version: 66.04
glider: 14
mission: 5
dive: 22
start: 7 31 108 14 33 33
data:
$ID,14
$MISSION,5
$DIVE,22
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$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,62.5
$T_MISSION,70
$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,1
$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,677
$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,-649109.44
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,383
$PITCH_MAX,3719
$C_PITCH,2790
$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,2250
$C_ROLL_CLIMB,1750
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,187
$VBD_MAX,3559
$C_VBD,2947
$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,-15.23282
$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,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$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
$GPS1,142759,4805.866,-12221.859,11,2.6,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.5
$GPS2,143237,4805.857,-12221.827,13,1.3,29,18.3
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.030,0.146
$KALMAN_X,-4465.7,-65.4,-186.0,6448.8,-324.9
$KALMAN_Y,1690.3,-501.2,305.9,-4430.0,-285.0
$MHEAD_RNG_PITCHd_Wd,353.4,341,-25.1,-8.000
$D_GRID,150
$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,-1.71,-52.8,0.0,0.0,0,133,0.00,0.00,-111.43,0.000,6,0.000,0.000,375,2270,3165
$GC,137,-1.74,-71.8,4.4,-6.0,20,157,11.68,2.50,-1.65,0.000,4,0.186,0.076,2408,843,3242
$GC,357,-1.74,-71.8,28.5,-9.4,50,361,0.00,2.38,0.00,0.000,6,0.000,0.058,2408,2241,3245
$GC,555,-1.74,-71.8,46.8,-9.8,68,560,0.00,2.55,0.00,0.000,4,0.000,0.084,2408,3645,3246
$GC,738,-1.74,-71.8,65.9,-10.5,77,743,0.00,2.42,0.00,0.000,6,0.000,0.064,2408,2241,3247
$GC,1061,-1.74,-71.8,96.0,-9.0,93,1062,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2241,3248
$STATE,1289,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1289,begin apogee
$GC,1298,-0.32,0.0,114.2,7.8,112,1365,1.52,0.00,57.60,0.706,6,0.125,0.000,2713,1757,2947
$STATE,1365,end apogee,CONTROL_FINISHED_OK
$STATE,1366,begin climb
$GC,1369,1.74,71.8,115.4,0.0,119,1439,2.05,2.67,57.85,0.690,4,0.069,0.087,3169,351,2654
$GC,1709,1.74,71.8,61.2,15.6,140,1714,0.00,2.40,0.00,0.000,6,0.000,0.058,3169,1756,2656
$GC,2033,1.74,71.8,20.2,11.4,166,2037,0.00,2.53,0.00,0.000,4,0.000,0.074,3169,345,2656
$GC,2265,1.92,188.0,6.9,-4.0,206,2366,0.17,2.38,90.10,0.642,6,0.066,0.057,3214,1751,2180
$STATE,2387,end climb,SURFACE_DEPTH_REACHED
$STATE,2387,begin surface coast
$FINISH,2.7,1.019303
$STATE,2473,end surface coast,CONTROL_FINISHED_OK
$STATE,2473,begin surface
$SM_CCo,2500,285.90,0.634,1,0,186,677.03
$SM_GC,1.03,0.00,0.00,285.90,0.000,0.000,0.634,383,2249,186,-11.07,-0.03,677.03
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1859
$TCM_TEMP,18.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.5,33.4
$24V_AH,23.8,2.931
$10V_AH,10.1,1.048
$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,28.425,21.525,205.550,285.900,0.000,37.768,33.723,87.566,1.500,0.000,0.000,30.583,400.262,1238.167,564.906,602.592,283.359,33.323,878.160,0.000,582.652,0.000,11.592,0.000
$DEVICE_MAMPS,186.381,86.671,705.640,633.542,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,164.353,180.044,417.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12791,242
$CAP_FILE_SIZE,32028,0
$CFSIZE,254472192,252420096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,1,0
$GPS,310708,152057,4805.903,-12221.648,10,2.0,10,18.3