version: 66.04
glider: 14
mission: 6
dive: 267
start: 10 8 108 6 33 45
data:
$ID,14
$MISSION,6
$DIVE,267
$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,315
$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,-655256.69
$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,38
$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
$GPS1,062831,6413.701,-1138.255,37,1.8,37,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-55.2
$GPS2,063320,6413.706,-1138.230,9,1.8,14,-11.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6421.341,-1155.875
$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,326.7,20000,-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,-146.6,0.0,0.0,0,134,0.00,0.00,-115.85,0.000,6,0.000,0.000,378,1622,3139
$GC,138,-1.16,-146.6,6.1,-5.8,6,160,11.50,2.58,0.00,0.000,4,0.182,0.073,2420,209,3142
$GC,333,-1.16,-146.6,47.2,-13.9,14,337,0.00,2.38,0.00,0.000,6,0.000,0.058,2420,1602,3144
$GC,655,-1.16,-146.6,89.0,-12.5,30,656,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,1606,3146
$GC,964,-1.16,-146.6,131.6,-14.3,45,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,1606,3147
$GC,1273,-1.16,-146.6,172.7,-13.1,60,1277,0.00,2.50,0.00,0.000,4,0.000,0.077,2420,202,3147
$GC,1343,-1.16,-146.6,181.9,-13.6,63,1347,0.00,2.40,0.00,0.000,6,0.000,0.058,2420,1604,3147
$GC,1670,-1.16,-146.6,223.5,-12.5,79,1674,0.00,2.53,0.00,0.000,4,0.000,0.077,2421,206,3147
$GC,1743,-1.16,-146.6,233.0,-12.6,82,1747,0.00,2.40,0.00,0.000,6,0.000,0.058,2420,1611,3146
$GC,2059,-1.16,-146.6,270.1,-11.3,97,2063,0.00,2.53,0.00,0.000,4,0.000,0.077,2420,209,3147
$GC,2111,-1.16,-146.6,276.2,-11.2,99,2116,0.00,2.38,0.00,0.000,6,0.000,0.058,2420,1599,3147
$GC,2434,-1.16,-146.6,310.1,-11.0,115,2438,0.00,2.50,0.00,0.000,4,0.000,0.077,2420,209,3148
$GC,2501,-1.16,-146.6,318.2,-11.9,118,2505,0.00,2.38,0.00,0.000,6,0.000,0.058,2420,1599,3147
$STATE,2737,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2737,begin apogee
$GC,2746,-0.32,0.0,347.3,12.3,130,2872,0.90,0.00,122.45,0.882,6,0.123,0.000,2599,2193,2539
$STATE,2873,end apogee,CONTROL_FINISHED_OK
$STATE,2873,begin climb
$GC,2877,1.16,146.6,353.5,0.0,136,3003,1.48,2.62,117.93,0.857,4,0.065,0.074,2933,789,1941
$GC,3099,1.52,372.1,353.3,-0.6,146,3288,0.32,2.47,178.00,0.848,6,0.058,0.063,3024,2202,1021
$GC,3610,1.52,372.1,292.3,15.9,171,3615,0.00,2.70,0.00,0.000,4,0.000,0.107,3024,3609,1021
$GC,3768,1.52,372.1,265.6,16.3,178,3772,0.00,2.50,0.00,0.000,6,0.000,0.067,3023,2192,1021
$GC,4089,1.52,372.1,214.5,15.1,194,4094,0.00,2.50,0.00,0.000,4,0.000,0.074,3023,793,1021
$GC,4153,1.52,372.1,204.8,14.8,197,4157,0.00,2.45,0.00,0.000,6,0.000,0.061,3023,2209,1020
$GC,4480,1.52,372.1,160.7,12.6,213,4484,0.00,2.55,0.00,0.000,4,0.000,0.074,3024,792,1021
$GC,4570,1.52,372.1,149.2,12.7,217,4574,0.00,2.47,0.00,0.000,6,0.000,0.062,3023,2206,1020
$GC,4893,1.52,372.1,112.1,10.8,233,4898,0.00,2.55,0.00,0.000,4,0.000,0.074,3023,787,1021
$GC,4967,1.52,372.1,103.3,12.1,236,4971,0.00,2.45,0.00,0.000,6,0.000,0.062,3024,2200,1021
$GC,5283,1.52,372.1,63.9,15.0,251,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2200,1021
$GC,5595,1.52,372.1,16.0,14.1,266,5599,0.00,2.53,0.00,0.000,4,0.000,0.074,3024,794,1019
$GC,5684,1.52,372.1,3.1,13.6,270,5689,0.00,2.45,0.00,0.000,6,0.000,0.062,3023,2198,1020
$STATE,5694,end climb,SURFACE_DEPTH_REACHED
$STATE,5694,begin surface coast
$FINISH,0.6,1.026979
$STATE,5716,end surface coast,CONTROL_FINISHED_OK
$STATE,5716,begin surface
$SM_CCo,5742,104.35,0.631,0,0,186,576.95
$SM_GC,1.07,0.00,0.00,104.35,0.000,0.000,0.631,374,1595,186,-10.58,-0.14,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1862
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.4,79.4
$24V_AH,23.8,37.147
$10V_AH,10.2,18.970
$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,25.650,56.925,418.375,104.350,0.000,37.759,24.803,106.944,1.750,0.000,0.000,15.589,550.125,3879.857,586.529,780.396,355.228,0.000,1029.964,0.000,760.389,0.000,13.733,0.000
$DEVICE_MAMPS,181.779,106.613,882.050,631.241,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,200.815,182.745,240.406,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12815,272
$CAP_FILE_SIZE,50511,0
$CFSIZE,254472192,239456256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,081008,081226,6413.808,-1138.403,13,1.6,31,-11.7