version: 66.04
glider: 14
mission: 6
dive: 286
start: 10 9 108 20 27 7
data:
$ID,14
$MISSION,6
$DIVE,286
$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,-655712.5
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,202138,6410.479,-1122.884,29,1.6,29,-11.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-59.4
$GPS2,202645,6410.425,-1122.740,11,1.6,11,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6418.061,-1140.349
$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,-60.85,0.000,2,0.000,0.000,372,1596,2753
$GC,83,-1.16,-146.6,3.3,-5.3,3,109,11.43,2.53,-9.02,0.000,4,0.177,0.091,2415,203,3139
$GC,259,-1.16,-146.6,30.3,-13.8,11,263,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1612,3140
$GC,592,-1.16,-146.6,72.5,-13.1,27,593,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1616,3141
$GC,903,-1.16,-146.6,115.6,-14.2,42,907,0.00,2.53,0.00,0.000,4,0.000,0.076,2415,207,3141
$GC,944,-1.16,-146.6,121.3,-13.7,44,948,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1602,3141
$GC,1271,-1.16,-146.6,167.7,-13.8,60,1276,0.00,2.50,0.00,0.000,4,0.000,0.075,2415,209,3141
$GC,1344,-1.16,-146.6,178.1,-14.0,63,1348,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1608,3141
$GC,1661,-1.16,-146.6,220.2,-12.4,78,1665,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,210,3141
$GC,1700,-1.16,-146.6,225.0,-11.6,79,1707,0.00,2.38,0.00,0.000,6,0.000,0.059,2415,1603,3141
$GC,2016,-1.16,-146.6,262.2,-12.5,95,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1604,3142
$GC,2326,-1.16,-146.6,300.9,-12.4,110,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1604,3142
$STATE,2405,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2405,begin apogee
$GC,2414,-0.32,0.0,310.7,11.7,114,2548,0.90,0.00,124.50,0.852,6,0.107,0.000,2600,2192,2539
$STATE,2549,end apogee,CONTROL_FINISHED_OK
$STATE,2549,begin climb
$GC,2553,1.16,146.6,316.8,0.0,121,2678,1.50,2.83,117.45,0.839,4,0.079,0.106,2927,3602,1941
$GC,2953,1.20,167.2,302.7,7.2,139,2975,0.00,2.47,17.40,0.790,6,0.000,0.068,2927,2199,1857
$GC,3285,1.32,245.1,284.1,5.0,155,3356,0.15,2.75,62.42,0.826,4,0.064,0.095,2971,3598,1539
$GC,3410,1.32,245.1,274.2,9.3,160,3416,0.00,2.47,0.00,0.000,6,0.000,0.069,2971,2199,1539
$GC,3728,1.32,245.1,244.0,9.4,176,3732,0.00,2.55,0.00,0.000,4,0.000,0.078,2971,786,1537
$GC,3784,1.32,245.1,238.1,10.3,178,3790,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2199,1537
$GC,4100,1.32,245.1,204.6,10.4,194,4104,0.00,2.55,0.00,0.000,4,0.000,0.074,2971,783,1536
$GC,4190,1.32,245.1,194.6,11.5,198,4194,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2198,1537
$GC,4511,1.32,245.1,158.1,11.7,214,4516,0.00,2.55,0.00,0.000,4,0.000,0.074,2970,783,1535
$GC,4620,1.32,245.1,144.3,12.5,219,4624,0.00,2.47,0.00,0.000,6,0.000,0.062,2971,2212,1536
$GC,4948,1.32,245.1,104.5,12.6,235,4952,0.00,2.55,0.00,0.000,4,0.000,0.074,2971,792,1536
$GC,5049,1.32,245.1,91.3,12.5,239,5055,0.00,2.42,0.00,0.000,6,0.000,0.062,2971,2197,1536
$GC,5366,1.32,245.1,59.8,8.5,255,5370,0.00,2.50,0.00,0.000,4,0.000,0.074,2971,787,1535
$GC,5473,1.32,245.1,49.3,9.5,259,5479,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2200,1535
$GC,5789,1.32,245.1,22.6,9.3,275,5794,0.00,2.50,0.00,0.000,4,0.000,0.074,2971,791,1535
$GC,5876,1.32,245.1,12.3,11.1,279,5880,0.00,2.45,0.00,0.000,6,0.000,0.062,2971,2198,1535
$STATE,6014,end climb,SURFACE_DEPTH_REACHED
$STATE,6014,begin surface coast
$FINISH,0.3,1.027142
$STATE,6036,end surface coast,CONTROL_FINISHED_OK
$STATE,6036,begin surface
$SM_CCo,6062,29.30,0.647,0,0,1316,300.00
$SM_GC,1.16,0.00,0.00,29.30,0.000,0.000,0.647,381,1595,1316,-10.55,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1904
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.2,43.5
$24V_AH,23.8,39.185
$10V_AH,10.2,19.778
$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,25.425,62.100,321.775,29.300,0.000,39.106,28.194,126.387,2.000,0.000,0.000,12.733,588.432,4205.163,417.208,818.251,384.940,0.000,857.857,0.000,799.190,0.000,16.549,0.000
$DEVICE_MAMPS,177.177,105.846,852.137,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,211.833,193.377,268.885,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12777,287
$CAP_FILE_SIZE,53140,0
$CFSIZE,254472192,238841856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,091008,221001,6409.745,-1123.935,38,1.5,38,-11.6