version: 66.04
glider: 14
mission: 6
dive: 284
start: 10 9 108 16 50 45
data:
$ID,14
$MISSION,6
$DIVE,284
$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,-655683.44
$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,20
$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
$GPS1,164104,6411.230,-1123.028,12,1.6,13,-11.6
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-58.2
$GPS2,165021,6411.236,-1122.807,16,1.5,34,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6418.872,-1140.424
$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,-60.62,0.000,2,0.000,0.000,383,1592,2735
$GC,83,-1.16,-146.6,3.3,-5.5,3,110,11.40,2.53,-9.43,0.000,4,0.179,0.092,2414,206,3137
$GC,285,-1.16,-146.6,32.1,-13.1,12,289,0.00,2.42,0.00,0.000,6,0.000,0.059,2414,1617,3139
$GC,607,-1.16,-146.6,70.0,-11.9,28,611,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,202,3139
$GC,652,-1.16,-146.6,75.6,-12.7,30,656,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1605,3139
$GC,974,-1.16,-146.6,113.6,-12.3,46,976,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1609,3139
$GC,1284,-1.16,-146.6,150.3,-11.5,61,1288,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,211,3139
$GC,1352,-1.16,-146.6,157.9,-10.5,64,1356,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3139
$GC,1674,-1.16,-146.6,192.8,-11.6,80,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3139
$GC,1982,-1.16,-146.6,233.6,-12.7,95,1987,0.00,2.50,0.00,0.000,4,0.000,0.078,2415,210,3140
$GC,2056,-1.16,-146.6,243.3,-14.1,98,2060,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1601,3140
$GC,2373,-1.16,-146.6,281.1,-11.7,113,2374,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1602,3140
$STATE,2596,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2596,begin apogee
$GC,2605,-0.32,0.0,305.7,10.7,124,2730,0.90,0.00,121.93,0.864,6,0.105,0.000,2601,2196,2539
$STATE,2731,end apogee,CONTROL_FINISHED_OK
$STATE,2731,begin climb
$GC,2735,1.16,146.6,310.6,0.0,130,2861,1.50,2.80,117.60,0.836,4,0.081,0.106,2927,3596,1941
$GC,3070,1.19,159.6,294.4,7.5,145,3087,0.00,2.47,11.73,0.752,6,0.000,0.068,2927,2197,1887
$GC,3397,1.34,255.0,274.8,4.4,161,3481,0.17,2.60,75.62,0.825,4,0.063,0.077,2983,792,1498
$GC,3521,1.34,255.0,265.8,9.5,166,3527,0.00,2.47,0.00,0.000,6,0.000,0.061,2983,2207,1497
$GC,3838,1.34,255.0,237.5,9.1,182,3842,0.00,2.55,0.00,0.000,4,0.000,0.073,2983,791,1496
$GC,3911,1.34,255.0,230.2,9.8,185,3915,0.00,2.47,0.00,0.000,6,0.000,0.062,2983,2206,1495
$GC,4233,1.34,255.0,199.5,9.4,201,4237,0.00,2.55,0.00,0.000,4,0.000,0.074,2983,792,1495
$GC,4319,1.34,255.0,191.5,9.6,205,4323,0.00,2.47,0.00,0.000,6,0.000,0.062,2983,2209,1495
$GC,4646,1.34,255.0,162.2,9.0,221,4650,0.00,2.55,0.00,0.000,4,0.000,0.073,2983,788,1494
$GC,4736,1.34,255.0,153.4,10.2,225,4740,0.00,2.47,0.00,0.000,6,0.000,0.062,2984,2205,1494
$GC,5058,1.34,255.0,120.6,10.9,241,5062,0.00,2.53,0.00,0.000,4,0.000,0.073,2983,789,1494
$GC,5144,1.34,255.0,110.4,12.2,245,5148,0.00,2.47,0.00,0.000,6,0.000,0.062,2983,2210,1494
$GC,5473,1.34,255.0,73.6,10.2,261,5477,0.00,2.53,0.00,0.000,4,0.000,0.073,2983,791,1494
$GC,5563,1.34,255.0,63.1,11.5,265,5567,0.00,2.45,0.00,0.000,6,0.000,0.062,2983,2199,1494
$GC,5885,1.34,255.0,30.5,9.3,281,5889,0.00,2.50,0.00,0.000,4,0.000,0.073,2983,790,1494
$GC,5971,1.34,255.0,20.4,10.1,285,5975,0.00,2.45,0.00,0.000,6,0.000,0.063,2983,2201,1494
$STATE,6192,end climb,SURFACE_DEPTH_REACHED
$STATE,6192,begin surface coast
$FINISH,0.2,1.014423
$STATE,6214,end surface coast,CONTROL_FINISHED_OK
$STATE,6214,begin surface
$SM_CCo,6240,24.77,0.640,0,0,1316,300.00
$SM_GC,0.89,0.00,0.00,24.77,0.000,0.000,0.640,380,1593,1316,-10.56,-0.20,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1889
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,276.2,39.4
$24V_AH,23.8,39.001
$10V_AH,10.2,19.702
$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,25.425,62.100,326.875,24.775,0.000,75.519,56.179,223.630,2.000,0.000,0.000,35.706,600.432,4431.676,407.770,848.229,551.546,0.000,847.034,0.000,808.053,0.000,13.629,0.000
$DEVICE_MAMPS,179.478,105.846,863.642,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,219.283,200.592,280.845,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15966,297
$CAP_FILE_SIZE,57417,0
$CFSIZE,254472192,238895104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$GPS,091008,183632,6411.046,-1122.796,37,1.1,37,-11.6