version: 66.04
glider: 14
mission: 6
dive: 247
start: 10 6 108 11 34 28
data:
$ID,14
$MISSION,6
$DIVE,247
$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,576.94562
$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,-654819.75
$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,21
$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
$GPS1,112907,6417.177,-1155.176,38,1.1,43,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-50.5
$GPS2,113403,6417.247,-1155.009,13,1.0,13,-11.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,IS1
$TGT_LATLONG,6410.000,-1300.000
$TGT_RADIUS,3000.000
$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,267.5,54139,-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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.22,0.000,2,0.000,0.000,378,1590,2681
$GC,123,-1.16,-146.6,3.8,-3.1,5,150,11.38,2.53,-9.48,0.000,4,0.177,0.093,2412,209,3138
$GC,370,-1.16,-146.6,46.9,-15.5,16,374,0.00,2.40,0.00,0.000,6,0.000,0.058,2411,1608,3140
$GC,692,-1.16,-146.6,92.7,-14.0,32,696,0.00,2.53,0.00,0.000,4,0.000,0.076,2411,206,3140
$GC,755,-1.16,-146.6,101.6,-14.5,35,759,0.00,2.40,0.00,0.000,6,0.000,0.058,2411,1610,3141
$GC,1083,-1.16,-146.6,143.4,-12.3,51,1087,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,209,3141
$GC,1156,-1.16,-146.6,152.6,-12.2,54,1160,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3141
$GC,1472,-1.16,-146.6,190.4,-12.5,69,1476,0.00,2.53,0.00,0.000,4,0.000,0.077,2411,202,3142
$GC,1553,-1.16,-146.6,200.5,-12.4,72,1559,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1602,3142
$GC,1869,-1.16,-146.6,240.1,-12.5,88,1874,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,205,3142
$GC,1926,-1.16,-146.6,247.6,-12.9,90,1932,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1603,3142
$GC,2243,-1.16,-146.6,287.3,-12.5,106,2247,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,201,3142
$GC,2311,-1.16,-146.6,296.1,-12.9,109,2316,0.00,2.40,0.00,0.000,6,0.000,0.060,2412,1601,3142
$GC,2639,-1.16,-146.6,336.1,-11.9,125,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3142
$GC,2948,-1.16,-146.6,371.0,-11.2,140,2949,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1606,3142
$STATE,3069,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3069,begin apogee
$GC,3078,-0.32,0.0,386.5,13.1,146,3203,0.93,0.00,121.32,0.920,6,0.108,0.000,2601,2190,2538
$STATE,3204,end apogee,CONTROL_FINISHED_OK
$STATE,3204,begin climb
$GC,3208,1.16,146.6,392.8,0.0,152,3336,1.50,2.85,117.78,0.895,4,0.081,0.108,2925,3604,1940
$GC,3610,1.16,146.6,377.7,9.9,170,3614,0.00,2.50,0.00,0.000,6,0.000,0.070,2926,2198,1941
$GC,3932,1.19,159.6,351.7,7.5,186,3952,0.00,2.70,11.65,0.805,4,0.000,0.094,2926,3600,1888
$GC,4049,1.19,159.6,341.7,9.5,191,4053,0.00,2.47,0.00,0.000,6,0.000,0.069,2926,2201,1888
$GC,4371,1.20,165.9,315.6,7.8,207,4379,0.00,0.00,6.35,0.704,6,0.000,0.000,2926,2201,1862
$GC,4680,1.21,174.0,290.8,7.7,222,4694,0.00,2.67,8.12,0.742,4,0.000,0.091,2926,3600,1829
$GC,4748,1.21,174.0,285.4,8.3,225,4752,0.00,2.47,0.00,0.000,6,0.000,0.069,2926,2202,1829
$GC,5081,1.23,186.2,259.7,7.5,241,5098,0.00,2.60,11.05,0.768,4,0.000,0.079,2927,784,1779
$GC,5149,1.23,186.2,254.1,8.2,243,5153,0.00,2.47,0.00,0.000,6,0.000,0.061,2926,2205,1779
$GC,5471,1.25,198.9,229.8,7.5,259,5492,0.00,2.60,11.73,0.755,4,0.000,0.073,2926,783,1727
$GC,5545,1.25,198.9,223.8,8.5,262,5549,0.00,2.47,0.00,0.000,6,0.000,0.061,2926,2203,1727
$GC,5867,1.28,218.2,199.3,7.3,278,5890,0.12,2.60,16.65,0.765,4,0.067,0.074,2966,792,1649
$GC,5953,1.28,218.2,191.4,9.9,281,5959,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2206,1649
$GC,6269,1.28,218.2,162.9,9.0,297,6274,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,782,1649
$GC,6321,1.28,218.2,158.1,9.6,299,6325,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2203,1649
$GC,6637,1.28,218.2,130.7,8.5,314,6642,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,791,1649
$GC,6723,1.28,218.2,122.5,10.4,318,6728,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2200,1649
$GC,7052,1.28,218.2,89.5,10.9,334,7056,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,782,1649
$GC,7130,1.28,218.2,80.5,10.5,337,7137,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2198,1649
$GC,7447,1.28,218.2,48.7,10.8,353,7451,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,784,1649
$GC,7537,1.28,218.2,38.2,10.6,357,7541,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2201,1649
$GC,7860,1.28,218.2,11.0,10.5,373,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2201,1649
$STATE,8000,end climb,SURFACE_DEPTH_REACHED
$STATE,8000,begin surface coast
$FINISH,0.4,1.026833
$STATE,8023,end surface coast,CONTROL_FINISHED_OK
$STATE,8023,begin surface
$SM_CCo,8049,192.43,0.627,1,0,187,576.95
$SM_GC,0.94,0.00,0.00,192.43,0.000,0.000,0.627,379,1594,187,-10.56,-0.17,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1840
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.6,18.0
$24V_AH,23.7,34.669
$10V_AH,10.2,18.078
$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,25.375,82.550,304.650,192.425,0.000,37.761,34.714,108.428,3.250,0.000,0.000,15.265,769.621,5722.388,625.441,1038.729,403.480,0.000,1167.124,0.000,1009.190,0.000,28.619,0.000
$DEVICE_MAMPS,177.177,108.147,920.400,626.639,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.715,257.913,311.277,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19130,381
$CAP_FILE_SIZE,67907,0
$CFSIZE,254472192,240091136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,061008,135307,6417.635,-1151.782,27,1.7,27,-11.9