-6.75,0.000,4,0.182,0.091,2413,209,3139
$GC,256,-1.16,-146.6,34.1,-13.7,10,262,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1614,3140
$GC,574,-1.16,-146.6,72.4,-11.1,26,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1619,3141
$GC,882,-1.16,-146.6,107.5,-11.3,41,886,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,210,3141
$GC,960,-1.16,-146.6,117.1,-11.8,44,967,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1611,3141
$GC,1279,-1.16,-146.6,153.4,-11.5,60,1284,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,206,3142
$GC,1347,-1.16,-146.6,161.5,-11.2,63,1350,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1606,3142
$GC,1675,-1.16,-146.6,199.8,-12.1,79,1676,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3142
$GC,1983,-1.16,-146.6,235.4,-11.7,94,1985,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3143
$GC,2293,-1.16,-146.6,272.5,-11.6,109,2297,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,206,3143
$GC,2371,-1.16,-146.6,281.8,-11.7,112,2377,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1597,3143
$GC,2687,-1.16,-146.6,316.9,-11.1,128,2691,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,209,3144
$STATE,2718,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2718,begin apogee
$GC,2730,-0.32,0.0,321.4,12.6,129,2861,0.90,0.00,123.07,0.881,6,0.120,0.000,2598,2192,2538
$STATE,2862,end apogee,CONTROL_FINISHED_OK
$STATE,2862,begin climb
$GC,2866,1.16,146.6,327.8,0.0,136,2992,1.50,2.85,117.40,0.857,4,0.077,0.110,2925,3599,1941
$GC,3268,1.27,210.2,311.7,5.6,154,3325,0.12,2.47,51.03,0.841,6,0.067,0.067,2964,2195,1682
$GC,3636,1.27,210.2,280.5,8.7,171,3641,0.00,2.65,0.00,0.000,4,0.000,0.096,2964,3603,1682
$GC,3768,1.27,210.2,268.0,9.9,177,3772,0.00,2.47,0.00,0.000,6,0.000,0.068,2964,2197,1681
$GC,4100,1.27,210.2,237.9,8.4,193,4105,0.00,2.55,0.00,0.000,4,0.000,0.078,2964,789,1681
$GC,4157,1.27,210.2,233.2,9.0,195,4163,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2202,1681
$GC,4474,1.31,236.6,209.8,7.0,211,4498,0.00,0.00,22.00,0.796,6,0.000,0.000,2964,2203,1574
$GC,4803,1.35,265.6,187.9,6.9,227,4832,0.00,2.60,23.45,0.786,4,0.000,0.073,2964,798,1455
$GC,4880,1.36,268.8,182.2,7.9,230,4892,0.00,2.47,4.28,0.561,6,0.000,0.061,2964,2205,1442
$GC,5202,1.40,292.6,158.7,7.1,246,5227,0.00,2.60,20.00,0.759,4,0.000,0.073,2964,786,1345
$GC,5324,1.41,298.7,149.1,7.8,251,5335,0.00,2.47,6.40,0.634,6,0.000,0.061,2964,2200,1321
$GC,5658,1.41,298.7,122.2,8.9,268,5662,0.00,2.55,0.00,0.000,4,0.000,0.073,2964,785,1321
$GC,5745,1.41,298.7,113.7,10.2,272,5749,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2201,1321
$GC,6075,1.41,298.7,85.0,9.2,288,6079,0.00,2.53,0.00,0.000,4,0.000,0.073,2964,784,1321
$GC,6164,1.41,298.7,76.4,9.6,292,6168,0.00,2.47,0.00,0.000,6,0.000,0.061,2964,2205,1321
$GC,6486,1.41,298.7,47.1,10.5,308,6490,0.00,2.53,0.00,0.000,4,0.000,0.074,2964,790,1319
$GC,6550,1.41,298.7,39.9,12.0,311,6554,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2201,1320
$GC,6879,1.41,298.7,8.1,10.3,327,6883,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,785,1321
$STATE,6931,end climb,SURFACE_DEPTH_REACHED
$STATE,6931,begin surface coast
$FINISH,1.0,1.027077
$STATE,6940,end surface coast,CONTROL_FINISHED_OK
$STATE,6940,begin surface
$SM_CCo,7027,0.00,0.000,0,0,1316,300.00
$SM_GC,1.37,11.25,0.00,0.00,0.058,0.000,0.000,383,1623,1316,-10.49,0.65,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1912
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.2,56.1
$24V_AH,23.7,38.284
$10V_AH,10.2,19.411
$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,25.250,70.250,367.625,0.000,0.000,37.759,25.048,107.525,1.750,0.000,0.000,12.332,667.430,4931.796,427.286,923.504,372.231,0.000,921.381,0.000,904.413,0.000,13.668,0.000
$DEVICE_MAMPS,181.779,110.448,880.516,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,245.700,222.572,303.063,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16021,330
$CAP_FILE_SIZE,58364,0
$CFSIZE,254472192,239124480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,091008,050733,6414.227,-1118.832,6,1.7,6,-11.5