version: 66.04
glider: 14
mission: 6
dive: 307
start: 10 11 108 13 0 32
data:
$ID,14
$MISSION,6
$DIVE,307
$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,-656169.69
$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,24
$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
$GPS1,125505,6402.170,-1136.238,11,2.9,30,-11.6
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-62.3
$GPS2,130009,6402.145,-1136.436,11,1.1,11,-11.6
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6354.509,-1153.799
$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,-146.6,0.0,0.0,0,99,0.00,0.00,-80.12,0.000,2,0.000,0.000,378,1587,3003
$GC,103,-1.16,-146.6,4.1,-4.9,4,125,11.45,2.58,-2.80,0.000,4,0.181,0.087,2411,3019,3140
$GC,182,-1.16,-146.6,20.9,-11.7,7,187,0.00,2.47,0.00,0.000,6,0.000,0.064,2411,1602,3143
$GC,500,-1.16,-146.6,60.0,-12.6,22,504,0.00,2.53,0.00,0.000,4,0.000,0.083,2411,205,3143
$GC,562,-1.16,-146.6,68.3,-13.2,24,568,0.00,2.40,0.00,0.000,6,0.000,0.059,2411,1617,3144
$GC,878,-1.16,-146.6,103.7,-11.0,40,883,0.00,2.55,0.00,0.000,4,0.000,0.078,2411,202,3143
$GC,997,-1.16,-146.6,117.4,-12.4,45,1001,0.00,2.38,0.00,0.000,6,0.000,0.059,2411,1599,3143
$GC,1315,-1.16,-146.6,152.7,-10.6,60,1320,0.00,2.50,0.00,0.000,4,0.000,0.077,2412,204,3144
$GC,1361,-1.16,-146.6,158.1,-11.9,62,1365,0.00,2.38,0.00,0.000,6,0.000,0.059,2411,1598,3144
$GC,1683,-1.16,-146.6,193.2,-11.0,78,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1600,3144
$GC,1992,-1.16,-146.6,230.3,-12.4,93,1996,0.00,2.50,0.00,0.000,4,0.000,0.078,2409,209,3145
$GC,2055,-1.16,-146.6,238.3,-12.6,96,2059,0.00,2.38,0.00,0.000,6,0.000,0.060,2411,1604,3144
$GC,2383,-1.16,-146.6,279.2,-12.7,112,2384,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1604,3144
$GC,2691,-1.16,-146.6,315.7,-11.9,127,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1604,3144
$STATE,2894,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2894,begin apogee
$GC,2904,-0.32,0.0,339.4,10.8,137,3031,0.93,0.00,123.70,0.884,6,0.112,0.000,2600,2197,2539
$STATE,3032,end apogee,CONTROL_FINISHED_OK
$STATE,3032,begin climb
$GC,3036,1.16,146.6,344.1,0.0,143,3162,1.50,2.83,118.03,0.854,4,0.081,0.108,2926,3597,1941
$GC,3343,1.22,179.3,327.8,6.8,157,3377,0.00,2.47,26.92,0.812,6,0.000,0.070,2925,2199,1807
$GC,3695,1.24,192.7,302.7,7.5,174,3717,0.00,2.65,12.05,0.765,4,0.000,0.080,2925,793,1752
$GC,3746,1.24,192.7,298.6,8.2,176,3750,0.00,2.47,0.00,0.000,6,0.000,0.062,2925,2202,1753
$GC,4068,1.26,208.1,273.7,7.4,192,4090,0.12,2.58,14.07,0.775,4,0.067,0.073,2966,790,1690
$GC,4164,1.26,208.1,264.6,9.5,196,4168,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2200,1689
$GC,4485,1.26,208.1,235.4,9.5,212,4489,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,786,1688
$GC,4548,1.26,208.1,228.9,10.0,215,4553,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2203,1688
$GC,4877,1.26,208.1,193.0,11.3,231,4881,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,789,1688
$GC,4978,1.26,208.1,181.1,11.7,235,4984,0.00,2.47,0.00,0.000,6,0.000,0.064,2965,2208,1688
$GC,5295,1.26,208.1,151.7,8.3,251,5299,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,791,1688
$GC,5374,1.29,228.0,145.6,7.2,254,5396,0.00,2.47,17.00,0.727,6,0.000,0.063,2966,2207,1609
$GC,5708,1.29,228.0,116.9,10.2,270,5713,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,791,1607
$GC,5878,1.29,228.0,98.9,11.0,277,5884,0.00,2.45,0.00,0.000,6,0.000,0.064,2966,2200,1607
$GC,6196,1.29,228.0,64.2,11.5,293,6200,0.00,2.55,0.00,0.000,4,0.000,0.076,2966,784,1607
$GC,6282,1.29,228.0,54.0,12.1,297,6286,0.00,2.50,0.00,0.000,6,0.000,0.064,2964,2211,1607
$GC,6610,1.29,228.0,20.2,10.1,313,6614,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,783,1607
$GC,6718,1.29,228.0,8.9,11.4,318,6722,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2205,1607
$STATE,6794,end climb,SURFACE_DEPTH_REACHED
$STATE,6794,begin surface coast
$FINISH,0.3,1.013952
$STATE,6816,end surface coast,CONTROL_FINISHED_OK
$STATE,6816,begin surface
$SM_CCo,6842,36.78,0.642,0,0,1315,300.00
$SM_GC,1.24,0.00,0.00,36.78,0.000,0.000,0.642,381,1585,1315,-10.55,-0.42,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.02301
$HUMID,1903
$TCM_TEMP,17.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,301.1,48.0
$24V_AH,23.8,41.234
$10V_AH,10.2,20.638
$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,25.275,72.400,311.775,36.775,0.000,37.759,31.544,121.557,2.250,0.000,0.000,15.509,657.667,4818.867,436.697,895.947,388.435,0.000,911.011,0.000,873.570,0.000,18.216,0.000
$DEVICE_MAMPS,181.012,108.147,883.584,641.979,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,236.551,218.058,288.844,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15938,323
$CAP_FILE_SIZE,58987,0
$CFSIZE,254472192,238166016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,111008,145623,6401.248,-1139.980,8,7.1,27,-11.7