version: 66.04
glider: 14
mission: 6
dive: 319
start: 10 12 108 16 20 38
data:
$ID,14
$MISSION,6
$DIVE,319
$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,-656404.19
$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,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
$GPS1,161508,6400.662,-1228.510,39,1.2,39,-12.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-56.2
$GPS2,162015,6400.707,-1228.786,10,1.4,10,-12.1
$SPEED_LIMITS,0.139,0.235
$TGT_NAME,HEADING
$TGT_LATLONG,6353.070,-1246.134
$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,237.1,20000,-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,-146.6,0.0,0.0,0,89,0.00,0.00,-70.38,0.000,2,0.000,0.000,381,1590,3005
$GC,94,-1.16,-146.6,3.9,-4.3,4,116,11.50,2.58,-2.83,0.000,4,0.182,0.087,2414,3016,3141
$GC,358,-1.16,-146.6,41.2,-11.0,15,365,0.00,2.47,0.00,0.000,6,0.000,0.065,2414,1593,3143
$GC,675,-1.16,-146.6,76.2,-11.0,31,679,0.00,2.50,0.00,0.000,4,0.000,0.081,2414,209,3144
$GC,731,-1.16,-146.6,83.1,-12.1,33,737,0.00,2.40,0.00,0.000,6,0.000,0.058,2414,1624,3143
$GC,1049,-1.16,-146.6,123.6,-14.6,49,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1624,3144
$GC,1356,-1.16,-146.6,167.4,-13.0,64,1360,0.00,2.55,0.00,0.000,4,0.000,0.077,2415,209,3144
$GC,1423,-1.16,-146.6,176.9,-14.7,67,1428,0.00,2.35,0.00,0.000,6,0.000,0.058,2414,1593,3144
$GC,1746,-1.16,-146.6,220.5,-13.1,83,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,1593,3145
$GC,2055,-1.16,-146.6,255.2,-10.3,98,2056,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1593,3144
$GC,2364,-1.16,-146.6,288.2,-11.5,113,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1594,3145
$GC,2676,-1.16,-146.6,325.2,-12.7,128,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1594,3145
$GC,2982,-1.16,-146.6,364.2,-11.1,143,2987,0.00,2.53,0.00,0.000,4,0.000,0.081,2414,202,3145
$GC,3096,-1.16,-146.6,378.5,-12.7,148,3100,0.00,2.40,0.00,0.000,6,0.000,0.060,2414,1600,3146
$GC,3417,-1.16,-146.6,419.8,-12.8,164,3421,0.00,2.55,0.00,0.000,4,0.000,0.088,2414,2998,3146
$GC,3451,-1.16,-146.6,423.9,-11.3,165,3456,0.00,2.45,0.00,0.000,6,0.000,0.069,2414,1603,3146
$GC,3768,-1.16,-146.6,459.8,-11.4,180,3772,0.00,2.55,0.00,0.000,4,0.000,0.089,2415,206,3146
$GC,3903,-1.16,-146.6,475.8,-11.3,186,3907,0.00,2.40,0.00,0.000,6,0.000,0.061,2414,1602,3146
$GC,4225,-1.16,-146.6,511.9,-11.7,202,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,1606,3147
$STATE,4262,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,4262,begin apogee
$GC,4272,-0.32,0.0,516.9,12.2,204,4409,0.93,0.00,128.88,1.030,6,0.118,0.000,2600,2199,2539
$STATE,4410,end apogee,CONTROL_FINISHED_OK
$STATE,4410,begin climb
$GC,4414,1.16,146.6,523.0,0.0,211,4543,1.55,2.83,120.47,1.008,4,0.092,0.115,2926,3602,1941
$GC,4816,1.18,159.3,501.0,7.5,229,4833,0.00,2.53,11.50,0.906,6,0.000,0.072,2926,2198,1889
$GC,5156,1.18,159.3,473.8,8.2,246,5160,0.00,2.67,0.00,0.000,4,0.000,0.100,2926,3601,1887
