version: 66.04
glider: 14
mission: 6
dive: 276
start: 10 9 108 1 5 25
data:
$ID,14
$MISSION,6
$DIVE,276
$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,300
$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,-655452.81
$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,20
$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
$GPS1,005938,6414.803,-1120.814,27,1.4,27,-11.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-60.8
$GPS2,010503,6414.767,-1120.739,12,1.5,12,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6422.403,-1138.395
$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,326.6,20000,-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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.90,0.000,2,0.000,0.000,381,1597,2789
$GC,83,-1.16,-146.6,3.9,-6.3,3,109,11.43,2.55,-7.35,0.000,4,0.180,0.091,2412,213,3139
$GC,237,-1.16,-146.6,29.6,-11.6,9,244,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1611,3140
$GC,554,-1.16,-146.6,68.3,-12.8,25,558,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,209,3140
$GC,610,-1.16,-146.6,76.1,-13.7,27,616,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1606,3140
$GC,928,-1.16,-146.6,116.4,-12.5,43,932,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,203,3141
$GC,992,-1.16,-146.6,124.7,-12.3,46,996,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1601,3141
$GC,1319,-1.16,-146.6,162.4,-11.3,62,1320,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3142
$GC,1629,-1.16,-146.6,201.5,-13.8,77,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1605,3142
$GC,1937,-1.16,-146.6,240.7,-11.9,92,1942,0.00,2.53,0.00,0.000,4,0.000,0.078,2413,201,3143
$GC,2011,-1.16,-146.6,249.9,-12.4,95,2019,0.00,2.40,0.00,0.000,6,0.000,0.058,2412,1607,3143
$GC,2336,-1.16,-146.6,284.9,-10.2,111,2337,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1610,3143
$GC,2645,-1.16,-146.6,317.5,-11.2,126,2649,0.00,2.53,0.00,0.000,4,0.000,0.080,2412,210,3144
$GC,2695,-1.16,-146.6,322.7,-9.9,128,2700,0.00,2.38,0.00,0.000,6,0.000,0.059,2413,1596,3143
$STATE,2787,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2787,begin apogee
$GC,2797,-0.32,0.0,333.6,11.8,133,2924,0.93,0.00,122.90,0.890,6,0.113,0.000,2601,2203,2539
$STATE,2924,end apogee,CONTROL_FINISHED_OK
$STATE,2925,begin climb
$GC,2928,1.16,146.6,337.8,0.0,139,3056,1.52,2.83,117.65,0.864,4,0.086,0.108,2926,3605,1941
$GC,3255,1.16,146.6,319.1,10.4,154,3259,0.00,2.47,0.00,0.000,6,0.000,0.068,2926,2196,1939
$GC,3588,1.24,196.4,295.5,6.1,170,3631,0.00,0.00,40.15,0.848,6,0.000,0.000,2926,2196,1738
$GC,3938,1.25,197.6,270.2,8.0,187,3942,0.00,2.53,0.00,0.000,4,0.000,0.077,2926,794,1737
$GC,4029,1.25,197.6,262.8,8.4,191,4033,0.00,2.45,0.00,0.000,6,0.000,0.061,2926,2201,1737
$GC,4363,1.31,241.0,240.4,6.4,207,4405,0.15,0.00,36.15,0.830,6,0.064,0.000,2971,2201,1556
$GC,4715,1.31,241.0,210.0,8.9,224,4719,0.00,2.55,0.00,0.000,4,0.000,0.074,2970,787,1554
$GC,4867,1.31,241.0,194.8,10.6,230,4874,0.00,2.47,0.00,0.000,6,0.000,0.061,2971,2201,1553
$GC,5185,1.31,241.0,161.5,10.5,246,5189,0.00,2.53,0.00,0.000,4,0.000,0.074,2971,792,1553
$GC,5252,1.31,241.0,154.3,10.5,249,5256,0.00,2.47,0.00,0.000,6,0.000,0.061,2970,2208,1553
$GC,5574,1.31,241.0,123.4,9.4,265,5578,0.00,2.55,0.00,0.000,4,0.000,0.073,2971,789,1552
$GC,5637,1.31,241.0,117.3,9.7,268,5642,0.00,2.47,0.00,0.000,6,0.000,0.061,2971,2208,1552
$GC,5965,1.31,241.0,87.3,8.9,284,5970,0.00,2.55,0.00,0.000,4,0.000,0.074,2971,787,1552
$GC,6044,1.31,241.0,80.1,9.0,287,6051,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2198,1552
$GC,6363,1.31,241.0,53.9,8.0,303,6367,0.00,2.50,0.00,0.000,4,0.000,0.073,2971,791,1552
$GC,6475,1.31,241.0,44.0,8.9,308,6479,0.00,2.45,0.00,0.000,6,0.000,0.061,2971,2200,1552
$GC,6797,1.31,241.0,17.9,9.1,324,6798,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2200,1552
$STATE,6979,end climb,SURFACE_DEPTH_REACHED
$STATE,6979,begin surface coast
$FINISH,0.3,1.015348
$STATE,7001,end surface coast,CONTROL_FINISHED_OK
$STATE,7001,begin surface
$SM_CCo,7027,33.72,0.629,1,0,1315,300.00
$SM_GC,1.82,0.00,0.00,33.72,0.000,0.000,0.629,380,1592,1315,-10.56,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1908
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,276.6,65.9
$24V_AH,23.7,38.187
$10V_AH,10.2,19.369
$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,25.350,61.950,316.850,33.725,0.000,37.758,28.384,140.443,1.750,0.000,0.000,14.255,661.567,5027.532,430.272,878.702,406.686,0.000,890.142,0.000,861.799,0.000,13.710,0.000
$DEVICE_MAMPS,180.245,108.147,890.487,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,251.009,225.851,306.624,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15960,334
$CAP_FILE_SIZE,56222,0
$CFSIZE,254472192,239161344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,0
$GPS,091008,030432,6414.599,-1119.833,37,1.1,37,-11.6