version: 66.04
glider: 14
mission: 6
dive: 312
start: 10 11 108 23 18 16
data:
$ID,14
$MISSION,6
$DIVE,312
$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,225
$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,-656265.62
$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,23
$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
$GPS1,230915,6359.873,-1147.116,37,4.5,56,-11.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-62.7
$GPS2,231751,6359.767,-1147.307,13,1.2,13,-11.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6352.130,-1204.645
$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,236.7,20000,-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,-146.6,0.0,0.0,0,78,0.00,0.00,-60.00,0.000,2,0.000,0.000,378,1585,2746
$GC,82,-1.16,-146.6,3.3,-5.1,3,109,11.40,2.55,-9.60,0.000,4,0.179,0.087,2412,3006,3138
$GC,283,-1.16,-146.6,31.2,-13.7,12,287,0.00,2.45,0.00,0.000,6,0.000,0.064,2412,1602,3139
$GC,605,-1.16,-146.6,73.6,-14.6,28,609,0.00,2.53,0.00,0.000,4,0.000,0.081,2412,203,3139
$GC,656,-1.16,-146.6,81.3,-15.7,30,660,0.00,2.40,0.00,0.000,6,0.000,0.059,2412,1612,3139
$GC,978,-1.16,-146.6,122.8,-12.1,46,982,0.00,2.45,0.00,0.000,4,0.000,0.077,2412,2993,3139
$GC,1051,-1.16,-146.6,131.5,-11.2,49,1055,0.00,2.42,0.00,0.000,6,0.000,0.065,2412,1598,3139
$GC,1368,-1.16,-146.6,168.1,-11.6,64,1372,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,209,3140
$GC,1401,-1.16,-146.6,172.4,-11.9,65,1408,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1606,3140
$GC,1719,-1.16,-146.6,208.9,-11.7,81,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3140
$GC,2028,-1.16,-146.6,245.2,-11.7,96,2032,0.00,2.53,0.00,0.000,4,0.000,0.079,2412,203,3140
$GC,2085,-1.16,-146.6,252.2,-12.9,98,2092,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1597,3140
$GC,2402,-1.16,-146.6,288.9,-11.0,114,2406,0.00,2.50,0.00,0.000,4,0.000,0.080,2412,209,3140
$GC,2519,-1.16,-146.6,303.2,-11.9,119,2524,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1595,3139
$GC,2836,-1.16,-146.6,339.4,-12.2,134,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1598,3140
$STATE,2956,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2956,begin apogee
$GC,2966,-0.32,0.0,354.3,11.8,140,3100,0.95,0.00,125.45,0.886,6,0.117,0.000,2604,2198,2538
$STATE,3101,end apogee,CONTROL_FINISHED_OK
$STATE,3101,begin climb
$GC,3105,1.16,146.6,360.4,0.0,147,3232,1.48,2.80,118.45,0.871,4,0.077,0.110,2926,3589,1940
$GC,3336,1.21,174.3,349.9,6.9,157,3366,0.00,2.47,23.50,0.823,6,0.000,0.070,2926,2200,1827
$GC,3695,1.26,208.4,326.3,6.7,175,3731,0.10,2.67,28.33,0.837,4,0.070,0.080,2960,790,1688
$GC,3823,1.26,208.4,314.9,9.2,180,3829,0.00,2.47,0.00,0.000,6,0.000,0.062,2960,2204,1688
$GC,4140,1.27,215.5,289.6,7.7,196,4154,0.00,2.62,7.18,0.713,4,0.000,0.074,2960,786,1660
$GC,4280,1.27,215.5,277.7,8.8,202,4284,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2200,1659
$GC,4601,1.27,215.5,247.7,10.2,218,4605,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,785,1658
$GC,4708,1.27,215.5,236.6,9.9,223,4713,0.00,2.50,0.00,0.000,6,0.000,0.063,2960,2209,1658
$GC,5037,1.27,215.5,206.7,8.9,239,5041,0.00,2.55,0.00,0.000,4,0.000,0.074,2960,792,1657
$GC,5144,1.27,215.5,196.6,9.7,243,5150,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2201,1657
$GC,5460,1.27,215.5,169.6,8.9,259,5465,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,792,1657
$GC,5546,1.27,215.5,161.6,9.1,263,5550,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2207,1657
$GC,5873,1.27,215.5,133.4,8.6,279,5878,0.00,2.55,0.00,0.000,4,0.000,0.074,2961,791,1657
$GC,5915,1.27,215.5,129.9,8.6,281,5919,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2203,1657
$GC,6242,1.27,215.5,102.8,8.2,297,6247,0.00,2.53,0.00,0.000,4,0.000,0.074,2960,788,1657
$GC,6310,1.27,215.5,96.7,8.9,300,6314,0.00,2.47,0.00,0.000,6,0.000,0.063,2960,2204,1657
$GC,6632,1.27,215.5,68.7,9.2,316,6637,0.00,2.53,0.00,0.000,4,0.000,0.075,2960,790,1657
$GC,6718,1.27,215.5,60.2,10.0,320,6722,0.00,2.45,0.00,0.000,6,0.000,0.063,2960,2201,1657
$GC,7052,1.27,215.5,30.7,9.2,336,7056,0.00,2.50,0.00,0.000,4,0.000,0.074,2961,793,1657
$GC,7142,1.27,215.5,22.0,9.6,340,7146,0.00,2.45,0.00,0.000,6,0.000,0.062,2961,2198,1657
$STATE,7358,end climb,SURFACE_DEPTH_REACHED
$STATE,7358,begin surface coast
$FINISH,0.3,1.003158
$STATE,7379,end surface coast,CONTROL_FINISHED_OK
$STATE,7379,begin surface
$SM_CCo,7405,44.62,0.649,0,0,1316,300.00
$SM_GC,1.00,0.00,0.00,44.62,0.000,0.000,0.649,373,1592,1316,-10.59,-0.14,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1893
$TCM_TEMP,17.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,327.1,36.7
$24V_AH,23.7,41.696
$10V_AH,10.2,20.853
$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,25.100,82.125,302.900,44.625,0.000,83.057,58.062,193.490,2.500,0.000,0.000,14.652,716.719,5302.604,429.730,982.345,551.783,0.000,946.815,0.000,958.516,0.000,16.859,0.000
$DEVICE_MAMPS,178.711,110.448,885.885,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,260.740,238.142,311.663,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19090,352
$CAP_FILE_SIZE,65691,0
$CFSIZE,254472192,237985792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,1,0
$GPS,121008,012338,6358.639,-1153.339,25,1.7,26,-11.8