$GC,5308,1.18,159.3,460.7,8.2,253,5313,0.00,2.53,0.00,0.000,6,0.000,0.071,2926,2189,1885
$GC,5636,1.26,208.1,436.9,6.1,269,5682,0.10,2.65,39.65,1.016,4,0.072,0.081,2956,796,1689
$GC,5724,1.29,227.3,430.6,7.3,273,5746,0.00,2.47,16.92,0.948,6,0.000,0.062,2956,2200,1611
$GC,6055,1.35,260.7,407.4,6.7,289,6090,0.00,2.62,27.73,0.972,4,0.000,0.074,2956,797,1475
$GC,6131,1.35,260.7,401.1,9.5,292,6135,0.00,2.47,0.00,0.000,6,0.000,0.063,2956,2199,1475
$GC,6452,1.35,260.7,373.6,9.5,308,6457,0.00,2.55,0.00,0.000,4,0.000,0.074,2956,785,1473
$GC,6532,1.35,260.7,365.4,10.8,311,6538,0.00,2.50,0.00,0.000,6,0.000,0.063,2956,2204,1473
$GC,6848,1.35,260.7,333.2,10.2,327,6853,0.00,2.55,0.00,0.000,4,0.000,0.072,2956,792,1471
$GC,6950,1.35,260.7,321.1,12.2,331,6956,0.00,2.50,0.00,0.000,6,0.000,0.064,2956,2206,1471
$GC,7267,1.39,290.3,293.0,6.9,347,7297,0.10,2.60,24.20,0.892,4,0.071,0.073,2988,792,1355
$GC,7365,1.39,290.3,285.2,8.9,351,7369,0.00,2.50,0.00,0.000,6,0.000,0.063,2988,2200,1354
$GC,7681,1.39,290.3,259.4,8.7,366,7686,0.00,2.55,0.00,0.000,4,0.000,0.074,2988,792,1353
$GC,7767,1.39,290.3,250.2,11.7,370,7772,0.00,2.47,0.00,0.000,6,0.000,0.064,2988,2203,1354
$GC,8095,1.39,290.3,207.6,14.3,386,8100,0.00,2.53,0.00,0.000,4,0.000,0.074,2989,791,1354
$GC,8152,1.39,290.3,198.8,15.4,388,8158,0.00,2.47,0.00,0.000,6,0.000,0.063,2988,2200,1353
$GC,8469,1.39,290.3,154.7,12.6,404,8473,0.00,2.55,0.00,0.000,4,0.000,0.074,2988,785,1353
$GC,8558,1.39,290.3,143.9,11.0,408,8563,0.00,2.50,0.00,0.000,6,0.000,0.063,2988,2205,1354
$GC,8883,1.39,290.3,110.8,9.6,424,8887,0.00,2.53,0.00,0.000,4,0.000,0.073,2988,792,1354
$GC,9065,1.39,290.3,91.8,10.7,432,9070,0.00,2.47,0.00,0.000,6,0.000,0.063,2989,2203,1354
$GC,9389,1.39,290.3,54.1,12.2,448,9393,0.00,2.53,0.00,0.000,4,0.000,0.074,2988,791,1354
$GC,9490,1.39,290.3,38.7,15.0,452,9497,0.00,2.45,0.00,0.000,6,0.000,0.062,2989,2200,1354
$STATE,9804,end climb,SURFACE_DEPTH_REACHED
$STATE,9804,begin surface coast
$FINISH,0.2,1.014734
$STATE,9828,end surface coast,CONTROL_FINISHED_OK
$STATE,9828,begin surface
$SM_CCo,9854,5.72,0.545,0,0,1315,300.00
$SM_GC,1.72,0.00,0.00,5.72,0.000,0.000,0.545,372,1590,1315,-10.59,-0.28,300.00
$IRIDIUM_FIX,0.00,0.00,010170,000000
$TT8_MAMPS,0.023777
$HUMID,1912
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,450.3,76.3
$24V_AH,23.6,42.429
$10V_AH,10.2,21.202
$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,25.525,92.900,369.350,5.725,0.000,37.755,35.637,117.337,3.750,0.000,0.000,15.216,923.546,7091.897,453.862,1269.336,439.841,0.000,1111.033,0.000,1235.396,0.000,28.002,0.000
$DEVICE_MAMPS,181.779,115.050,1030.081,545.337,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,347.628,317.812,328.963,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25361,469
$CAP_FILE_SIZE,78614,0
$CFSIZE,254472192,237715456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,1,0
$GPS,121008,190608,6400.976,-1235.341,25,1.3,25,-12.2