version: 66.04
glider: 14
mission: 6
dive: 316
start: 10 12 108 8 32 22
data:
$ID,14
$MISSION,6
$DIVE,316
$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,-656358.12
$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,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
$GPS1,082653,6400.406,-1206.137,13,3.1,32,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-62.4
$GPS2,083159,6400.513,-1206.221,10,3.0,29,-11.9
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6352.876,-1223.567
$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,236.9,20000,-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,-60.28,0.000,2,0.000,0.000,374,1591,2723
$GC,83,-1.16,-146.6,3.2,-5.1,3,113,11.50,2.53,-10.48,0.000,4,0.181,0.091,2414,206,3138
$GC,234,-1.16,-146.6,24.2,-11.9,9,241,0.00,2.42,0.00,0.000,6,0.000,0.058,2414,1622,3139
$GC,552,-1.16,-146.6,66.2,-11.9,25,556,0.00,2.55,0.00,0.000,4,0.000,0.077,2414,212,3139
$GC,630,-1.16,-146.6,76.0,-12.5,28,636,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3139
$GC,947,-1.16,-146.6,112.7,-11.9,44,951,0.00,2.50,0.00,0.000,4,0.000,0.077,2414,210,3140
$GC,1087,-1.16,-146.6,131.0,-13.2,50,1092,0.00,2.38,0.00,0.000,6,0.000,0.058,2414,1602,3140
$GC,1404,-1.16,-146.6,169.9,-12.8,65,1405,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3142
$GC,1714,-1.16,-146.6,208.0,-11.8,80,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3142
$GC,2022,-1.16,-146.6,245.8,-11.9,95,2023,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3142
$GC,2332,-1.16,-146.6,282.4,-11.6,110,2333,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1602,3142
$GC,2641,-1.16,-146.6,321.4,-13.2,125,2646,0.00,2.53,0.00,0.000,4,0.000,0.080,2414,207,3142
$GC,2720,-1.16,-146.6,332.8,-13.5,128,2727,0.00,2.40,0.00,0.000,6,0.000,0.059,2414,1603,3142
$GC,3037,-1.16,-146.6,369.7,-12.0,144,3041,0.00,2.53,0.00,0.000,4,0.000,0.087,2414,2994,3142
$GC,3071,-1.16,-146.6,373.5,-11.6,145,3077,0.00,2.42,0.00,0.000,6,0.000,0.068,2414,1602,3142
$STATE,3363,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3363,begin apogee
$GC,3372,-0.32,0.0,405.9,10.7,160,3509,0.95,0.00,127.50,0.933,6,0.127,0.000,2602,2194,2538
$STATE,3509,end apogee,CONTROL_FINISHED_OK
$STATE,3509,begin climb
$GC,3514,1.16,146.6,412.0,0.0,167,3641,1.50,2.80,120.03,0.919,4,0.079,0.109,2927,3599,1940
$GC,3772,1.16,146.6,396.5,8.8,179,3776,0.00,2.50,0.00,0.000,6,0.000,0.072,2927,2199,1939
$GC,4099,1.16,146.6,370.0,8.4,195,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2927,2200,1938
$GC,4408,1.18,157.7,347.1,7.6,210,4420,0.00,0.00,9.62,0.818,6,0.000,0.000,2927,2200,1896
$GC,4718,1.30,231.7,328.1,5.2,225,4780,0.15,0.00,60.03,0.917,6,0.064,0.000,2969,2200,1594
$GC,5087,1.30,231.7,294.4,11.9,243,5091,0.00,2.55,0.00,0.000,4,0.000,0.078,2969,792,1592
$GC,5144,1.30,231.7,286.3,14.4,245,5148,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2203,1591
$GC,5460,1.30,231.7,247.2,10.9,260,5464,0.00,2.55,0.00,0.000,4,0.000,0.074,2969,792,1590
$GC,5519,1.30,231.7,241.0,11.1,262,5525,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2203,1590
$GC,5835,1.30,231.7,209.9,10.2,278,5839,0.00,2.55,0.00,0.000,4,0.000,0.074,2969,783,1589
$GC,5925,1.30,231.7,199.6,12.5,282,5929,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2200,1588
$GC,6247,1.30,231.7,161.3,12.0,298,6251,0.00,2.55,0.00,0.000,4,0.000,0.074,2969,786,1588
$GC,6348,1.30,231.7,148.8,12.0,302,6354,0.00,2.47,0.00,0.000,6,0.000,0.062,2969,2206,1588
$GC,6667,1.30,231.7,115.8,10.0,318,6671,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,793,1588
$GC,6775,1.30,231.7,104.1,10.4,323,6780,0.00,2.45,0.00,0.000,6,0.000,0.063,2970,2200,1588
$GC,7105,1.30,231.7,74.3,8.8,339,7109,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,787,1588
$GC,7229,1.30,232.8,63.3,8.0,344,7235,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2203,1588
$GC,7547,1.30,232.8,35.7,9.0,360,7551,0.00,2.53,0.00,0.000,4,0.000,0.074,2969,788,1588
$GC,7610,1.30,232.8,29.2,10.6,363,7615,0.00,2.47,0.00,0.000,6,0.000,0.063,2969,2201,1588
$STATE,7893,end climb,SURFACE_DEPTH_REACHED
$STATE,7894,begin surface coast
$FINISH,0.5,1.027144
$STATE,7915,end surface coast,CONTROL_FINISHED_OK
$STATE,7916,begin surface
$SM_CCo,7942,35.60,0.661,0,0,1315,300.00
$SM_GC,1.36,0.00,0.00,35.60,0.000,0.000,0.661,376,1596,1315,-10.58,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1904
$TCM_TEMP,17.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,350.8,65.0
$24V_AH,23.7,42.100
$10V_AH,10.2,21.043
$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,25.325,67.125,317.175,35.600,0.000,39.200,25.964,107.115,2.500,0.000,0.000,31.407,732.625,5775.585,447.049,960.708,380.587,0.000,931.989,0.000,923.771,0.000,18.556,0.000
$DEVICE_MAMPS,181.012,108.914,932.672,661.154,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,282.948,255.747,313.056,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19093,378
$CAP_FILE_SIZE,60792,0
$CFSIZE,254472192,237854720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,121008,104638,6400.424,-1210.009,34,1.2,34,-11.9