version: 66.04
glider: 14
mission: 6
dive: 309
start: 10 11 108 17 9 4
data:
$ID,14
$MISSION,6
$DIVE,309
$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,-656221.38
$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,25
$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
$GPS1,170337,6401.301,-1142.325,28,1.2,38,-11.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-63.2
$GPS2,170839,6401.362,-1142.276,9,1.7,9,-11.7
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6353.726,-1159.631
$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,236.7,20000,-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,-146.6,0.0,0.0,0,91,0.00,0.00,-73.20,0.000,6,0.000,0.000,373,1587,3139
$GC,95,-1.16,-146.6,3.0,-4.4,3,117,11.52,2.60,0.00,0.000,4,0.183,0.075,2414,3008,3144
$GC,202,-1.16,-146.6,28.7,-10.9,7,208,0.00,2.42,0.00,0.000,6,0.000,0.064,2414,1604,3144
$GC,519,-1.16,-146.6,65.7,-12.1,23,523,0.00,2.53,0.00,0.000,4,0.000,0.081,2415,201,3144
$GC,569,-1.16,-146.6,72.4,-12.4,25,574,0.00,2.42,0.00,0.000,6,0.000,0.058,2414,1624,3144
$GC,886,-1.16,-146.6,108.3,-11.4,40,890,0.00,2.42,0.00,0.000,4,0.000,0.075,2414,2991,3145
$GC,914,-1.16,-146.6,111.7,-11.5,41,919,0.00,2.42,0.00,0.000,6,0.000,0.064,2414,1595,3145
$GC,1233,-1.16,-146.6,147.8,-10.8,56,1237,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,206,3145
$GC,1289,-1.16,-146.6,154.2,-11.4,58,1295,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3145
$GC,1606,-1.16,-146.6,187.2,-10.8,74,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3146
$GC,1915,-1.16,-146.6,222.8,-11.5,89,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3146
$GC,2224,-1.16,-146.6,257.5,-11.2,104,2228,0.00,2.53,0.00,0.000,4,0.000,0.078,2415,201,3146
$GC,2265,-1.16,-146.6,262.1,-11.3,106,2269,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1598,3146
$GC,2593,-1.16,-146.6,298.5,-11.0,122,2594,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1600,3146
$STATE,2857,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,2857,begin apogee
$GC,2866,-0.32,0.0,328.3,11.1,135,3001,0.95,0.00,126.07,0.862,6,0.123,0.000,2604,2192,2538
$STATE,3001,end apogee,CONTROL_FINISHED_OK
$STATE,3001,begin climb
$GC,3006,1.16,146.6,334.5,0.0,142,3134,1.48,2.80,118.20,0.845,4,0.077,0.107,2926,3590,1940
$GC,3278,1.22,181.7,320.8,6.7,154,3314,0.00,2.47,28.90,0.809,6,0.000,0.068,2926,2191,1797
$GC,3646,1.25,200.4,294.2,7.3,172,3668,0.00,2.58,16.40,0.782,4,0.000,0.077,2926,787,1722
$GC,3748,1.25,201.7,285.7,8.0,176,3753,0.00,2.47,0.00,0.000,6,0.000,0.061,2926,2209,1722
$GC,4065,1.27,215.4,261.6,7.5,191,4087,0.12,2.60,13.65,0.762,4,0.067,0.072,2966,797,1660
$GC,4172,1.27,215.4,251.0,9.9,195,4179,0.00,2.45,0.00,0.000,6,0.000,0.062,2966,2200,1660
$GC,4489,1.27,215.4,220.1,9.9,211,4493,0.00,2.53,0.00,0.000,4,0.000,0.073,2966,792,1659
$GC,4574,1.27,215.4,211.0,10.5,214,4580,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2204,1659
$GC,4890,1.27,215.4,178.9,10.5,230,4894,0.00,2.53,0.00,0.000,4,0.000,0.074,2966,792,1658
$GC,4987,1.27,215.4,168.2,11.1,234,4992,0.00,2.47,0.00,0.000,6,0.000,0.062,2966,2208,1659
$GC,5310,1.27,215.4,135.1,9.9,250,5314,0.00,2.55,0.00,0.000,4,0.000,0.074,2966,789,1659
$GC,5450,1.27,215.4,120.4,10.0,256,5455,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2198,1658
$GC,5767,1.27,215.4,90.6,9.2,271,5771,0.00,2.50,0.00,0.000,4,0.000,0.074,2967,793,1658
$GC,5808,1.27,215.4,86.6,10.3,273,5812,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2202,1658
$GC,6142,1.27,215.4,55.6,9.4,289,6146,0.00,2.53,0.00,0.000,4,0.000,0.075,2966,786,1657
$GC,6204,1.27,215.4,49.1,9.9,291,6210,0.00,2.45,0.00,0.000,6,0.000,0.063,2966,2200,1657
$GC,6522,1.27,215.4,22.2,8.0,307,6526,0.00,2.53,0.00,0.000,4,0.000,0.075,2966,792,1658
$GC,6590,1.27,215.4,15.8,8.3,310,6595,0.00,2.47,0.00,0.000,6,0.000,0.063,2966,2209,1657
$STATE,6744,end climb,SURFACE_DEPTH_REACHED
$STATE,6744,begin surface coast
$FINISH,0.5,1.027142
$STATE,6766,end surface coast,CONTROL_FINISHED_OK
$STATE,6766,begin surface
$SM_CCo,6792,43.70,0.650,0,0,1315,300.00
$SM_GC,0.94,0.00,0.00,43.70,0.000,0.000,0.650,374,1587,1315,-10.58,-0.40,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1883
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,275.7,61.0
$24V_AH,23.8,41.414
$10V_AH,10.2,20.723
$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,25.200,72.050,303.225,43.700,0.000,37.762,39.256,113.641,1.750,0.000,0.000,10.803,641.436,4839.189,436.475,847.400,389.531,0.000,892.404,0.000,831.602,0.000,13.688,0.000
$DEVICE_MAMPS,183.313,106.613,862.108,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,237.190,215.072,293.906,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15926,319
$CAP_FILE_SIZE,56983,0
$CFSIZE,254472192,238108672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,111008,190407,6401.460,-1142.973,7,1.0,23,-11.7