version: 66.04
glider: 104
mission: 14
dive: 2
start: 2 23 109 17 46 20
data:
$ID,104
$MISSION,14
$DIVE,2
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$D_ABORT,1090
$D_NO_BLEED,100
$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,100
$T_MISSION,120
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,320
$USE_BATHY,-3
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$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,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,567
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-217163.38
$T_RSLEEP,2
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$ROLL_DEG,40
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,1775
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,21
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,574
$VBD_MAX,3908
$C_VBD,2889
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PHONE_SUPPLY,2
$PRESSURE_YINT,-17.469234
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$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,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043870676
$SEABIRD_T_H,0.00064850412
$SEABIRD_T_I,2.4590418e-05
$SEABIRD_T_J,2.3871978e-06
$SEABIRD_C_G,-10.313265
$SEABIRD_C_H,1.1866801
$SEABIRD_C_I,0.0012373535
$SEABIRD_C_J,-1.1855637e-05
$GPS1,174101,6109.757,-921.220,12,1.1,12,-9.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-51.0
$GPS2,174432,6109.753,-921.203,13,1.5,13,-9.3
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,FB
$TGT_LATLONG,6120.000,-900.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.187,0.186
$KALMAN_X,-43.7,-43.7,-43.7,123.9,-220.2
$KALMAN_Y,-43.0,-43.0,-43.0,124.9,-217.0
$MHEAD_RNG_PITCHd_Wd,54.3,26739,-18.1,-10.000
$D_GRID,494
$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,14,-1.39,-146.6,0.0,0.0,0,119,0.00,0.00,-103.30,0.000,2,0.000,0.000,43,2091,3417
$GC,121,-1.39,-146.6,3.9,-3.5,5,144,11.82,2.65,-1.25,0.000,4,0.147,0.074,2192,667,3488
$GC,395,-1.39,-146.6,43.2,-11.3,17,400,0.00,2.45,0.00,0.000,6,0.000,0.035,2192,2071,3488
$GC,723,-1.39,-146.6,78.8,-11.5,33,727,0.00,2.55,0.00,0.000,4,0.000,0.060,2192,665,3488
$GC,776,-1.39,-146.6,85.5,-12.3,35,784,0.00,2.45,0.00,0.000,6,0.000,0.035,2192,2072,3488
$GC,1093,-1.39,-146.6,120.2,-10.8,51,1097,0.00,2.55,0.00,0.000,4,0.000,0.060,2192,664,3488
$GC,1132,-1.39,-146.6,124.6,-12.2,53,1137,0.00,2.42,0.00,0.000,6,0.000,0.036,2192,2076,3488
$GC,1457,-1.39,-146.6,159.1,-10.5,69,1461,0.00,2.55,0.00,0.000,4,0.000,0.059,2191,665,3488
$GC,1489,-1.39,-146.6,162.7,-10.9,70,1494,0.00,2.45,0.00,0.000,6,0.000,0.035,2192,2075,3488
$GC,1811,-1.39,-146.6,196.6,-10.5,86,1816,0.00,2.53,0.00,0.000,4,0.000,0.058,2192,666,3488
$GC,1850,-1.39,-146.6,200.9,-10.7,88,1854,0.00,2.42,0.00,0.000,6,0.000,0.035,2192,2082,3488
$GC,2181,-1.39,-146.6,235.6,-10.4,104,2185,0.00,2.55,0.00,0.000,4,0.000,0.058,2192,658,3488
$GC,2213,-1.39,-146.6,239.1,-10.7,105,2218,0.00,2.45,0.00,0.000,6,0.000,0.035,2192,2076,3488
$STATE,2330,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2330,begin apogee
$GC,2334,-0.33,0.0,251.1,10.5,111,2456,1.12,0.00,117.70,0.833,6,0.081,0.000,2425,1761,2889
$STATE,2456,end apogee,CONTROL_FINISHED_OK
$STATE,2456,begin climb
$GC,2458,1.39,146.6,254.6,0.0,117,2580,1.75,0.00,118.12,0.803,6,0.051,0.000,2805,1761,2291
$GC,2878,1.47,211.9,234.5,7.0,138,2940,0.00,0.00,56.25,0.785,6,0.000,0.000,2805,1761,2024
$GC,3248,1.48,221.4,200.4,9.6,156,3259,0.00,0.00,8.85,0.680,6,0.000,0.000,2805,1761,1985
$GC,3557,1.48,221.4,168.2,10.5,171,3558,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1761,1984
$GC,3867,1.49,228.2,137.3,9.7,186,3875,0.00,0.00,6.93,0.632,6,0.000,0.000,2805,1761,1957
$GC,4176,1.50,240.5,107.6,9.4,201,4189,0.00,0.00,10.93,0.680,6,0.000,0.000,2805,1761,1907
$GC,4486,1.52,252.2,78.2,9.5,216,4498,0.10,0.00,10.48,0.664,6,0.071,0.000,2831,1761,1861
$GC,4795,1.52,252.2,46.6,10.1,231,4796,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1761,1860
$GC,5104,1.52,252.2,12.5,11.7,246,5108,0.00,2.55,0.00,0.000,4,0.000,0.067,2831,365,1860
$GC,5157,1.52,252.2,6.0,12.5,248,5165,0.00,2.42,0.00,0.000,6,0.000,0.032,2831,1780,1860
$STATE,5204,end climb,SURFACE_DEPTH_REACHED
$STATE,5204,begin surface coast
$FINISH,0.5,1.002087
$STATE,5226,end surface coast,CONTROL_FINISHED_OK
$STATE,5226,begin surface
$SM_CCo,5245,156.88,0.661,0,0,576,567.13
$SM_GC,0.75,0.00,0.00,156.88,0.000,0.000,0.661,36,2095,576,-11.33,0.57,567.13
$IRIDIUM_FIX,6046.07,-924.08,200598,171730
$TT8_MAMPS,0.025311
$HUMID,1472
$INTERNAL_PRESSURE,8.17634
$TCM_TEMP,17.20
$XPDR_PINGS,74
$ALTIM_TOP_PING,20.0,18.8
$ALTIM_BOTTOM_PING,251.1,7.3
$24V_AH,23.5,8.341
$10V_AH,10.2,3.052
$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,27.250,36.100,329.250,156.875,0.000,0.000,0.000,0.000,20.500,0.000,0.000,14.597,501.173,3704.547,616.997,627.344,80.903,30.182,918.685,0.000,619.429,0.000,16.230,0.000
$DEVICE_MAMPS,147.264,74.399,832.962,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,172.800,180.490,310.320,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12850,252
$CAP_FILE_SIZE,53746,0
$CFSIZE,260165632,256454656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230209,191745,6110.294,-920.410,28,2.1,48,-9.3