version: 66.04
glider: 14
mission: 6
dive: 287
start: 10 9 108 22 15 29
data:
$ID,14
$MISSION,6
$DIVE,287
$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,-655730.19
$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,20
$R_STBD_OVSHOOT,19
$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
$GPS1,221001,6409.745,-1123.935,38,1.5,38,-11.6
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-58.3
$GPS2,221509,6409.678,-1123.851,15,1.6,15,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6417.314,-1141.452
$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,-146.6,0.0,0.0,0,79,0.00,0.00,-60.05,0.000,2,0.000,0.000,382,1591,2717
$GC,83,-1.16,-146.6,3.3,-5.3,3,110,11.35,2.50,-9.85,0.000,4,0.177,0.090,2414,209,3138
$GC,273,-1.16,-146.6,34.8,-12.8,11,280,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1617,3139
$GC,590,-1.16,-146.6,78.6,-14.0,27,591,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1620,3139
$GC,901,-1.16,-146.6,122.3,-15.0,42,902,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1621,3139
$GC,1209,-1.16,-146.6,171.7,-16.2,57,1213,0.00,2.53,0.00,0.000,4,0.000,0.076,2414,209,3141
$GC,1298,-1.16,-146.6,188.4,-17.9,61,1303,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1608,3141
$GC,1620,-1.16,-146.6,244.3,-16.7,77,1621,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1611,3142
$GC,1930,-1.16,-146.6,299.0,-15.1,92,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1611,3141
$STATE,2091,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2091,begin apogee
$GC,2100,-0.32,0.0,318.5,10.9,100,2227,0.93,0.00,122.60,0.868,6,0.117,0.000,2601,2185,2539
$STATE,2228,end apogee,CONTROL_FINISHED_OK
$STATE,2228,begin climb
$GC,2232,1.16,146.6,324.1,0.0,106,2360,1.48,2.83,118.00,0.843,4,0.074,0.108,2925,3596,1940
$GC,2456,1.24,195.6,315.1,6.1,116,2502,0.00,2.47,39.80,0.818,6,0.000,0.068,2925,2196,1740
$GC,2823,1.31,240.7,292.1,6.3,134,2863,0.17,0.00,37.12,0.826,6,0.063,0.000,2976,2195,1556
$GC,3169,1.31,240.7,263.0,10.3,151,3173,0.00,2.53,0.00,0.000,4,0.000,0.077,2976,786,1556
$GC,3215,1.31,240.7,258.3,9.8,153,3220,0.00,2.47,0.00,0.000,6,0.000,0.061,2976,2209,1555
$GC,3538,1.31,240.7,224.2,10.7,169,3542,0.00,2.55,0.00,0.000,4,0.000,0.072,2976,791,1554
$GC,3616,1.31,240.7,216.3,9.4,172,3622,0.00,2.45,0.00,0.000,6,0.000,0.061,2976,2198,1555
$GC,3933,1.46,329.8,197.1,4.6,188,4009,0.00,2.60,69.82,0.798,4,0.000,0.074,2976,798,1193
$GC,4107,1.62,435.6,190.4,4.0,196,4199,0.22,2.45,83.97,0.775,6,0.061,0.062,3037,2202,762
$GC,4522,1.63,439.9,161.5,7.8,216,4532,0.00,2.58,5.28,0.588,4,0.000,0.074,3037,787,744
$GC,4645,1.63,439.9,150.1,10.0,221,4651,0.00,2.50,0.00,0.000,6,0.000,0.062,3037,2210,744
$GC,4962,1.63,439.9,120.7,9.8,237,4967,0.00,2.55,0.00,0.000,4,0.000,0.074,3037,792,744
$GC,5058,1.63,439.9,109.4,11.5,241,5063,0.00,2.47,0.00,0.000,6,0.000,0.062,3037,2202,744
$GC,5375,1.63,439.9,73.1,11.0,256,5379,0.00,2.53,0.00,0.000,4,0.000,0.074,3037,794,744
$GC,5483,1.63,439.9,59.6,14.2,261,5488,0.00,2.47,0.00,0.000,6,0.000,0.063,3037,2206,744
$GC,5811,1.63,439.9,16.1,12.2,277,5816,0.00,2.55,0.00,0.000,4,0.000,0.077,3037,788,744
$GC,5901,1.63,439.9,2.7,13.6,281,5905,0.00,2.20,0.00,0.000,3,0.000,0.061,3037,2064,744
$STATE,5906,end climb,SURFACE_DEPTH_REACHED
$STATE,5906,begin surface coast
$FINISH,1.3,1.027146
$STATE,5910,end surface coast,CONTROL_FINISHED_OK
$STATE,5911,begin surface
$SM_CCo,5997,0.00,0.000,0,0,744,440.31
$SM_GC,1.09,11.55,0.00,0.00,0.056,0.000,0.000,381,1600,744,-10.49,0.00,440.31
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1909
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,226.7,100.0
$24V_AH,23.8,39.306
$10V_AH,10.2,19.816
$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,25.700,51.800,476.600,0.000,0.000,37.755,37.013,115.182,1.250,0.000,0.000,17.077,556.518,4091.986,493.119,796.639,374.985,0.000,941.825,0.000,774.985,0.000,10.558,0.000
$DEVICE_MAMPS,177.177,108.147,868.244,0.000,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,206.350,188.814,248.163,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12825,281
$CAP_FILE_SIZE,50739,0
$CFSIZE,254472192,238809088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,091008,235635,6409.394,-1125.792,9,2.4,28,-11.6