version: 66.04
glider: 14
mission: 6
dive: 194
start: 9 30 108 9 57 33
data:
$ID,14
$MISSION,6
$DIVE,194
$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,-653799
$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
$GPS1,095202,6404.556,-1149.777,10,1.4,27,-11.8
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-60.9
$GPS2,095709,6404.545,-1149.611,14,1.3,14,-11.8
$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,282.9,44842,-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,16,-1.16,-146.6,0.0,0.0,0,79,0.00,0.00,-60.25,0.000,2,0.000,0.000,383,1595,2741
$GC,83,-1.16,-146.6,3.4,-5.3,3,110,11.40,2.55,-9.73,0.000,4,0.181,0.087,2412,3012,3137
$GC,295,-1.16,-146.6,33.3,-11.3,12,302,0.00,2.45,0.00,0.000,6,0.000,0.065,2412,1601,3139
$GC,612,-1.16,-146.6,74.6,-13.8,28,613,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1601,3140
$GC,921,-1.16,-146.6,108.4,-8.5,43,926,0.00,2.53,0.00,0.000,4,0.000,0.075,2412,3010,3140
$GC,972,-1.16,-146.6,113.6,-10.1,45,977,0.00,2.47,0.00,0.000,6,0.000,0.067,2412,1594,3140
$GC,1289,-1.16,-146.6,160.5,-17.8,60,1293,0.00,2.50,0.00,0.000,4,0.000,0.082,2412,208,3141
$GC,1362,-1.16,-146.6,174.2,-18.1,63,1367,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1613,3141
$GC,1684,-1.16,-146.6,217.9,-11.9,79,1688,0.00,2.55,0.00,0.000,4,0.000,0.080,2411,201,3141
$GC,1758,-1.16,-146.6,227.2,-12.4,82,1762,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1605,3141
$GC,2079,-1.16,-146.6,265.0,-12.6,98,2084,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,203,3141
$GC,2143,-1.16,-146.6,273.8,-14.1,101,2147,0.00,2.40,0.00,0.000,6,0.000,0.061,2411,1606,3142
$GC,2476,-1.16,-146.6,315.5,-11.5,117,2480,0.00,2.53,0.00,0.000,4,0.000,0.080,2411,209,3142
$GC,2509,-1.16,-146.6,319.5,-12.0,118,2514,0.00,2.40,0.00,0.000,6,0.000,0.061,2412,1605,3143
$STATE,2657,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2657,begin apogee
$GC,2667,-0.32,0.0,336.5,12.0,125,2795,0.93,0.00,124.20,0.881,6,0.114,0.000,2600,2193,2539
$STATE,2796,end apogee,CONTROL_FINISHED_OK
$STATE,2796,begin climb
$GC,2799,1.16,146.6,342.8,0.0,131,2924,1.52,0.00,119.60,0.858,6,0.082,0.000,2928,2194,1940
$GC,3233,1.19,165.7,313.5,7.3,152,3255,0.00,2.58,16.25,0.795,4,0.000,0.074,2928,792,1863
$GC,3486,1.20,167.9,294.4,7.9,163,3491,0.00,2.50,0.00,0.000,6,0.000,0.064,2928,2203,1862
$GC,3808,1.26,203.8,271.3,6.6,179,3845,0.00,2.62,31.33,0.829,4,0.000,0.075,2928,784,1708
$GC,3892,1.29,224.9,265.5,7.2,182,3917,0.12,2.53,18.50,0.792,6,0.067,0.064,2967,2203,1622
$GC,4249,1.29,224.9,235.4,8.6,199,4253,0.00,2.55,0.00,0.000,4,0.000,0.076,2967,792,1619
$GC,4338,1.29,224.9,226.4,9.2,203,4343,0.00,2.50,0.00,0.000,6,0.000,0.064,2967,2207,1618
$GC,4660,1.29,224.9,191.0,12.0,219,4664,0.00,2.55,0.00,0.000,4,0.000,0.075,2967,792,1618
$GC,4751,1.29,224.9,178.8,13.6,223,4755,0.00,2.47,0.00,0.000,6,0.000,0.064,2967,2200,1618
$GC,5073,1.29,224.9,140.5,11.0,239,5077,0.00,2.55,0.00,0.000,4,0.000,0.075,2967,782,1617
$GC,5152,1.29,224.9,131.3,11.1,242,5158,0.00,2.47,0.00,0.000,6,0.000,0.064,2967,2199,1617
$GC,5470,1.29,224.9,99.0,9.8,258,5474,0.00,2.53,0.00,0.000,4,0.000,0.076,2967,787,1617
$GC,5556,1.29,224.9,90.3,10.3,262,5560,0.00,2.47,0.00,0.000,6,0.000,0.064,2967,2200,1617
$GC,5884,1.29,224.9,61.5,8.5,278,5888,0.00,2.65,0.00,0.000,4,0.000,0.102,2967,3601,1617
$GC,5951,1.29,224.9,54.8,9.1,281,5955,0.00,2.45,0.00,0.000,6,0.000,0.067,2967,2195,1617
$GC,6273,1.29,224.9,22.1,10.6,297,6274,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2195,1617
$STATE,6475,end climb,SURFACE_DEPTH_REACHED
$STATE,6475,begin surface coast
$FINISH,0.5,1.026965
$STATE,6498,end surface coast,CONTROL_FINISHED_OK
$STATE,6498,begin surface
$SM_CCo,6524,38.38,0.650,0,0,1316,300.00
$SM_GC,1.28,0.00,0.00,38.38,0.000,0.000,0.650,378,1596,1316,-10.56,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1907
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.6,69.4
$24V_AH,23.8,27.736
$10V_AH,10.2,15.226
$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,25.200,67.175,309.875,38.375,0.000,37.760,34.379,121.283,1.750,0.000,0.000,15.878,627.859,4599.591,415.292,854.038,388.494,0.000,866.024,0.000,835.024,0.000,13.719,0.000
$DEVICE_MAMPS,181.012,102.011,880.516,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,229.644,208.273,286.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15947,308
$CAP_FILE_SIZE,55663,0
$CFSIZE,254472192,242135040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,300908,114807,6405.423,-1150.536,11,0.9,27,-11.8