version: 66.04
glider: 14
mission: 6
dive: 279
start: 10 9 108 7 25 43
data:
$ID,14
$MISSION,6
$DIVE,279
$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,-655509.5
$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,21
$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
$GPS1,071626,6413.505,-1118.007,36,2.0,36,-11.5
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-53.0
$GPS2,072521,6413.499,-1117.961,9,1.7,9,-11.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6421.134,-1135.603
$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,15,begin dive
$GC,19,-1.16,-146.6,0.0,0.0,0,138,0.00,0.00,-117.53,0.000,6,0.000,0.000,376,1595,3139
$GC,143,-1.16,-146.6,6.2,-5.9,6,164,11.55,2.58,0.00,0.000,4,0.184,0.072,2414,3012,3142
$GC,413,-1.16,-146.6,53.3,-13.1,18,418,0.00,2.45,0.00,0.000,6,0.000,0.063,2414,1598,3146
$GC,743,-1.16,-146.6,92.7,-12.5,34,748,0.00,2.50,0.00,0.000,4,0.000,0.080,2414,210,3147
$GC,817,-1.16,-146.6,102.8,-13.1,37,821,0.00,2.40,0.00,0.000,6,0.000,0.057,2414,1624,3147
$GC,1134,-1.16,-146.6,141.4,-11.5,52,1138,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,203,3149
$GC,1224,-1.16,-146.6,152.0,-11.3,56,1228,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3149
$GC,1545,-1.16,-146.6,186.0,-10.6,72,1546,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3150
$GC,1855,-1.16,-146.6,220.6,-11.7,87,1859,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,211,3150
$GC,1963,-1.16,-146.6,234.7,-13.1,92,1967,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1606,3150
$GC,2290,-1.16,-146.6,274.6,-12.4,108,2291,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3150
$GC,2602,-1.16,-146.6,313.4,-14.4,123,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1610,3150
$STATE,2617,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2617,begin apogee
$GC,2626,-0.32,0.0,315.4,12.9,124,2749,0.90,0.00,119.03,0.866,6,0.104,0.000,2601,2197,2539
$STATE,2749,end apogee,CONTROL_FINISHED_OK
$STATE,2749,begin climb
$GC,2753,1.16,146.6,319.7,0.0,130,2879,1.50,2.83,117.93,0.845,4,0.079,0.108,2927,3599,1941
$GC,3128,1.16,146.6,299.2,8.1,147,3132,0.00,2.47,0.00,0.000,6,0.000,0.068,2926,2196,1941
$GC,3456,1.28,217.7,280.3,5.3,163,3518,0.12,0.00,57.22,0.833,6,0.067,0.000,2964,2197,1651
$GC,3831,1.28,217.7,247.4,9.4,181,3832,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2197,1651
$GC,4139,1.28,222.3,220.9,7.8,196,4145,0.00,0.00,4.80,0.601,6,0.000,0.000,2964,2197,1632
$GC,4447,1.30,229.1,196.0,7.7,211,4456,0.00,0.00,6.88,0.676,6,0.000,0.000,2964,2197,1605
$GC,4757,1.31,241.2,172.4,7.5,226,4774,0.00,0.00,11.30,0.732,6,0.000,0.000,2964,2197,1555
$GC,5086,1.31,241.2,145.6,8.5,242,5090,0.00,2.53,0.00,0.000,4,0.000,0.075,2964,787,1555
$GC,5153,1.31,241.2,139.2,9.3,245,5157,0.00,2.45,0.00,0.000,6,0.000,0.059,2964,2201,1555
$GC,5476,1.31,241.2,110.2,9.5,261,5480,0.00,2.50,0.00,0.000,4,0.000,0.072,2964,794,1556
$GC,5549,1.31,241.2,102.4,10.1,264,5554,0.00,2.45,0.00,0.000,6,0.000,0.060,2964,2205,1555
$GC,5866,1.31,241.2,70.7,9.6,279,5870,0.00,2.53,0.00,0.000,4,0.000,0.073,2964,785,1555
$GC,5984,1.31,241.2,59.1,9.9,284,5988,0.00,2.45,0.00,0.000,6,0.000,0.061,2964,2201,1555
$GC,6307,1.31,241.2,29.1,9.5,300,6311,0.00,2.50,0.00,0.000,4,0.000,0.073,2964,792,1555
$GC,6370,1.31,241.2,23.4,8.5,303,6374,0.00,2.42,0.00,0.000,6,0.000,0.061,2964,2198,1555
$STATE,6652,end climb,SURFACE_DEPTH_REACHED
$STATE,6652,begin surface coast
$FINISH,0.6,1.019432
$STATE,6675,end surface coast,CONTROL_FINISHED_OK
$STATE,6675,begin surface
$SM_CCo,6701,36.12,0.629,1,0,1315,300.00
$SM_GC,1.75,0.00,0.00,36.12,0.000,0.000,0.629,380,1594,1315,-10.55,-0.17,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1904
$TCM_TEMP,16.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,252.1,72.7
$24V_AH,23.7,38.516
$10V_AH,10.2,19.501
$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,25.400,46.975,317.150,36.125,0.000,75.522,59.139,220.759,1.750,0.000,0.000,11.350,631.247,4803.256,464.650,839.812,552.940,0.000,902.449,0.000,827.508,0.000,12.099,0.000
$DEVICE_MAMPS,184.080,108.147,865.943,628.940,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.832,214.872,292.962,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15911,318
$CAP_FILE_SIZE,55586,0
$CFSIZE,254472192,239063040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,1,0
$GPS,091008,091917,6412.586,-1118.574,8,2.9,27,-11.5