version: 66.04
glider: 14
mission: 6
dive: 252
start: 10 6 108 22 53 4
data:
$ID,14
$MISSION,6
$DIVE,252
$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,-654934.56
$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,22
$R_STBD_OVSHOOT,22
$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
$GPS1,224047,6415.548,-1146.652,6,2.5,25,-11.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-43.9
$GPS2,225244,6415.620,-1146.671,23,1.8,29,-11.8
$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,271.8,60087,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,119,0.00,0.00,-100.32,0.000,2,0.000,0.000,380,1595,2616
$GC,123,-1.16,-146.6,3.1,-2.5,5,154,11.27,2.53,-12.93,0.000,4,0.174,0.091,2413,215,3139
$GC,424,-1.16,-146.6,45.9,-11.8,18,428,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1613,3142
$GC,746,-1.16,-146.6,91.1,-14.1,34,750,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,210,3143
$GC,922,-1.16,-146.6,115.4,-14.4,42,926,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1610,3143
$GC,1249,-1.16,-146.6,155.7,-12.1,58,1253,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,209,3143
$GC,1318,-1.16,-146.6,164.3,-12.7,61,1322,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1605,3143
$GC,1646,-1.16,-146.6,204.5,-12.7,77,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1607,3143
$GC,1954,-1.16,-146.6,243.3,-12.6,92,1959,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,203,3143
$GC,2068,-1.16,-146.6,258.3,-12.6,97,2072,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1596,3144
$GC,2389,-1.16,-146.6,298.2,-12.4,113,2393,0.00,2.50,0.00,0.000,4,0.000,0.078,2413,210,3143
$GC,2434,-1.16,-146.6,303.9,-13.3,115,2438,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1603,3143
$GC,2762,-1.16,-146.6,345.1,-12.6,131,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1607,3144
$STATE,2840,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2840,begin apogee
$GC,2850,-0.32,0.0,355.2,12.2,135,2974,0.93,0.00,121.12,0.891,6,0.115,0.000,2601,2192,2539
$STATE,2975,end apogee,CONTROL_FINISHED_OK
$STATE,2975,begin climb
$GC,2979,1.16,146.6,361.8,0.0,141,3105,1.50,2.83,117.60,0.867,4,0.075,0.107,2930,3600,1941
$GC,3354,1.26,209.4,345.3,5.6,158,3410,0.00,2.47,50.62,0.844,6,0.000,0.068,2930,2197,1685
$GC,3726,1.30,229.4,319.4,7.2,175,3746,0.12,0.00,17.33,0.806,6,0.067,0.000,2970,2198,1603
$GC,4050,1.30,229.4,288.8,9.3,191,4055,0.00,2.62,0.00,0.000,4,0.000,0.094,2969,3600,1603
$GC,4101,1.30,229.4,283.8,9.6,193,4106,0.00,2.47,0.00,0.000,6,0.000,0.067,2969,2197,1603
$GC,4418,1.30,229.4,253.9,9.2,208,4422,0.00,2.50,0.00,0.000,4,0.000,0.076,2969,796,1602
$GC,4458,1.30,229.4,250.0,9.3,210,4463,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2212,1602
$GC,4787,1.30,229.4,219.7,9.2,226,4791,0.00,2.55,0.00,0.000,4,0.000,0.073,2969,792,1602
$GC,4882,1.30,229.4,210.3,9.7,230,4886,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2199,1602
$GC,5198,1.30,229.4,180.7,9.6,245,5202,0.00,2.53,0.00,0.000,4,0.000,0.073,2969,792,1602
$GC,5277,1.30,229.4,172.8,9.9,248,5283,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2200,1602
$GC,5594,1.30,229.4,144.1,9.2,264,5598,0.00,2.53,0.00,0.000,4,0.000,0.073,2969,791,1602
$GC,5644,1.30,229.4,139.1,10.1,266,5648,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2199,1602
$GC,5961,1.30,229.4,111.6,8.5,281,5966,0.00,2.53,0.00,0.000,4,0.000,0.073,2969,789,1603
$GC,6097,1.30,229.4,99.0,8.8,287,6101,0.00,2.45,0.00,0.000,6,0.000,0.062,2969,2198,1603
$GC,6421,1.33,248.8,74.4,7.3,303,6444,0.00,2.55,16.50,0.678,4,0.000,0.072,2969,790,1523
$GC,6588,1.36,268.5,62.4,7.2,310,6609,0.00,2.47,16.25,0.667,6,0.000,0.062,2969,2206,1444
$GC,6932,1.36,268.5,30.1,10.7,327,6937,0.00,2.50,0.00,0.000,4,0.000,0.071,2969,793,1444
$GC,6989,1.36,268.5,24.0,10.2,329,6995,0.00,2.45,0.00,0.000,6,0.000,0.063,2969,2204,1444
$STATE,7199,end climb,SURFACE_DEPTH_REACHED
$STATE,7199,begin surface coast
$FINISH,0.4,1.026719
$STATE,7221,end surface coast,CONTROL_FINISHED_OK
$STATE,7221,begin surface
$SM_CCo,7247,159.73,0.622,1,0,187,576.95
$SM_GC,0.85,0.00,0.00,159.73,0.000,0.000,0.622,382,1588,187,-10.54,-0.34,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1855
$TCM_TEMP,17.40
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,300.4,62.8
$24V_AH,23.8,35.303
$10V_AH,10.2,18.313
$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,25.225,71.900,339.425,159.725,0.000,115.897,91.007,242.537,2.500,0.000,0.000,33.387,694.585,5159.348,601.855,1012.439,671.843,0.000,1121.706,0.000,973.223,0.000,15.311,0.000
$DEVICE_MAMPS,174.109,106.613,891.254,622.037,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.115,230.243,303.908,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15948,341
$CAP_FILE_SIZE,66467,0
$CFSIZE,254472192,239931392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,1,0
$GPS,071008,005801,6415.661,-1144.945,36,1.4,41,-11.8