version: 66.04
glider: 14
mission: 6
dive: 317
start: 10 12 108 10 52 50
data:
$ID,14
$MISSION,6
$DIVE,317
$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,-656375.75
$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,22
$R_STBD_OVSHOOT,18
$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
$GPS1,104638,6400.424,-1210.009,34,1.2,34,-11.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-58.6
$GPS2,105227,6400.422,-1210.099,12,1.2,12,-12.0
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6352.786,-1227.444
$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,237.0,20000,-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,-60.22,0.000,2,0.000,0.000,377,1595,2731
$GC,83,-1.16,-146.6,3.0,-4.8,3,113,11.48,2.53,-10.40,0.000,4,0.180,0.090,2413,204,3138
$GC,321,-1.16,-146.6,34.6,-12.0,13,328,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1617,3139
$GC,640,-1.16,-146.6,67.3,-9.6,29,644,0.00,2.45,0.00,0.000,4,0.000,0.077,2413,2991,3140
$GC,673,-1.16,-146.6,70.7,-9.2,30,680,0.00,2.42,0.00,0.000,6,0.000,0.064,2413,1592,3140
$GC,992,-1.16,-146.6,100.5,-9.8,46,996,0.00,2.50,0.00,0.000,4,0.000,0.074,2413,2991,3140
$GC,1026,-1.16,-146.6,104.5,-11.7,47,1032,0.00,2.42,0.00,0.000,6,0.000,0.064,2414,1596,3140
$GC,1344,-1.16,-146.6,146.9,-14.4,63,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1596,3141
$GC,1652,-1.16,-146.6,183.9,-10.2,78,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1596,3141
$GC,1960,-1.16,-146.6,218.1,-12.0,93,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1597,3141
$GC,2270,-1.16,-146.6,253.7,-12.0,108,2274,0.00,2.53,0.00,0.000,4,0.000,0.079,2414,2990,3142
$GC,2326,-1.16,-146.6,260.3,-11.4,110,2332,0.00,2.42,0.00,0.000,6,0.000,0.067,2414,1598,3143
$GC,2643,-1.16,-146.6,296.0,-9.7,126,2647,0.00,2.50,0.00,0.000,4,0.000,0.082,2413,209,3142
$GC,2699,-1.16,-146.6,302.7,-11.2,128,2703,0.00,2.38,0.00,0.000,6,0.000,0.059,2414,1603,3143
$GC,3016,-1.16,-146.6,340.1,-13.1,143,3020,0.00,2.53,0.00,0.000,4,0.000,0.080,2413,203,3143
$GC,3151,-1.16,-146.6,356.7,-11.6,149,3155,0.00,2.40,0.00,0.000,6,0.000,0.060,2413,1599,3143
$GC,3472,-1.16,-146.6,385.9,-10.5,165,3473,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1603,3144
$GC,3782,-1.16,-146.6,421.3,-10.7,180,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,1603,3144
$STATE,3799,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3799,begin apogee
$GC,3808,-0.32,0.0,423.5,10.4,181,3944,0.90,0.00,126.85,0.972,6,0.106,0.000,2600,2189,2539
$STATE,3945,end apogee,CONTROL_FINISHED_OK
$STATE,3945,begin climb
$GC,3948,1.16,146.6,427.3,0.0,188,4077,1.52,2.85,118.43,0.960,4,0.086,0.117,2924,3595,1940
$GC,4350,1.19,160.6,406.0,7.5,206,4367,0.00,2.50,12.20,0.865,6,0.000,0.072,2924,2200,1884
$GC,4677,1.19,160.6,375.9,9.3,222,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2200,1881
$GC,4988,1.23,184.7,352.4,7.1,237,5010,0.00,0.00,20.23,0.917,6,0.000,0.000,2924,2200,1784
$GC,5316,1.28,220.3,330.1,6.6,253,5351,0.12,2.62,29.75,0.927,4,0.068,0.080,2961,791,1639
$GC,5419,1.28,220.3,320.9,9.1,257,5426,0.00,2.50,0.00,0.000,6,0.000,0.063,2961,2209,1638
$GC,5736,1.31,235.3,294.2,7.4,273,5757,0.00,2.62,12.75,0.854,4,0.000,0.074,2961,795,1579
$GC,5832,1.32,243.6,287.1,7.7,277,5848,0.00,2.50,8.30,0.794,6,0.000,0.063,2961,2202,1544
$GC,6158,1.32,243.6,260.9,8.6,293,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,2961,2202,1540
$GC,6468,1.32,243.6,228.9,10.8,308,6472,0.00,2.55,0.00,0.000,4,0.000,0.074,2961,789,1541
$GC,6586,1.32,243.6,216.1,10.9,313,6590,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2201,1540
$GC,6907,1.33,251.3,189.7,7.7,329,6921,0.00,2.58,6.80,0.701,4,0.000,0.074,2961,792,1514
$GC,7001,1.33,251.3,181.8,8.4,333,7006,0.00,2.50,0.00,0.000,6,0.000,0.063,2961,2210,1514
$GC,7323,1.33,251.3,155.3,8.9,349,7328,0.00,2.55,0.00,0.000,4,0.000,0.074,2961,792,1514
$GC,7425,1.33,251.3,145.3,9.9,353,7431,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2201,1514
$GC,7741,1.33,251.3,117.0,8.8,369,7746,0.00,2.53,0.00,0.000,4,0.000,0.074,2961,790,1514
$GC,7860,1.33,251.3,105.5,10.5,374,7864,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2201,1514
$GC,8177,1.33,251.3,71.5,11.9,389,8181,0.00,2.53,0.00,0.000,4,0.000,0.074,2961,785,1514
$GC,8222,1.33,251.3,65.7,13.0,391,8226,0.00,2.47,0.00,0.000,6,0.000,0.063,2961,2202,1514
$GC,8544,1.33,251.3,29.5,11.6,407,8548,0.00,2.53,0.00,0.000,4,0.000,0.074,2961,790,1514
$GC,8617,1.33,251.3,21.7,9.9,410,8621,0.00,2.45,0.00,0.000,6,0.000,0.063,2961,2201,1514
$STATE,8806,end climb,SURFACE_DEPTH_REACHED
$STATE,8806,begin surface coast
$FINISH,0.4,1.019986
$STATE,8828,end surface coast,CONTROL_FINISHED_OK
$STATE,8828,begin surface
$SM_CCo,8854,26.60,0.652,0,0,1315,300.00
$SM_GC,1.23,0.00,0.00,26.60,0.000,0.000,0.652,379,1594,1315,-10.56,-0.11,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1921
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,375.0,57.3
$24V_AH,23.6,42.206
$10V_AH,10.2,21.093
$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,25.300,77.300,335.300,26.600,0.000,43.086,33.961,137.897,3.000,0.000,0.000,16.976,826.528,6409.752,449.562,1094.199,463.582,0.000,1015.653,0.000,1067.001,0.000,23.108,0.000
$DEVICE_MAMPS,180.245,116.584,971.789,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,311.479,284.130,328.479,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,22274,420
$CAP_FILE_SIZE,69395,0
$CFSIZE,254472192,237809664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,121008,132207,6400.089,-1218.108,31,1.1,31,-12.0