version: 66.04
glider: 14
mission: 6
dive: 281
start: 10 9 108 11 14 40
data:
$ID,14
$MISSION,6
$DIVE,281
$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,-655587.31
$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,22
$R_STBD_OVSHOOT,21
$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
$GPS1,110853,6411.756,-1120.081,48,2.9,67,-11.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-56.9
$GPS2,111417,6411.730,-1120.141,13,2.4,32,-11.5
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6419.366,-1137.765
$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,-146.6,0.0,0.0,0,88,0.00,0.00,-70.22,0.000,6,0.000,0.000,385,1591,3139
$GC,93,-1.16,-146.6,6.7,-7.9,4,115,11.48,2.53,0.00,0.000,4,0.183,0.073,2413,208,3142
$GC,364,-1.16,-146.6,55.7,-14.2,16,368,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1611,3143
$GC,693,-1.16,-146.6,97.6,-12.3,32,697,0.00,2.55,0.00,0.000,4,0.000,0.076,2413,201,3144
$GC,766,-1.16,-146.6,107.5,-13.7,35,770,0.00,2.40,0.00,0.000,6,0.000,0.058,2413,1612,3144
$GC,1083,-1.16,-146.6,148.6,-12.9,50,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1617,3145
$GC,1391,-1.16,-146.6,186.6,-11.6,65,1396,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,202,3145
$GC,1459,-1.16,-146.6,194.8,-12.1,68,1463,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1603,3146
$GC,1787,-1.16,-146.6,232.8,-11.7,84,1791,0.00,2.53,0.00,0.000,4,0.000,0.077,2413,202,3146
$GC,1872,-1.16,-146.6,243.4,-12.1,88,1876,0.00,2.38,0.00,0.000,6,0.000,0.058,2413,1597,3146
$GC,2201,-1.16,-146.6,283.7,-12.4,104,2205,0.00,2.50,0.00,0.000,4,0.000,0.081,2413,2997,3147
$GC,2230,-1.16,-146.6,287.0,-10.9,105,2235,0.00,2.45,0.00,0.000,6,0.000,0.066,2413,1591,3147
$STATE,2399,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2399,begin apogee
$GC,2408,-0.32,0.0,307.7,12.8,113,2535,0.95,0.00,122.97,0.867,6,0.127,0.000,2601,2205,2540
$STATE,2536,end apogee,CONTROL_FINISHED_OK
$STATE,2536,begin climb
$GC,2539,1.16,146.6,313.8,0.0,119,2665,1.50,2.78,117.25,0.844,4,0.078,0.104,2927,3592,1940
$GC,2873,1.23,186.0,299.5,6.5,134,2915,0.00,2.47,31.83,0.816,6,0.000,0.068,2927,2192,1780
$GC,3225,1.29,226.0,277.2,6.5,151,3266,0.15,2.72,33.33,0.819,4,0.064,0.094,2972,3600,1617
$GC,3317,1.29,226.0,269.5,8.9,155,3321,0.00,2.47,0.00,0.000,6,0.000,0.067,2972,2201,1616
$GC,3645,1.29,226.0,236.3,10.8,171,3650,0.00,2.55,0.00,0.000,4,0.000,0.077,2973,790,1616
$GC,3709,1.29,226.0,229.1,11.5,174,3713,0.00,2.42,0.00,0.000,6,0.000,0.060,2972,2199,1616
$GC,4042,1.29,226.0,189.9,12.5,190,4047,0.00,2.53,0.00,0.000,4,0.000,0.073,2972,794,1614
$GC,4116,1.29,226.0,180.0,13.7,193,4120,0.00,2.45,0.00,0.000,6,0.000,0.061,2973,2201,1614
$GC,4433,1.29,226.0,140.0,12.2,208,4437,0.00,2.53,0.00,0.000,4,0.000,0.073,2972,794,1613
$GC,4489,1.29,226.0,133.0,12.3,210,4495,0.00,2.45,0.00,0.000,6,0.000,0.061,2972,2207,1613
$GC,4806,1.29,226.0,101.9,8.9,226,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2207,1613
$GC,5115,1.29,226.0,72.5,9.9,241,5119,0.00,2.53,0.00,0.000,4,0.000,0.073,2972,795,1613
$GC,5233,1.29,226.0,60.4,10.2,246,5237,0.00,2.42,0.00,0.000,6,0.000,0.061,2972,2198,1613
$GC,5556,1.37,273.9,32.9,6.2,262,5599,0.00,2.58,37.12,0.678,4,0.000,0.072,2972,793,1422
$GC,5740,1.54,383.1,15.3,3.8,270,5833,0.17,2.45,84.40,0.654,6,0.062,0.061,3025,2201,975
$STATE,5837,end climb,SURFACE_DEPTH_REACHED
$STATE,5837,begin surface coast
$FINISH,1.0,1.027190
$STATE,5848,end surface coast,CONTROL_FINISHED_OK
$STATE,5848,begin surface
$SM_CCo,5934,0.00,0.000,0,0,972,384.39
$SM_GC,1.04,11.75,0.00,0.00,0.061,0.000,0.000,378,1610,972,-10.49,0.28,384.39
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1898
$TCM_TEMP,17.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,276.2,41.5
$24V_AH,23.7,38.714
$10V_AH,10.2,19.581
$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,26.000,62.250,426.900,0.000,0.000,39.107,32.098,119.205,2.000,0.000,0.000,35.003,570.515,4004.641,459.637,858.157,376.672,0.000,926.092,0.000,814.247,0.000,16.535,0.000
$DEVICE_MAMPS,183.313,112.749,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,203.041,184.865,260.182,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12865,275
$CAP_FILE_SIZE,52920,0
$CFSIZE,254472192,239005696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,7,0,0
$GPS,091008,125455,6411.252,-1121.774,41,1.7,42,-11.6