version: 66.04
glider: 14
mission: 6
dive: 299
start: 10 10 108 21 15 38
data:
$ID,14
$MISSION,6
$DIVE,299
$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,225
$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,-656012.38
$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,15
$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
$GPS1,210332,6410.015,-1127.393,63,1.6,63,-11.6
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-53.6
$GPS2,211516,6409.994,-1127.105,14,1.8,15,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6402.358,-1144.549
$TGT_RADIUS,1852.000
$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,236.6,20000,-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,12,begin dive
$GC,16,-1.16,-146.6,0.0,0.0,0,97,0.00,0.00,-74.38,0.000,6,0.000,0.000,382,1602,3138
$GC,101,-1.16,-146.6,7.5,-9.8,4,123,11.52,2.55,0.00,0.000,4,0.185,0.072,2417,201,3142
$GC,225,-1.16,-146.6,34.4,-11.2,9,229,0.00,2.42,0.00,0.000,6,0.000,0.058,2417,1614,3142
$GC,542,-1.16,-146.6,74.3,-13.3,24,546,0.00,2.55,0.00,0.000,4,0.000,0.077,2417,201,3143
$GC,605,-1.16,-146.6,84.2,-14.6,27,609,0.00,2.40,0.00,0.000,6,0.000,0.058,2417,1604,3143
$GC,933,-1.16,-146.6,121.9,-10.7,43,937,0.00,2.47,0.00,0.000,4,0.000,0.077,2417,2993,3143
$GC,978,-1.16,-146.6,127.3,-10.7,45,983,0.00,2.42,0.00,0.000,6,0.000,0.065,2417,1592,3144
$GC,1307,-1.16,-146.6,165.0,-11.8,61,1311,0.00,2.47,0.00,0.000,4,0.000,0.079,2417,210,3144
$GC,1401,-1.16,-146.6,177.2,-12.1,65,1406,0.00,2.38,0.00,0.000,6,0.000,0.058,2417,1610,3144
$GC,1718,-1.16,-146.6,212.4,-11.1,80,1722,0.00,2.50,0.00,0.000,4,0.000,0.077,2416,209,3144
$GC,1774,-1.16,-146.6,219.1,-12.6,82,1778,0.00,2.35,0.00,0.000,6,0.000,0.058,2417,1599,3144
$GC,2090,-1.16,-146.6,254.6,-11.3,97,2091,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1600,3144
$GC,2400,-1.16,-146.6,290.0,-11.3,112,2401,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,1600,3144
$STATE,2603,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2603,begin apogee
$GC,2613,-0.32,0.0,313.7,11.8,122,2740,0.93,0.00,123.32,0.861,6,0.120,0.000,2602,2194,2539
$STATE,2740,end apogee,CONTROL_FINISHED_OK
$STATE,2740,begin climb
$GC,2744,1.16,146.6,319.7,0.0,128,2870,1.48,2.80,117.95,0.836,4,0.077,0.105,2926,3597,1940
$GC,2944,1.25,198.7,312.2,6.0,137,2993,0.00,2.47,42.53,0.810,6,0.000,0.067,2925,2199,1727
$GC,3311,1.25,198.7,284.4,8.1,155,3312,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2198,1727
$GC,3621,1.28,218.1,260.5,7.3,170,3641,0.12,0.00,16.95,0.771,6,0.065,0.000,2966,2199,1648
$GC,3950,1.28,218.1,233.1,8.3,186,3954,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,787,1647
$GC,3997,1.28,218.1,228.9,8.7,188,4001,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2204,1647
$GC,4330,1.28,218.1,200.3,9.1,204,4335,0.00,2.55,0.00,0.000,4,0.000,0.073,2966,784,1646
$GC,4426,1.28,218.1,190.6,10.9,208,4430,0.00,2.45,0.00,0.000,6,0.000,0.061,2966,2198,1646
$GC,4743,1.28,218.1,157.3,11.1,223,4747,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,787,1646
$GC,4844,1.28,218.1,145.4,12.6,227,4848,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2204,1646
$GC,5161,1.28,218.1,109.8,10.9,242,5165,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,791,1646
$GC,5302,1.28,218.1,95.9,8.8,248,5306,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2208,1646
$GC,5625,1.28,218.1,65.1,10.1,264,5629,0.00,2.55,0.00,0.000,4,0.000,0.073,2966,783,1646
$GC,5726,1.28,218.1,53.2,14.1,268,5732,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2200,1646
$GC,6044,1.38,279.3,28.0,5.7,284,6096,0.00,2.58,47.53,0.664,4,0.000,0.072,2966,792,1399
$GC,6159,1.38,279.3,14.4,8.7,289,6163,0.00,2.47,0.00,0.000,6,0.000,0.061,2966,2201,1399
$STATE,6307,end climb,SURFACE_DEPTH_REACHED
$STATE,6307,begin surface coast
$FINISH,0.2,1.002629
$STATE,6329,end surface coast,CONTROL_FINISHED_OK
$STATE,6329,begin surface
$SM_CCo,6356,15.62,0.619,0,0,1315,300.00
$SM_GC,0.87,0.00,0.00,15.62,0.000,0.000,0.619,380,1602,1315,-10.56,0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1873
$TCM_TEMP,17.50
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,252.3,70.3
$24V_AH,23.8,40.480
$10V_AH,10.2,20.307
$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,25.300,61.950,348.275,15.625,0.000,114.653,157.826,184.212,2.000,0.000,0.000,16.662,598.271,4607.519,427.331,805.869,649.875,0.000,864.488,0.000,786.898,0.000,12.094,0.000
$DEVICE_MAMPS,184.847,105.079,860.574,618.969,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,220.846,200.306,277.041,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12844,297
$CAP_FILE_SIZE,55510,0
$CFSIZE,254472192,238432256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,101008,230308,6408.551,-1127.643,35,1.2,35,-11.6