version: 66.04
glider: 14
mission: 6
dive: 291
start: 10 10 108 5 53 10
data:
$ID,14
$MISSION,6
$DIVE,291
$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,-655856.44
$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,19
$R_STBD_OVSHOOT,20
$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
$GPS1,054737,6410.020,-1127.750,33,1.0,39,-11.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-56.0
$GPS2,055247,6410.028,-1127.641,11,2.7,30,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6417.664,-1145.246
$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,-146.6,0.0,0.0,0,97,0.00,0.00,-74.15,0.000,6,0.000,0.000,383,1596,3138
$GC,101,-1.16,-146.6,7.1,-9.4,4,123,11.43,2.47,0.00,0.000,4,0.180,0.071,2413,206,3141
$GC,328,-1.16,-146.6,54.2,-15.6,14,332,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1611,3142
$GC,661,-1.16,-146.6,104.1,-15.8,30,665,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,207,3143
$GC,739,-1.16,-146.6,116.7,-15.8,33,746,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1612,3143
$GC,1056,-1.16,-146.6,161.4,-13.6,49,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1615,3143
$GC,1366,-1.16,-146.6,202.4,-13.7,64,1370,0.00,2.55,0.00,0.000,4,0.000,0.078,2413,200,3143
$GC,1410,-1.16,-146.6,208.9,-14.3,66,1415,0.00,2.40,0.00,0.000,6,0.000,0.059,2413,1605,3143
$GC,1743,-1.16,-146.6,252.4,-13.3,82,1744,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1608,3143
$GC,2047,-1.16,-146.6,292.8,-12.8,97,2051,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,205,3143
$GC,2098,-1.16,-146.6,298.9,-11.9,99,2102,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1603,3143
$STATE,2143,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2143,begin apogee
$GC,2153,-0.32,0.0,304.9,12.6,101,2281,0.93,0.00,123.47,0.855,6,0.117,0.000,2600,2195,2539
$STATE,2281,end apogee,CONTROL_FINISHED_OK
$STATE,2281,begin climb
$GC,2285,1.16,146.6,310.9,0.0,107,2413,1.52,2.83,118.18,0.830,4,0.087,0.109,2925,3597,1940
$GC,2526,1.21,172.6,300.2,7.0,118,2556,0.00,2.50,21.90,0.785,6,0.000,0.068,2925,2186,1835
$GC,2874,1.27,211.2,276.3,6.5,135,2912,0.12,0.00,32.17,0.795,6,0.066,0.000,2965,2186,1678
$GC,3223,1.29,224.9,249.6,7.5,152,3245,0.00,2.60,12.27,0.739,4,0.000,0.076,2965,794,1621
$GC,3279,1.29,224.9,244.8,8.1,154,3283,0.00,2.45,0.00,0.000,6,0.000,0.061,2965,2200,1621
$GC,3596,1.30,230.7,220.3,7.8,169,3607,0.00,2.55,6.28,0.641,4,0.000,0.071,2965,792,1597
$GC,3675,1.30,230.7,213.6,8.3,172,3682,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2198,1597
$GC,3992,1.30,230.7,186.9,9.2,188,3996,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,789,1597
$GC,4076,1.30,230.7,178.2,9.8,191,4082,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2202,1598
$GC,4393,1.30,230.7,142.9,12.6,207,4398,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,795,1597
$GC,4484,1.30,230.7,130.9,12.4,211,4488,0.00,2.47,0.00,0.000,6,0.000,0.063,2965,2210,1597
$GC,4807,1.30,230.7,92.7,10.7,227,4812,0.00,2.53,0.00,0.000,4,0.000,0.071,2965,795,1597
$GC,4897,1.30,230.7,81.2,12.5,231,4902,0.00,2.45,0.00,0.000,6,0.000,0.063,2965,2199,1597
$GC,5220,1.30,230.7,41.6,11.7,247,5224,0.00,2.50,0.00,0.000,4,0.000,0.073,2964,795,1598
$GC,5306,1.31,237.2,34.5,7.8,251,5319,0.00,2.45,6.57,0.574,6,0.000,0.064,2965,2202,1572
$GC,5638,1.31,237.2,4.1,9.0,267,5642,0.00,2.47,0.00,0.000,4,0.000,0.065,2965,791,1571
$STATE,5656,end climb,SURFACE_DEPTH_REACHED
$STATE,5656,begin surface coast
$FINISH,1.0,1.027138
$STATE,5663,end surface coast,CONTROL_FINISHED_OK
$STATE,5663,begin surface
$SM_CCo,5690,38.58,0.644,0,0,1315,300.00
$SM_GC,1.51,0.00,0.00,38.58,0.000,0.000,0.644,375,1624,1315,-10.58,0.68,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1873
$TCM_TEMP,19.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,252.4,61.6
$24V_AH,23.8,39.711
$10V_AH,10.2,19.977
$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,25.350,59.900,320.850,38.575,0.000,37.757,27.423,115.315,1.750,0.000,0.000,35.452,550.600,3937.130,446.718,759.740,361.546,0.000,850.439,0.000,722.953,0.000,14.994,0.000
$DEVICE_MAMPS,180.245,108.914,855.205,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,197.670,180.378,240.770,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12832,268
$CAP_FILE_SIZE,50394,0
$CFSIZE,254472192,238686208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,101008,073001,6410.055,-1127.145,34,1.4,39,-11.6