version: 66.04
glider: 14
mission: 6
dive: 437
start: 10 31 108 0 35 10
data:
$ID,14
$MISSION,6
$DIVE,437
$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,275
$T_MISSION,300
$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,250
$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,-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,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,-658745
$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,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
$GPS1,002948,6337.804,-1014.602,36,1.8,53,-10.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-56.6
$GPS2,003445,6337.797,-1014.534,13,1.5,13,-10.7
$SPEED_LIMITS,0.208,0.341
$TGT_NAME,SF
$TGT_LATLONG,6400.000,-800.000
$TGT_RADIUS,5000.000
$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,80.1,116707,-16.0,-12.000
$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,-1.42,-244.4,0.0,0.0,0,99,0.00,0.00,-80.28,0.000,2,0.000,0.000,378,1596,2814
$GC,103,-1.42,-244.4,4.0,-3.5,4,139,11.10,2.53,-17.40,0.000,4,0.176,0.090,2357,215,3539
$GC,331,-1.42,-244.4,43.9,-16.2,14,335,0.00,2.40,0.00,0.000,6,0.000,0.058,2358,1610,3541
$GC,653,-1.42,-244.4,93.4,-15.4,30,657,0.00,2.55,0.00,0.000,4,0.000,0.076,2358,203,3542
$GC,716,-1.42,-244.4,103.8,-16.2,33,720,0.00,2.40,0.00,0.000,6,0.000,0.058,2358,1603,3542
$GC,1043,-1.42,-244.4,157.9,-17.1,49,1048,0.00,2.53,0.00,0.000,4,0.000,0.075,2358,205,3542
$GC,1100,-1.42,-244.4,167.6,-16.8,51,1106,0.00,2.40,0.00,0.000,6,0.000,0.058,2358,1608,3542
$GC,1416,-1.42,-244.4,218.0,-16.4,67,1420,0.00,2.53,0.00,0.000,4,0.000,0.075,2358,204,3542
$GC,1485,-1.42,-244.4,229.6,-17.8,70,1489,0.00,2.38,0.00,0.000,6,0.000,0.058,2358,1600,3542
$GC,1807,-1.42,-244.4,285.0,-17.4,86,1811,0.00,2.53,0.00,0.000,4,0.000,0.076,2358,201,3543
$GC,1893,-1.42,-244.4,300.3,-17.4,90,1897,0.00,2.40,0.00,0.000,6,0.000,0.058,2358,1600,3543
$GC,2221,-1.42,-244.4,356.0,-16.8,106,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1604,3544
$GC,2531,-1.42,-244.4,404.6,-14.6,121,2536,0.00,2.55,0.00,0.000,4,0.000,0.081,2358,206,3545
$GC,2577,-1.42,-244.4,411.7,-15.0,123,2581,0.00,2.40,0.00,0.000,6,0.000,0.059,2359,1598,3545
$GC,2899,-1.42,-244.4,458.0,-15.7,139,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,1602,3547
$GC,3208,-1.42,-244.4,503.0,-14.5,154,3212,0.00,2.58,0.00,0.000,4,0.000,0.084,2358,205,3547
$GC,3309,-1.42,-244.4,518.2,-14.2,158,3316,0.00,2.42,0.00,0.000,6,0.000,0.061,2358,1597,3547
$STATE,3334,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3334,begin apogee
$GC,3343,-0.32,0.0,522.2,14.8,160,3565,1.23,0.00,211.93,1.048,6,0.117,0.000,2604,2199,2539
$STATE,3565,end apogee,CONTROL_FINISHED_OK
$STATE,3565,begin climb
$GC,3569,1.42,244.4,529.2,0.0,171,3783,1.77,2.62,200.12,1.025,4,0.084,0.074,2979,793,1541
$GC,3978,1.49,290.2,501.8,10.5,189,4023,0.00,2.53,38.22,1.001,6,0.000,0.065,2979,2206,1356
$GC,4344,1.50,296.8,460.9,11.8,207,4358,0.10,2.65,6.55,0.825,4,0.072,0.072,3010,783,1328
$GC,4467,1.50,296.8,444.5,13.1,212,4472,0.00,2.53,0.00,0.000,6,0.000,0.063,3010,2203,1327
$GC,4784,1.50,296.8,405.2,13.2,227,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2203,1325
$GC,5093,1.50,296.8,364.2,12.6,242,5097,0.00,2.55,0.00,0.000,4,0.000,0.072,3010,788,1322
$GC,5178,1.50,296.8,352.5,14.5,246,5183,0.00,2.50,0.00,0.000,6,0.000,0.062,3010,2204,1321
$GC,5506,1.50,296.8,309.9,12.1,262,5511,0.00,2.55,0.00,0.000,4,0.000,0.072,3010,788,1319
$GC,5563,1.50,296.8,302.5,12.3,264,5569,0.00,2.50,0.00,0.000,6,0.000,0.062,3010,2207,1319
$GC,5880,1.54,318.6,266.2,11.3,280,5903,0.00,2.62,16.75,0.893,4,0.000,0.071,3010,786,1238
$GC,5982,1.54,318.6,253.5,13.1,284,5986,0.00,2.50,0.00,0.000,6,0.000,0.062,3010,2200,1238
$GC,6298,1.54,318.6,212.7,13.3,299,6303,0.00,2.55,0.00,0.000,4,0.000,0.072,3010,786,1237
$GC,6412,1.54,318.6,197.3,13.2,304,6416,0.00,2.50,0.00,0.000,6,0.000,0.062,3010,2209,1236
$GC,6733,1.54,318.6,156.0,13.7,320,6738,0.00,2.55,0.00,0.000,4,0.000,0.071,3009,782,1237
$GC,6835,1.54,318.6,141.3,13.8,324,6841,0.00,2.50,0.00,0.000,6,0.000,0.062,3010,2209,1236
$GC,7152,1.54,318.6,99.7,12.9,340,7157,0.00,2.55,0.00,0.000,4,0.000,0.071,3010,783,1237
$GC,7243,1.54,318.6,86.9,12.8,344,7247,0.00,2.47,0.00,0.000,6,0.000,0.061,3010,2200,1237
$GC,7567,1.54,323.3,46.1,11.8,360,7578,0.00,2.55,5.90,0.589,4,0.000,0.071,3010,791,1220
$GC,7676,1.54,323.3,30.4,12.8,365,7680,0.00,2.47,0.00,0.000,6,0.000,0.061,3010,2205,1220
$STATE,7918,end climb,SURFACE_DEPTH_REACHED
$STATE,7918,begin surface coast
$FINISH,0.8,1.005229
$STATE,7939,end surface coast,CONTROL_FINISHED_OK
$STATE,7939,begin surface
$SM_CCo,8026,0.00,0.000,0,0,1219,323.80
$SM_GC,1.72,11.55,0.00,0.00,0.058,0.000,0.000,379,1590,1219,-10.51,-0.25,323.80
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1927
$TCM_TEMP,17.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,475.9,54.8
$24V_AH,23.5,57.810
$10V_AH,10.2,29.092
$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,25.750,82.450,479.475,0.000,0.000,37.757,31.949,107.287,4.000,0.000,0.000,15.095,751.814,5563.400,559.542,1054.246,404.913,0.000,1128.950,0.000,1021.429,0.000,29.531,0.000
$DEVICE_MAMPS,176.410,89.739,1048.489,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,279.012,255.434,269.526,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19068,378
$CAP_FILE_SIZE,66434,0
$CFSIZE,254472192,231915520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,16,1,0
$GPS,311008,025027,6337.197,-1011.501,30,3.5,49,-10.7