version: 66.04
glider: 14
mission: 6
dive: 415
start: 10 28 108 16 7 7
data:
$ID,14
$MISSION,6
$DIVE,415
$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,-658313.5
$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,40
$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
$GPS1,160132,6307.776,-1105.879,66,1.1,66,-11.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.65
$_SM_ANGLEo,-55.3
$GPS2,160644,6307.747,-1106.003,8,1.0,13,-11.0
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,CS
$TGT_LATLONG,6321.000,-1058.000
$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,26.2,25430,-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,-146.6,0.0,0.0,0,84,0.00,0.00,-65.72,0.000,2,0.000,0.000,375,1630,2926
$GC,89,-1.16,-146.6,5.4,-6.4,4,108,11.57,0.00,-4.60,0.000,6,0.180,0.000,2415,1631,3138
$GC,415,-1.16,-146.6,36.5,-9.3,20,419,0.00,2.60,0.00,0.000,4,0.000,0.081,2415,208,3140
$GC,471,-1.16,-146.6,43.0,-11.9,22,478,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1594,3140
$GC,788,-1.16,-146.6,74.8,-9.4,38,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1597,3140
$GC,1097,-1.16,-146.6,107.9,-11.0,53,1102,0.00,2.50,0.00,0.000,4,0.000,0.076,2415,208,3141
$GC,1184,-1.16,-146.6,119.9,-13.9,57,1189,0.00,2.40,0.00,0.000,6,0.000,0.058,2415,1610,3141
$GC,1512,-1.16,-146.6,154.5,-9.2,73,1516,0.00,2.53,0.00,0.000,4,0.000,0.075,2414,210,3141
$GC,1551,-1.16,-146.6,158.9,-10.4,74,1557,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1604,3141
$GC,1868,-1.16,-146.6,188.5,-9.1,90,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1605,3141
$GC,2177,-1.16,-146.6,216.1,-9.4,105,2181,0.00,2.53,0.00,0.000,4,0.000,0.076,2415,201,3141
$GC,2244,-1.16,-146.6,223.0,-10.3,108,2248,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1596,3141
$GC,2566,-1.16,-146.6,255.9,-10.5,124,2570,0.00,2.50,0.00,0.000,4,0.000,0.077,2415,210,3141
$GC,2616,-1.16,-146.6,261.8,-11.3,126,2621,0.00,2.38,0.00,0.000,6,0.000,0.058,2415,1598,3142
$GC,2933,-1.16,-146.6,289.7,-8.2,141,2935,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1602,3142
$GC,3243,-1.16,-146.6,316.9,-8.6,156,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1603,3143
$GC,3552,-1.16,-146.6,346.4,-9.4,171,3556,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,211,3143
$GC,3603,-1.16,-146.6,351.6,-9.7,173,3608,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1606,3143
$GC,3921,-1.16,-146.6,379.4,-8.7,188,3925,0.00,2.55,0.00,0.000,4,0.000,0.081,2415,203,3144
$GC,3954,-1.16,-146.6,382.9,-10.3,189,3960,0.00,2.40,0.00,0.000,6,0.000,0.059,2415,1599,3145
$GC,4270,-1.16,-146.6,414.4,-9.9,205,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1603,3145
$STATE,4452,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4453,begin apogee
$GC,4463,-0.32,0.0,434.4,11.0,214,4600,0.93,0.00,128.62,0.976,6,0.120,0.000,2600,2196,2539
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4604,1.16,146.6,441.1,0.0,221,4729,1.55,0.00,120.57,0.958,6,0.088,0.000,2927,2196,1940
$GC,5042,1.50,358.1,440.3,-0.0,242,5221,0.35,2.65,170.95,0.967,4,0.058,0.075,3019,794,1079
$GC,5280,1.50,358.1,426.6,15.5,253,5287,0.00,2.50,0.00,0.000,6,0.000,0.064,3019,2197,1078
$GC,5597,1.50,358.1,380.7,14.3,269,5602,0.00,2.55,0.00,0.000,4,0.000,0.074,3019,794,1076
$GC,5639,1.50,358.1,374.6,14.3,271,5643,0.00,2.50,0.00,0.000,6,0.000,0.063,3019,2200,1076
$GC,5966,1.50,358.1,329.1,14.2,287,5970,0.00,2.55,0.00,0.000,4,0.000,0.072,3019,794,1073
$GC,6039,1.50,358.1,317.5,15.7,290,6044,0.00,2.50,0.00,0.000,6,0.000,0.063,3019,2208,1073
$GC,6357,1.50,358.1,271.6,13.5,305,6361,0.00,2.55,0.00,0.000,4,0.000,0.072,3019,790,1070
$GC,6430,1.50,358.1,260.4,15.8,308,6434,0.00,2.50,0.00,0.000,6,0.000,0.063,3019,2210,1069
$GC,6752,1.50,358.1,215.2,13.5,324,6756,0.00,2.55,0.00,0.000,4,0.000,0.072,3019,792,1068
$GC,6837,1.50,358.1,203.7,13.4,328,6841,0.00,2.47,0.00,0.000,6,0.000,0.063,3019,2203,1068
$GC,7164,1.50,358.1,158.8,13.5,344,7168,0.00,2.53,0.00,0.000,4,0.000,0.072,3019,793,1068
$GC,7277,1.50,358.1,143.3,14.9,349,7281,0.00,2.47,0.00,0.000,6,0.000,0.061,3019,2211,1068
$GC,7600,1.50,358.1,100.9,13.3,365,7604,0.00,2.55,0.00,0.000,4,0.000,0.071,3019,783,1067
$GC,7695,1.50,358.1,87.1,15.4,369,7700,0.00,2.47,0.00,0.000,6,0.000,0.062,3019,2198,1068
$GC,8013,1.50,358.1,47.1,11.2,384,8017,0.00,2.53,0.00,0.000,4,0.000,0.072,3019,789,1068
$GC,8080,1.50,358.1,37.6,13.3,387,8084,0.00,2.47,0.00,0.000,6,0.000,0.062,3019,2205,1068
$STATE,8338,end climb,SURFACE_DEPTH_REACHED
$STATE,8338,begin surface coast
$FINISH,0.7,1.027391
$STATE,8358,end surface coast,CONTROL_FINISHED_OK
$STATE,8358,begin surface
$SM_CCo,8445,0.00,0.000,0,0,1067,361.08
$SM_GC,1.37,11.45,0.00,0.00,0.054,0.000,0.000,370,1600,1067,-10.52,-0.03,361.08
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1929
$TCM_TEMP,16.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,400.4,42.1
$24V_AH,23.6,55.261
$10V_AH,10.2,27.993
$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,25.850,76.925,420.150,0.000,0.000,37.757,27.723,125.598,3.250,0.000,0.000,17.962,759.948,6140.880,526.232,921.042,416.163,0.000,1003.325,0.000,900.238,0.000,24.658,0.000
$DEVICE_MAMPS,180.245,80.535,976.391,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,302.522,271.142,307.665,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19146,401
$CAP_FILE_SIZE,62708,0
$CFSIZE,254472192,232722432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,281008,182907,6309.910,-1105.952,30,1.0,34,-11.0