version: 66.04
glider: 14
mission: 6
dive: 261
start: 10 7 108 18 29 26
data:
$ID,14
$MISSION,6
$DIVE,261
$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,-655146.62
$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,41
$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
$GPS1,182347,6414.061,-1141.364,8,6.8,27,-11.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-55.4
$GPS2,182902,6414.072,-1141.312,40,1.3,40,-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,275.0,63949,-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,-146.6,0.0,0.0,0,124,0.00,0.00,-105.57,0.000,2,0.000,0.000,374,1626,2759
$GC,128,-1.16,-146.6,3.7,-3.2,6,154,11.38,2.47,-8.00,0.000,4,0.177,0.087,2412,2985,3138
$GC,407,-1.16,-146.6,44.9,-12.6,18,411,0.00,2.40,0.00,0.000,6,0.000,0.064,2412,1601,3143
$GC,723,-1.16,-146.6,85.5,-12.3,33,728,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,212,3143
$GC,836,-1.16,-146.6,100.0,-12.4,38,840,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1601,3143
$GC,1158,-1.16,-146.6,140.1,-12.6,54,1163,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,210,3143
$GC,1237,-1.16,-146.6,151.1,-13.6,57,1244,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1601,3143
$GC,1554,-1.16,-146.6,192.9,-13.5,73,1558,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,210,3143
$GC,1605,-1.16,-146.6,199.9,-14.0,75,1613,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1601,3143
$GC,1930,-1.16,-146.6,241.2,-12.7,91,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3143
$GC,2239,-1.16,-146.6,278.9,-12.1,106,2243,0.00,2.50,0.00,0.000,4,0.000,0.078,2411,210,3143
$GC,2290,-1.16,-146.6,285.3,-11.9,108,2295,0.00,2.38,0.00,0.000,6,0.000,0.059,2412,1601,3143
$GC,2612,-1.16,-146.6,322.8,-11.9,124,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1604,3143
$STATE,2774,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2774,begin apogee
$GC,2784,-0.32,0.0,342.8,12.9,132,2909,0.93,0.00,121.85,0.877,6,0.104,0.000,2605,2196,2539
$STATE,2910,end apogee,CONTROL_FINISHED_OK
$STATE,2910,begin climb
$GC,2914,1.16,146.6,348.0,0.0,138,3040,1.48,2.80,117.75,0.855,4,0.074,0.104,2929,3599,1940
$GC,3064,1.31,241.0,347.4,4.4,145,3147,0.15,2.47,75.30,0.839,6,0.065,0.067,2973,2199,1556
$GC,3457,1.31,241.0,311.4,9.6,164,3461,0.00,2.55,0.00,0.000,4,0.000,0.077,2973,788,1556
$GC,3480,1.31,241.0,309.1,9.6,165,3485,0.00,2.45,0.00,0.000,6,0.000,0.061,2973,2197,1556
$GC,3809,1.31,241.0,278.6,9.3,181,3813,0.00,2.53,0.00,0.000,4,0.000,0.072,2973,792,1556
$GC,3842,1.31,241.0,275.3,9.4,182,3848,0.00,2.47,0.00,0.000,6,0.000,0.062,2973,2205,1555
$GC,4159,1.32,241.5,249.1,8.0,198,4163,0.00,2.55,0.00,0.000,4,0.000,0.073,2973,789,1556
$GC,4260,1.32,241.5,240.2,9.4,202,4266,0.00,2.47,0.00,0.000,6,0.000,0.063,2973,2210,1555
$GC,4576,1.32,241.5,213.7,8.7,218,4581,0.00,2.55,0.00,0.000,4,0.000,0.073,2973,792,1555
$GC,4685,1.32,241.5,202.9,10.3,223,4689,0.00,2.47,0.00,0.000,6,0.000,0.063,2973,2208,1556
$GC,5012,1.32,241.5,167.3,12.3,239,5015,0.00,2.53,0.00,0.000,4,0.000,0.073,2972,792,1557
$GC,5113,1.32,241.5,153.8,13.4,243,5117,0.00,2.47,0.00,0.000,6,0.000,0.063,2973,2209,1555
$GC,5431,1.32,241.5,113.2,12.6,258,5435,0.00,2.53,0.00,0.000,4,0.000,0.074,2973,789,1556
$GC,5520,1.32,241.5,101.5,12.2,262,5525,0.00,2.47,0.00,0.000,6,0.000,0.063,2973,2207,1555
$GC,5843,1.32,241.5,68.1,8.7,278,5847,0.00,2.53,0.00,0.000,4,0.000,0.073,2973,793,1555
$GC,5951,1.33,251.8,59.5,7.6,283,5966,0.00,2.45,9.62,0.632,6,0.000,0.063,2973,2198,1512
$GC,6283,1.33,251.8,33.3,9.2,299,6288,0.00,2.50,0.00,0.000,4,0.000,0.074,2973,791,1512
$GC,6328,1.33,251.8,28.7,10.0,301,6333,0.00,2.47,0.00,0.000,6,0.000,0.062,2973,2210,1512
$STATE,6606,end climb,SURFACE_DEPTH_REACHED
$STATE,6606,begin surface coast
$FINISH,0.3,1.026858
$STATE,6629,end surface coast,CONTROL_FINISHED_OK
$STATE,6630,begin surface
$SM_CCo,6656,167.23,0.627,0,0,186,576.95
$SM_GC,0.97,0.00,0.00,167.23,0.000,0.000,0.627,378,1597,186,-10.57,-0.06,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1844
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,276.3,75.7
$24V_AH,23.8,36.411
$10V_AH,10.2,18.721
$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,25.250,71.775,324.525,167.225,0.000,37.764,33.677,100.391,2.000,0.000,0.000,42.269,633.451,4653.969,595.086,899.263,372.030,0.000,1065.530,0.000,850.029,0.000,16.679,0.000
$DEVICE_MAMPS,177.177,103.545,876.681,627.406,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,233.899,213.057,285.054,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15945,316
$CAP_FILE_SIZE,56933,0
$CFSIZE,254472192,239648768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,071008,202403,6413.699,-1141.754,9,1.9,9,-11.8