version: 66.04
glider: 14
mission: 6
dive: 182
start: 9 29 108 9 54 21
data:
$ID,14
$MISSION,6
$DIVE,182
$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,-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,-653534
$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,26
$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
$GPS1,094853,6410.140,-1119.085,12,3.2,31,-11.5
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-62.5
$GPS2,095357,6410.095,-1118.978,15,1.1,15,-11.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,2BT
$TGT_LATLONG,6405.000,-1245.000
$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,273.8,70266,-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,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.22,0.000,2,0.000,0.000,380,1595,2754
$GC,83,-1.16,-146.6,3.8,-6.0,3,109,11.35,2.47,-9.12,0.000,4,0.178,0.077,2414,3002,3138
$GC,328,-1.16,-146.6,35.9,-10.9,14,333,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1597,3140
$GC,650,-1.16,-146.6,78.0,-13.0,30,654,0.00,2.47,0.00,0.000,4,0.000,0.079,2414,215,3142
$GC,925,-1.16,-146.6,108.9,-11.5,42,929,0.00,2.35,0.00,0.000,6,0.000,0.054,2414,1629,3142
$GC,1243,-1.16,-146.6,145.1,-12.5,57,1247,0.00,2.55,0.00,0.000,4,0.000,0.075,2414,208,3143
$GC,1361,-1.16,-146.6,162.8,-15.5,62,1365,0.00,2.33,0.00,0.000,6,0.000,0.054,2414,1610,3143
$GC,1677,-1.16,-146.6,208.8,-14.8,77,1682,0.00,2.50,0.00,0.000,4,0.000,0.074,2414,213,3143
$GC,1740,-1.16,-146.6,219.1,-16.5,80,1745,0.00,2.30,0.00,0.000,6,0.000,0.055,2414,1602,3143
$GC,2069,-1.16,-146.6,269.1,-14.4,96,2070,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1605,3143
$GC,2378,-1.16,-146.6,309.7,-13.2,111,2382,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,214,3143
$GC,2428,-1.16,-146.6,316.7,-13.2,113,2432,0.00,2.30,0.00,0.000,6,0.000,0.055,2414,1600,3144
$STATE,2452,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2452,begin apogee
$GC,2462,-0.32,0.0,320.2,13.1,114,2595,0.93,0.00,124.70,0.863,6,0.111,0.000,2603,2189,2539
$STATE,2596,end apogee,CONTROL_FINISHED_OK
$STATE,2596,begin climb
$GC,2599,1.16,146.6,328.5,0.0,121,2727,1.50,2.72,118.97,0.844,4,0.084,0.095,2926,3584,1940
$GC,2840,1.16,146.6,317.9,8.9,132,2844,0.00,2.42,0.00,0.000,6,0.000,0.064,2926,2198,1940
$GC,3161,1.16,146.6,290.5,9.1,148,3163,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2199,1939
$GC,3471,1.16,146.6,263.6,8.8,163,3472,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2199,1938
$GC,3780,1.16,146.6,236.3,9.0,178,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2199,1937
$GC,4089,1.19,162.0,211.0,7.4,193,4108,0.00,0.00,13.02,0.746,6,0.000,0.000,2926,2199,1878
$GC,4419,1.24,195.0,188.0,6.7,209,4453,0.00,2.62,27.15,0.766,4,0.000,0.074,2926,793,1744
$GC,4507,1.27,212.5,181.9,7.3,213,4529,0.12,2.40,15.48,0.728,6,0.066,0.055,2965,2210,1672
$GC,4838,1.27,212.5,151.6,9.5,229,4842,0.00,2.53,0.00,0.000,4,0.000,0.069,2965,793,1670
$GC,4889,1.27,212.5,146.3,10.2,231,4893,0.00,2.40,0.00,0.000,6,0.000,0.056,2965,2199,1670
$GC,5212,1.27,212.5,113.7,10.4,247,5216,0.00,2.50,0.00,0.000,4,0.000,0.070,2965,794,1670
$GC,5276,1.27,212.5,106.8,11.4,250,5281,0.00,2.40,0.00,0.000,6,0.000,0.056,2965,2200,1670
$GC,5606,1.27,212.5,72.5,10.4,266,5610,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,791,1670
$GC,5679,1.27,212.5,64.0,11.7,269,5683,0.00,2.40,0.00,0.000,6,0.000,0.056,2965,2200,1670
$GC,5996,1.27,212.5,33.1,9.0,284,6000,0.00,2.50,0.00,0.000,4,0.000,0.071,2965,791,1670
$GC,6052,1.27,212.5,27.4,9.8,286,6059,0.00,2.40,0.00,0.000,6,0.000,0.057,2965,2208,1670
$STATE,6345,end climb,SURFACE_DEPTH_REACHED
$STATE,6345,begin surface coast
$FINISH,0.4,1.026913
$STATE,6368,end surface coast,CONTROL_FINISHED_OK
$STATE,6368,begin surface
$SM_CCo,6394,45.85,0.644,0,0,1315,300.00
$SM_GC,1.12,0.00,0.00,45.85,0.000,0.000,0.644,381,1597,1315,-10.55,-0.08,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1906
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,277.5,50.6
$24V_AH,23.8,26.605
$10V_AH,10.2,14.721
$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,25.100,56.025,299.325,45.850,0.000,37.757,26.556,123.154,2.000,0.000,0.000,16.471,617.030,4529.523,414.502,825.323,373.351,0.000,849.124,0.000,807.043,0.000,16.607,0.000
$DEVICE_MAMPS,177.944,95.108,862.875,643.513,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,228.608,204.330,283.712,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15995,302
$CAP_FILE_SIZE,53080,0
$CFSIZE,254472192,242532352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,290908,114253,6409.051,-1117.385,8,2.6,27,-11.5