version: 66.04
glider: 14
mission: 6
dive: 285
start: 10 9 108 18 42 13
data:
$ID,14
$MISSION,6
$DIVE,285
$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,-655699.12
$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,27
$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
$GPS1,183632,6411.046,-1122.796,37,1.1,37,-11.6
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-61.0
$GPS2,184151,6411.013,-1122.631,13,1.3,13,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6418.649,-1140.247
$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,-60.97,0.000,2,0.000,0.000,381,1590,2770
$GC,83,-1.16,-146.6,3.6,-6.3,3,109,11.43,2.50,-7.78,0.000,4,0.180,0.088,2412,221,3140
$GC,286,-1.16,-146.6,40.3,-11.2,12,290,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1617,3141
$GC,613,-1.16,-146.6,84.4,-14.7,28,615,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,1621,3142
$GC,922,-1.16,-146.6,129.7,-14.6,43,927,0.00,2.53,0.00,0.000,4,0.000,0.077,2412,210,3142
$GC,996,-1.16,-146.6,140.8,-14.9,46,1000,0.00,2.38,0.00,0.000,6,0.000,0.058,2412,1608,3142
$GC,1313,-1.16,-146.6,185.7,-14.9,61,1317,0.00,2.50,0.00,0.000,4,0.000,0.076,2412,209,3143
$GC,1376,-1.16,-146.6,195.6,-15.8,64,1379,0.00,2.35,0.00,0.000,6,0.000,0.058,2411,1600,3142
$GC,1709,-1.16,-146.6,243.5,-14.0,80,1713,0.00,2.47,0.00,0.000,4,0.000,0.076,2411,212,3142
$GC,1754,-1.16,-146.6,249.9,-13.2,82,1759,0.00,2.35,0.00,0.000,6,0.000,0.058,2412,1599,3142
$GC,2076,-1.16,-146.6,290.7,-12.6,98,2081,0.00,2.50,0.00,0.000,4,0.000,0.081,2412,2993,3142
$GC,2100,-1.16,-146.6,293.7,-12.4,99,2104,0.00,2.40,0.00,0.000,6,0.000,0.067,2412,1604,3144
$STATE,2176,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2176,begin apogee
$GC,2185,-0.32,0.0,303.2,12.1,103,2311,0.95,0.00,122.55,0.854,6,0.120,0.000,2602,2190,2539
$STATE,2312,end apogee,CONTROL_FINISHED_OK
$STATE,2312,begin climb
$GC,2316,1.16,146.6,308.6,0.0,109,2441,1.50,2.80,117.32,0.831,4,0.080,0.103,2929,3596,1941
$GC,2623,1.24,191.4,296.1,6.3,123,2666,0.00,2.47,36.20,0.805,6,0.000,0.067,2928,2192,1758
$GC,2976,1.31,239.2,274.5,6.2,140,3018,0.15,0.00,39.50,0.806,6,0.065,0.000,2972,2191,1563
$GC,3324,1.31,239.2,245.1,8.8,157,3325,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2191,1562
$GC,3634,1.31,239.2,216.2,9.0,172,3635,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2191,1561
$GC,3943,1.31,239.2,189.2,9.2,187,3947,0.00,2.50,0.00,0.000,4,0.000,0.074,2972,792,1560
$GC,3999,1.31,239.2,183.2,10.3,189,4004,0.00,2.42,0.00,0.000,6,0.000,0.060,2972,2197,1559
$GC,4316,1.31,239.2,153.5,9.4,204,4320,0.00,2.53,0.00,0.000,4,0.000,0.073,2972,791,1559
$GC,4440,1.31,239.2,140.5,10.5,209,4447,0.00,2.45,0.00,0.000,6,0.000,0.061,2972,2201,1560
$GC,4757,1.31,239.2,105.9,11.7,225,4761,0.00,2.53,0.00,0.000,4,0.000,0.072,2972,789,1559
$GC,4843,1.31,239.2,95.8,12.0,229,4847,0.00,2.45,0.00,0.000,6,0.000,0.061,2972,2201,1559
$GC,5170,1.31,239.2,64.1,8.5,245,5174,0.00,2.50,0.00,0.000,4,0.000,0.071,2972,794,1559
$GC,5249,1.31,239.2,56.8,10.6,248,5256,0.00,2.45,0.00,0.000,6,0.000,0.061,2972,2208,1559
$GC,5566,1.31,239.2,26.2,9.5,264,5571,0.00,2.53,0.00,0.000,4,0.000,0.071,2972,792,1559
$GC,5679,1.31,239.2,14.8,8.2,269,5683,0.00,2.45,0.00,0.000,6,0.000,0.060,2972,2208,1560
$STATE,5812,end climb,SURFACE_DEPTH_REACHED
$STATE,5812,begin surface coast
$FINISH,0.3,1.021379
$STATE,5834,end surface coast,CONTROL_FINISHED_OK
$STATE,5834,begin surface
$SM_CCo,5860,31.62,0.642,0,0,1316,300.00
$SM_GC,1.66,0.00,0.00,31.62,0.000,0.000,0.642,372,1601,1316,-10.59,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1878
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,226.0,87.1
$24V_AH,23.8,39.092
$10V_AH,10.2,19.740
$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,25.400,56.525,315.575,31.625,0.000,37.759,29.141,134.872,1.250,0.000,0.000,15.047,569.143,4099.048,411.886,760.378,384.978,0.000,816.459,0.000,745.447,0.000,10.521,0.000
$DEVICE_MAMPS,180.245,102.778,853.671,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,204.739,186.916,261.959,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12855,277
$CAP_FILE_SIZE,50471,0
$CFSIZE,254472192,238870528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$GPS,091008,202138,6410.479,-1122.884,29,1.6,29,-11.6