version: 66.04
glider: 14
mission: 6
dive: 300
start: 10 10 108 23 8 16
data:
$ID,14
$MISSION,6
$DIVE,300
$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,-656024.31
$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,17
$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
$GPS1,230308,6408.551,-1127.643,35,1.2,35,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-54.5
$GPS2,230751,6408.538,-1127.574,9,1.8,9,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6400.902,-1145.003
$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,-75.10,0.000,6,0.000,0.000,380,1599,3138
$GC,101,-1.16,-146.6,6.6,-8.0,4,123,11.43,2.55,0.00,0.000,4,0.180,0.076,2414,3012,3142
$GC,219,-1.16,-146.6,29.2,-8.5,9,224,0.00,2.47,0.00,0.000,6,0.000,0.063,2414,1586,3143
$GC,544,-1.16,-146.6,66.8,-12.9,25,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1585,3143
$GC,851,-1.16,-146.6,102.5,-10.9,40,855,0.00,2.47,0.00,0.000,4,0.000,0.081,2414,210,3143
$GC,923,-1.16,-146.6,111.3,-11.8,43,928,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1619,3143
$GC,1242,-1.16,-146.6,141.8,-9.6,58,1246,0.00,2.53,0.00,0.000,4,0.000,0.077,2414,209,3144
$GC,1293,-1.16,-146.6,147.5,-10.9,60,1297,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1605,3144
$GC,1609,-1.16,-146.6,180.0,-10.2,75,1613,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3144
$GC,1665,-1.16,-146.6,186.6,-11.5,77,1671,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1607,3144
$GC,1982,-1.16,-146.6,221.3,-10.8,93,1986,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,209,3144
$GC,2037,-1.16,-146.6,228.1,-11.9,95,2044,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1604,3144
$GC,2355,-1.16,-146.6,262.4,-10.8,111,2356,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3144
$GC,2663,-1.16,-146.6,297.9,-11.7,126,2665,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1607,3144
$STATE,2825,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2825,begin apogee
$GC,2834,-0.32,0.0,317.8,12.7,134,2961,0.93,0.00,123.43,0.864,6,0.117,0.000,2602,2197,2539
$STATE,2962,end apogee,CONTROL_FINISHED_OK
$STATE,2962,begin climb
$GC,2966,1.16,146.6,323.2,0.0,140,3092,1.48,2.83,118.07,0.838,4,0.077,0.110,2925,3596,1940
$GC,3139,1.25,202.1,318.1,5.9,148,3190,0.10,2.47,44.83,0.814,6,0.070,0.068,2959,2198,1715
$GC,3512,1.25,202.1,285.3,9.0,166,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2198,1714
$GC,3822,1.25,202.1,258.5,8.9,181,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2959,2198,1713
$GC,4131,1.25,202.1,230.3,9.1,196,4136,0.00,2.53,0.00,0.000,4,0.000,0.074,2959,784,1714
$GC,4172,1.25,202.1,226.2,9.8,198,4176,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2200,1713
$GC,4499,1.25,202.1,196.5,8.6,214,4503,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,785,1713
$GC,4617,1.25,202.1,185.7,9.7,219,4622,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2202,1713
$GC,4933,1.25,202.1,157.5,9.1,234,4937,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,791,1713
$GC,5040,1.25,202.1,146.5,10.3,238,5047,0.00,2.45,0.00,0.000,6,0.000,0.061,2959,2209,1713
$GC,5358,1.25,202.1,113.8,11.0,254,5362,0.00,2.53,0.00,0.000,4,0.000,0.071,2959,790,1713
$GC,5487,1.25,202.1,99.0,10.2,259,5494,0.00,2.45,0.00,0.000,6,0.000,0.062,2959,2205,1713
$GC,5805,1.25,202.1,66.4,9.6,275,5810,0.00,2.53,0.00,0.000,4,0.000,0.073,2959,794,1713
$GC,5847,1.25,202.1,62.2,10.9,277,5851,0.00,2.42,0.00,0.000,6,0.000,0.061,2959,2201,1713
$GC,6174,1.25,202.1,35.3,8.7,293,6179,0.00,2.53,0.00,0.000,4,0.000,0.073,2959,786,1712
$GC,6242,1.28,218.1,29.7,7.4,296,6262,0.00,2.45,13.75,0.638,6,0.000,0.063,2959,2199,1649
$STATE,6506,end climb,SURFACE_DEPTH_REACHED
$STATE,6506,begin surface coast
$FINISH,0.1,1.014937
$STATE,6528,end surface coast,CONTROL_FINISHED_OK
$STATE,6528,begin surface
$SM_CCo,6554,45.55,0.642,0,0,1315,300.00
$SM_GC,0.86,0.00,0.00,45.55,0.000,0.000,0.642,373,1596,1315,-10.59,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1876
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,225.5,100.4
$24V_AH,23.8,40.568
$10V_AH,10.2,20.346
$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,25.200,61.825,300.075,45.550,0.000,37.762,27.738,106.837,1.250,0.000,0.000,11.297,613.950,4706.464,427.556,789.332,363.844,0.000,853.217,0.000,778.022,0.000,10.556,0.000
$DEVICE_MAMPS,180.245,109.681,863.642,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,231.229,209.022,288.951,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15992,310
$CAP_FILE_SIZE,52790,0
$CFSIZE,254472192,238403584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,0,0
$GPS,111008,005929,6407.087,-1129.497,9,3.7,28,-11.6