version: 66.04
glider: 14
mission: 6
dive: 278
start: 10 9 108 5 24 31
data:
$ID,14
$MISSION,6
$DIVE,278
$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,-655497.5
$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,39
$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
$GPS1,050733,6414.227,-1118.832,6,1.7,6,-11.5
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-62.6
$GPS2,052407,6414.186,-1118.731,13,1.5,29,-11.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6421.822,-1136.381
$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,326.5,20000,-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,-60.70,0.000,2,0.000,0.000,384,1623,2842
$GC,83,-1.16,-146.6,4.6,-8.5,3,106,11.43,2.58,-5.78,0.000,4,0.182,0.089,2412,205,3139
$GC,366,-1.16,-146.6,51.9,-16.5,15,370,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1596,3140
$GC,682,-1.16,-146.6,97.0,-13.4,30,687,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,207,3141
$GC,733,-1.16,-146.6,104.4,-13.7,32,738,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1603,3142
$GC,1051,-1.16,-146.6,144.1,-11.9,47,1055,0.00,2.50,0.00,0.000,4,0.000,0.076,2410,210,3142
$GC,1092,-1.16,-146.6,149.2,-12.1,49,1097,0.00,2.35,0.00,0.000,6,0.000,0.058,2412,1600,3142
$GC,1425,-1.16,-146.6,189.5,-12.3,65,1429,0.00,2.50,0.00,0.000,4,0.000,0.077,2411,211,3143
$GC,1481,-1.16,-146.6,196.5,-12.7,67,1488,0.00,2.35,0.00,0.000,6,0.000,0.058,2412,1598,3143
$GC,1798,-1.16,-146.6,234.9,-11.6,83,1799,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1602,3143
$GC,2107,-1.16,-146.6,270.7,-12.3,98,2111,0.00,2.50,0.00,0.000,4,0.000,0.079,2412,212,3144
$GC,2144,-1.16,-146.6,275.1,-13.0,99,2150,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1602,3143
$STATE,2436,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2436,begin apogee
$GC,2446,-0.32,0.0,311.2,12.5,114,2571,0.95,0.00,122.35,0.871,6,0.119,0.000,2603,2195,2539
$STATE,2572,end apogee,CONTROL_FINISHED_OK
$STATE,2572,begin climb
$GC,2576,1.16,146.6,317.3,0.0,120,2706,1.50,2.80,117.70,0.844,4,0.084,0.107,2925,3590,1941
$GC,2981,1.22,182.5,300.4,6.6,139,3016,0.00,2.45,29.35,0.818,6,0.000,0.068,2925,2198,1793
$GC,3335,1.28,220.1,275.8,6.6,156,3373,0.12,0.00,31.33,0.820,6,0.067,0.000,2964,2197,1641
$GC,3683,1.28,220.1,247.3,9.0,173,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2197,1639
$GC,3993,1.28,220.1,217.9,9.6,188,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2198,1638
$GC,4302,1.28,220.1,185.8,10.2,203,4303,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2198,1637
$GC,4611,1.28,220.1,157.0,9.0,218,4615,0.00,2.50,0.00,0.000,4,0.000,0.074,2963,790,1636
$GC,4703,1.28,220.1,149.0,8.9,222,4707,0.00,2.42,0.00,0.000,6,0.000,0.060,2963,2202,1636
$GC,5036,1.29,228.7,123.5,7.7,238,5050,0.00,2.58,7.35,0.655,4,0.000,0.071,2963,796,1605
$GC,5132,1.29,228.7,115.1,8.6,242,5136,0.00,2.42,0.00,0.000,6,0.000,0.061,2963,2196,1606
$GC,5453,1.29,228.7,89.4,8.2,258,5458,0.00,2.50,0.00,0.000,4,0.000,0.072,2963,789,1606
$GC,5532,1.29,228.7,82.2,8.9,261,5539,0.00,2.45,0.00,0.000,6,0.000,0.061,2963,2201,1606
$GC,5850,1.29,228.7,52.4,10.4,277,5854,0.00,2.50,0.00,0.000,4,0.000,0.073,2963,794,1606
$GC,5939,1.29,228.7,42.6,11.0,281,5944,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2205,1606
$GC,6263,1.29,228.7,13.5,8.5,297,6268,0.00,2.50,0.00,0.000,4,0.000,0.073,2963,794,1606
$GC,6359,1.29,228.7,4.4,9.8,301,6363,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2205,1606
$STATE,6390,end climb,SURFACE_DEPTH_REACHED
$STATE,6390,begin surface coast
$FINISH,0.4,1.027084
$STATE,6412,end surface coast,CONTROL_FINISHED_OK
$STATE,6412,begin surface
$SM_CCo,6438,187.02,0.629,2,0,186,576.95
$SM_GC,0.97,0.00,0.00,187.02,0.000,0.000,0.629,375,1596,186,-10.58,-0.11,576.95
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.024544
$HUMID,1871
$TCM_TEMP,17.40
$XPDR_PINGS,4
$ALTIM_BOTTOM_PING,300.9,18.8
$24V_AH,23.7,38.416
$10V_AH,10.2,19.458
$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,25.275,56.525,308.075,187.025,0.000,191.496,425.536,0.000,3.250,0.000,0.000,31.111,612.007,4788.555,580.217,848.802,815.140,0.000,1010.901,0.000,811.405,0.000,18.072,0.000
$DEVICE_MAMPS,181.779,107.380,870.545,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.022,205.303,287.644,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,16000,304
$CAP_FILE_SIZE,53532,0
$CFSIZE,254472192,239083520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,091008,071626,6413.505,-1118.007,36,2.0,36,-11.5