version: 66.04
glider: 14
mission: 6
dive: 268
start: 10 8 108 8 17 36
data:
$ID,14
$MISSION,6
$DIVE,268
$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,-655269.94
$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,19
$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
$GPS1,081226,6413.808,-1138.403,13,1.6,31,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-55.0
$GPS2,081711,6413.823,-1138.355,11,1.4,11,-11.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6421.458,-1156.001
$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,-146.6,0.0,0.0,0,119,0.00,0.00,-101.22,0.000,2,0.000,0.000,374,1593,2616
$GC,123,-1.16,-146.6,3.4,-2.8,5,150,11.45,0.00,-11.75,0.000,6,0.179,0.000,2413,1594,3139
$GC,457,-1.16,-146.6,50.8,-13.0,21,461,0.00,2.50,0.00,0.000,4,0.000,0.079,2413,209,3142
$GC,530,-1.16,-146.6,60.9,-13.1,24,534,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1614,3142
$GC,847,-1.16,-146.6,101.9,-12.2,39,848,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1619,3143
$GC,1158,-1.16,-146.6,139.8,-12.7,54,1162,0.00,2.55,0.00,0.000,4,0.000,0.077,2413,202,3142
$GC,1248,-1.16,-146.6,151.9,-13.3,58,1252,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1609,3143
$GC,1575,-1.16,-146.6,192.2,-11.8,74,1579,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,209,3143
$GC,1625,-1.16,-146.6,198.3,-12.4,76,1629,0.00,2.35,0.00,0.000,6,0.000,0.058,2413,1598,3143
$GC,1947,-1.16,-146.6,236.1,-12.4,92,1951,0.00,2.50,0.00,0.000,4,0.000,0.077,2413,209,3144
$GC,1992,-1.16,-146.6,242.0,-12.3,94,1996,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3143
$GC,2314,-1.16,-146.6,277.4,-10.6,110,2318,0.00,2.53,0.00,0.000,4,0.000,0.079,2413,203,3143
$GC,2392,-1.16,-146.6,286.6,-11.7,113,2398,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1600,3144
$GC,2709,-1.16,-146.6,326.1,-12.4,129,2713,0.00,2.53,0.00,0.000,4,0.000,0.081,2413,209,3144
$GC,2771,-1.16,-146.6,334.4,-13.4,131,2777,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1598,3144
$STATE,2878,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2878,begin apogee
$GC,2888,-0.32,0.0,347.4,11.9,137,3013,0.93,0.00,122.10,0.885,6,0.117,0.000,2600,2197,2539
$STATE,3014,end apogee,CONTROL_FINISHED_OK
$STATE,3014,begin climb
$GC,3018,1.16,146.6,353.7,0.0,143,3144,1.48,2.62,117.75,0.859,4,0.072,0.073,2926,791,1940
$GC,3419,1.27,214.9,340.8,5.4,161,3482,0.12,2.47,54.78,0.847,6,0.066,0.062,2965,2200,1663
$GC,3792,1.27,214.9,308.8,9.9,179,3796,0.00,2.55,0.00,0.000,4,0.000,0.073,2965,781,1663
$GC,4038,1.27,214.9,279.6,11.7,190,4043,0.00,2.50,0.00,0.000,6,0.000,0.062,2965,2206,1663
$GC,4361,1.27,214.9,248.3,8.6,206,4365,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,784,1663
$GC,4475,1.27,214.9,238.6,8.2,211,4479,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2199,1663
$GC,4802,1.28,218.8,213.5,7.8,227,4812,0.00,2.53,4.25,0.559,4,0.000,0.072,2965,786,1646
$GC,4858,1.28,218.8,208.4,8.8,229,4863,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2200,1647
$GC,5175,1.28,218.8,180.4,8.4,244,5178,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,786,1647
$GC,5244,1.28,218.8,174.2,9.1,247,5248,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2208,1647
$GC,5571,1.28,218.8,146.5,8.4,263,5576,0.00,2.53,0.00,0.000,4,0.000,0.072,2965,790,1647
$GC,5667,1.28,218.8,138.1,8.9,267,5671,0.00,2.45,0.00,0.000,6,0.000,0.062,2965,2199,1646
$GC,5985,1.31,236.2,113.4,7.3,282,6007,0.00,2.55,15.38,0.702,4,0.000,0.072,2965,790,1576
$GC,6086,1.31,236.2,104.8,8.9,286,6090,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2200,1576
$GC,6403,1.31,236.2,78.7,8.3,301,6407,0.00,2.53,0.00,0.000,4,0.000,0.073,2965,789,1576
$GC,6499,1.31,236.2,70.1,8.9,305,6504,0.00,2.47,0.00,0.000,6,0.000,0.062,2965,2210,1576
$GC,6816,1.31,236.2,42.8,9.2,320,6820,0.00,2.53,0.00,0.000,4,0.000,0.074,2965,790,1576
$GC,6906,1.31,236.2,34.0,9.8,324,6911,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2197,1576
$GC,7229,1.31,236.2,4.0,10.5,340,7233,0.00,2.47,0.00,0.000,4,0.000,0.070,2965,787,1576
$STATE,7247,end climb,SURFACE_DEPTH_REACHED
$STATE,7247,begin surface coast
$FINISH,0.3,1.027089
$STATE,7271,end surface coast,CONTROL_FINISHED_OK
$STATE,7271,begin surface
$SM_CCo,7298,175.20,0.629,0,0,186,576.95
$SM_GC,0.95,0.00,0.00,175.20,0.000,0.000,0.629,379,1620,186,-10.56,0.57,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1853
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,250.6,104.4
$24V_AH,23.8,37.263
$10V_AH,10.2,19.016
$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,25.125,79.450,314.250,175.200,0.000,39.121,27.069,107.925,1.500,0.000,0.000,12.651,702.714,5098.222,598.671,989.424,388.589,0.000,1119.966,0.000,969.273,0.000,12.185,0.000
$DEVICE_MAMPS,179.478,81.302,885.118,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.659,231.183,309.052,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15964,342
$CAP_FILE_SIZE,63051,0
$CFSIZE,254472192,239415296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$GPS,081008,102332,6414.253,-1138.089,37,1.5,37,-11.7