version: 66.04
glider: 14
mission: 6
dive: 302
start: 10 11 108 2 58 49
data:
$ID,14
$MISSION,6
$DIVE,302
$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,225
$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,-656099.81
$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,26
$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
$GPS1,025321,6406.351,-1131.350,13,1.5,13,-11.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-53.6
$GPS2,025826,6406.421,-1131.306,12,1.5,29,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6358.785,-1148.712
$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,236.6,20000,-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,-60.10,0.000,2,0.000,0.000,378,1596,2735
$GC,83,-1.16,-146.6,3.1,-5.1,3,109,11.32,2.50,-9.15,0.000,4,0.176,0.094,2414,212,3139
$GC,291,-1.16,-146.6,32.6,-8.6,12,295,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1620,3140
$GC,609,-1.16,-146.6,63.6,-10.1,27,613,0.00,2.53,0.00,0.000,4,0.000,0.075,2414,212,3140
$GC,654,-1.16,-146.6,68.5,-10.5,29,659,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1605,3140
$GC,977,-1.16,-146.6,102.2,-10.7,45,981,0.00,2.50,0.00,0.000,4,0.000,0.076,2414,210,3140
$GC,1067,-1.16,-146.6,112.6,-10.7,49,1071,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1609,3140
$GC,1395,-1.16,-146.6,143.7,-10.3,65,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1611,3140
$GC,1705,-1.16,-146.6,176.6,-10.7,80,1709,0.00,2.45,0.00,0.000,4,0.000,0.077,2414,2988,3141
$GC,1750,-1.16,-146.6,181.5,-10.0,82,1754,0.00,2.40,0.00,0.000,6,0.000,0.064,2414,1595,3141
$GC,2077,-1.16,-146.6,215.8,-10.7,98,2081,0.00,2.47,0.00,0.000,4,0.000,0.079,2414,212,3141
$GC,2128,-1.16,-146.6,221.7,-11.6,100,2132,0.00,2.35,0.00,0.000,6,0.000,0.058,2414,1596,3141
$GC,2444,-1.16,-146.6,257.9,-11.7,115,2445,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1599,3141
$GC,2753,-1.16,-146.6,292.7,-11.2,130,2758,0.00,2.50,0.00,0.000,4,0.000,0.078,2414,206,3141
$GC,2840,-1.16,-146.6,303.2,-12.5,134,2844,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1600,3141
$STATE,2979,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2979,begin apogee
$GC,2988,-0.32,0.0,320.0,11.5,141,3115,0.93,0.00,123.20,0.866,6,0.114,0.000,2602,2194,2539
$STATE,3116,end apogee,CONTROL_FINISHED_OK
$STATE,3116,begin climb
$GC,3119,1.16,146.6,325.6,0.0,147,3247,1.50,2.78,118.57,0.842,4,0.083,0.104,2926,3593,1940
$GC,3353,1.21,173.9,315.8,7.0,157,3380,0.00,2.45,23.00,0.795,6,0.000,0.067,2926,2200,1829
$GC,3691,1.23,187.1,291.8,7.5,174,3711,0.00,2.62,11.55,0.750,4,0.000,0.075,2926,792,1776
$GC,3791,1.23,187.1,283.1,9.5,178,3795,0.00,2.45,0.00,0.000,6,0.000,0.060,2927,2203,1775
$GC,4107,1.23,187.1,257.2,8.4,193,4111,0.00,2.53,0.00,0.000,4,0.000,0.072,2926,796,1775
$GC,4221,1.23,187.1,247.5,8.6,198,4225,0.00,2.45,0.00,0.000,6,0.000,0.061,2926,2208,1775
$GC,4549,1.23,187.1,221.0,8.1,214,4553,0.00,2.55,0.00,0.000,4,0.000,0.072,2926,787,1775
$GC,4650,1.23,187.1,212.7,8.1,218,4657,0.00,2.47,0.00,0.000,6,0.000,0.061,2926,2203,1774
$GC,4967,1.25,202.0,188.2,7.4,234,4988,0.00,2.60,13.50,0.735,4,0.000,0.073,2926,791,1714
$GC,5084,1.25,202.0,178.7,8.0,239,5089,0.00,2.47,0.00,0.000,6,0.000,0.061,2926,2203,1715
$GC,5407,1.25,202.0,150.8,9.0,255,5411,0.00,2.53,0.00,0.000,4,0.000,0.073,2926,796,1715
$GC,5470,1.25,202.0,144.6,9.6,258,5475,0.00,2.47,0.00,0.000,6,0.000,0.062,2926,2210,1715
$GC,5800,1.25,202.0,111.3,9.7,274,5804,0.00,2.55,0.00,0.000,4,0.000,0.072,2926,785,1714
$GC,5879,1.25,202.0,103.6,10.2,277,5886,0.00,2.47,0.00,0.000,6,0.000,0.062,2926,2202,1715
$GC,6197,1.25,202.0,74.2,9.3,293,6202,0.00,2.53,0.00,0.000,4,0.000,0.073,2926,794,1714
$GC,6322,1.25,202.0,63.1,9.0,298,6328,0.00,2.45,0.00,0.000,6,0.000,0.062,2926,2204,1714
$GC,6640,1.40,297.1,39.7,4.4,314,6725,0.20,2.62,74.05,0.674,4,0.062,0.073,2988,795,1326
$GC,6821,1.40,297.1,16.5,16.0,322,6825,0.00,2.47,0.00,0.000,6,0.000,0.062,2988,2201,1326
$STATE,6954,end climb,SURFACE_DEPTH_REACHED
$STATE,6954,begin surface coast
$FINISH,0.4,1.027148
$STATE,6975,end surface coast,CONTROL_FINISHED_OK
$STATE,6976,begin surface
$SM_CCo,7002,1.10,0.141,0,0,1316,300.00
$SM_GC,1.44,0.00,0.00,1.10,0.000,0.000,0.141,375,1600,1316,-10.58,0.00,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1885
$TCM_TEMP,17.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,276.5,51.9
$24V_AH,23.8,40.757
$10V_AH,10.2,20.430
$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,25.375,76.800,363.875,1.100,0.000,39.200,27.599,108.396,2.000,0.000,0.000,30.568,673.231,4876.519,424.325,968.042,381.349,0.000,935.040,0.000,926.699,0.000,16.611,0.000
$DEVICE_MAMPS,175.643,104.312,865.943,141.128,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,242.931,222.389,309.542,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15991,330
$CAP_FILE_SIZE,60879,0
$CFSIZE,254472192,238329856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,8,0,0
$GPS,111008,045655,6406.179,-1131.974,39,1.4,39,-11.6