version: 66.04
glider: 14
mission: 6
dive: 282
start: 10 9 108 13 0 15
data:
$ID,14
$MISSION,6
$DIVE,282
$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,-655610
$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,9
$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
$GPS1,125455,6411.252,-1121.774,41,1.7,42,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-58.0
$GPS2,125952,6411.239,-1121.754,13,1.6,20,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6418.875,-1139.371
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.16,-146.6,0.0,0.0,0,99,0.00,0.00,-80.12,0.000,2,0.000,0.000,380,1604,2912
$GC,103,-1.16,-146.6,4.5,-5.7,4,126,11.45,2.50,-4.47,0.000,4,0.181,0.085,2411,3009,3140
$GC,363,-1.16,-146.6,47.3,-13.2,15,367,0.00,2.47,0.00,0.000,6,0.000,0.063,2411,1576,3141
$GC,685,-1.16,-146.6,94.7,-14.4,31,686,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1576,3141
$GC,994,-1.16,-146.6,137.1,-13.8,46,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1576,3141
$GC,1304,-1.16,-146.6,177.8,-13.4,61,1308,0.00,2.45,0.00,0.000,4,0.000,0.080,2411,205,3142
$GC,1350,-1.16,-146.6,184.3,-14.1,63,1354,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1613,3142
$GC,1687,-1.16,-146.6,227.5,-12.9,79,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1617,3143
$GC,1992,-1.16,-146.6,263.4,-11.4,94,1996,0.00,2.53,0.00,0.000,4,0.000,0.079,2411,212,3143
$GC,2077,-1.16,-146.6,274.7,-12.9,98,2082,0.00,2.38,0.00,0.000,6,0.000,0.058,2411,1604,3143
$STATE,2360,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2360,begin apogee
$GC,2370,-0.32,0.0,309.1,11.3,112,2497,0.93,0.00,123.30,0.865,6,0.102,0.000,2604,2195,2539
$STATE,2498,end apogee,CONTROL_FINISHED_OK
$STATE,2498,begin climb
$GC,2501,1.16,146.6,314.7,0.0,118,2631,1.45,2.60,118.40,0.842,4,0.067,0.074,2929,799,1940
$GC,2907,1.22,183.1,299.4,6.6,137,2942,0.00,2.42,29.62,0.816,6,0.000,0.061,2929,2199,1792
$GC,3259,1.30,233.4,274.9,6.1,154,3307,0.12,2.60,41.42,0.823,4,0.067,0.074,2967,792,1585
$GC,3375,1.30,233.4,265.5,9.2,159,3380,0.00,2.47,0.00,0.000,6,0.000,0.062,2967,2208,1586
$GC,3692,1.30,233.4,239.2,8.5,174,3696,0.00,2.55,0.00,0.000,4,0.000,0.073,2968,791,1584
$GC,3810,1.30,233.4,227.9,9.5,179,3814,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2203,1584
$GC,4126,1.30,233.4,200.6,8.5,194,4130,0.00,2.53,0.00,0.000,4,0.000,0.073,2968,785,1584
$GC,4205,1.30,233.4,194.0,8.5,197,4211,0.00,2.47,0.00,0.000,6,0.000,0.062,2968,2201,1584
$GC,4522,1.34,257.2,170.3,7.1,213,4546,0.00,2.58,19.33,0.761,4,0.000,0.072,2968,787,1490
$GC,4582,1.34,257.2,165.6,8.6,215,4588,0.00,2.47,0.00,0.000,6,0.000,0.061,2968,2203,1490
$GC,4899,1.35,261.6,140.2,7.8,231,4909,0.00,2.53,4.97,0.584,4,0.000,0.071,2968,787,1471
$GC,5000,1.38,279.2,132.3,7.3,235,5020,0.00,2.45,14.90,0.720,6,0.000,0.061,2968,2199,1401
$GC,5339,1.38,279.2,105.4,8.2,252,5343,0.00,2.50,0.00,0.000,4,0.000,0.072,2968,793,1400
$GC,5403,1.38,279.2,99.9,8.5,255,5407,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2203,1400
$GC,5730,1.38,279.2,73.1,9.2,271,5735,0.00,2.50,0.00,0.000,4,0.000,0.072,2967,793,1400
$GC,5804,1.38,279.2,65.4,10.9,274,5808,0.00,2.45,0.00,0.000,6,0.000,0.061,2969,2203,1400
$GC,6121,1.38,279.2,36.7,9.4,289,6125,0.00,2.50,0.00,0.000,4,0.000,0.072,2967,794,1400
$GC,6267,1.38,279.2,22.5,8.9,295,6271,0.00,2.45,0.00,0.000,6,0.000,0.061,2968,2208,1400
$STATE,6497,end climb,SURFACE_DEPTH_REACHED
$STATE,6497,begin surface coast
$FINISH,0.2,1.013442
$STATE,6521,end surface coast,CONTROL_FINISHED_OK
$STATE,6521,begin surface
$SM_CCo,6547,15.12,0.572,1,0,1316,300.00
$SM_GC,1.18,0.00,0.00,15.12,0.000,0.000,0.572,381,1598,1316,-10.55,-0.06,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1908
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,227.5,89.2
$24V_AH,23.7,38.809
$10V_AH,10.2,19.622
$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,25.375,61.800,351.950,15.125,0.000,37.758,34.110,104.157,1.250,0.000,0.000,22.068,623.545,4553.597,438.897,896.105,368.681,0.000,908.087,0.000,869.172,0.000,10.524,0.000
$DEVICE_MAMPS,181.012,85.137,865.176,572.182,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,225.995,207.123,287.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15894,307
$CAP_FILE_SIZE,55034,0
$CFSIZE,254472192,238964736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,1,0
$GPS,091008,145101,6411.230,-1122.822,34,1.6,34,-11.6